JP2021024361A - Vehicle notification system - Google Patents

Abstract

To grasp a behavior of an own vehicle during an automatic driving mode in advance.SOLUTION: A vehicle notification system S includes a travel control part 42 for performing automatic driving control of a vehicle in accordance with vehicle state information and peripheral environment information, and a notification device (a notification part) 50 for notifying an occupant getting on a vehicle of information on a virtual driver simulating the movement of a person corresponding to the automatic driving control. The occupant can grasp contents that a behavior of the vehicle is changed in advance through the virtual driver before the behavior of the vehicle (an own vehicle) is changed during an automatic driving mode. The notification device 50 can give a sense of security to the occupant.SELECTED DRAWING: Figure 2

Description

The present invention relates to a vehicle notification system.

Patent Document 1 discloses that when the own vehicle stops in front of an intersection in the automatic driving mode, a stop icon is displayed on the stop line in front of the intersection on the display screen of the display device.

JP-A-2019-27996

However, it is difficult for the driver to grasp the behavior of the own vehicle in the automatic driving mode in advance because the driver does not know when and how the behavior of the own vehicle is changed during the automatic driving mode. It was.

In view of such a problem, an object of the present invention is to provide a vehicle notification system capable of grasping the behavior of the own vehicle in the automatic driving mode in advance.

In order to solve the above problems, the vehicle notification system as one aspect of the present invention corresponds to a traveling control unit that automatically controls the traveling of the vehicle according to the vehicle state information and the surrounding environment information, and the automatic traveling control. It is provided with a notification unit that notifies the occupants on board the vehicle of information about a virtual driver that imitates human movement.

The notification unit may notify the occupant of the operation information of the virtual driver.

The notification unit may notify the occupant of the confirmation information confirmed by the virtual driver.

In order to solve the above problems, the vehicle notification system as another aspect of the present invention includes a traveling control unit that automatically controls the traveling of the vehicle according to the vehicle state information and the surrounding environment information, and the traveling control unit is the vehicle. It is provided with a notification unit that notifies the occupants boarding the vehicle of the surrounding environment information and the safety information regarding whether or not it is safe to change the behavior of the vehicle in the surrounding environment of the vehicle when the behavior of the vehicle is changed.

The notifying unit may notify the occupants of the content of the change in the behavior of the vehicle before the predetermined period in which the traveling control unit changes the behavior of the vehicle.

The notifying unit may notify the occupants of the rules of automatic driving control performed by the traveling control unit.

According to the present invention, the behavior of the own vehicle in the automatic driving mode can be grasped in advance.

It is a schematic block diagram for demonstrating the vehicle notification system. It is a functional block diagram which showed the schematic function of the vehicle exterior environment recognition device. It is explanatory drawing for demonstrating a luminance image and a distance image. It is a figure which shows the 1st example of the image displayed on the display part in the automatic driving mode of a vehicle. It is a figure which shows the 2nd example of the image displayed on the display part in the automatic driving mode of a vehicle. It is a figure which shows the 3rd example of the image displayed on the display part in the automatic driving mode of a vehicle. It is a figure which shows the 4th example of the image displayed on the display part in the automatic driving mode of a vehicle. It is a figure which shows the 5th example of the image displayed on the display part in the automatic driving mode of a vehicle.

Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in such an embodiment are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are designated by the same reference numerals to omit duplicate description, and elements not directly related to the present invention are not shown. To do.

FIG. 1 is a schematic block diagram for explaining the vehicle notification system S. The vehicle notification system S includes a vehicle 1. The vehicle 1 includes an image pickup device 10, an external environment recognition device 20, a vehicle state detection sensor 30, a vehicle control device (ECU: Engine Control Unit) 40, a notification device (notification unit) 50, and a steering wheel (steering wheel). 60, an accelerator pedal 70, a brake pedal 80, a steering mechanism 90, a drive mechanism 100, and a braking mechanism 110 are included.

The image pickup device 10 includes an image pickup element such as a CCD (Charge-Coupled Device) or a CMOS (Complementary Metal-Oxide Semiconductor). The image pickup device 10 takes an image of the surrounding environment (front in the present embodiment) of the vehicle (own vehicle) 1 and generates a color image or a monochrome image. Here, a color image or a monochrome image captured by the image pickup apparatus 10 is referred to as a luminance image to distinguish it from a distance image described later.

For example, two image pickup devices 10 are arranged on the front side of the vehicle 1. The two image pickup devices 10 are arranged apart from each other in the substantially horizontal direction so that their optical axes are substantially parallel to each other. The image pickup apparatus 10 continuously generates a luminance image every frame (60 fps) of, for example, 1/60 second.

The vehicle exterior environment recognition device 20 acquires a luminance image from the two imaging devices 10, and identifies a specific object based on the acquired luminance image as described later. Here, the specific objects are not only independently existing objects such as vehicles, people (pedestrians), roads, road markings, road signs, traffic signals, and guardrails, but also independent objects such as tail lamps, blinkers, and lighting parts of traffic lights. It also includes things that can be identified as part of the things that exist. The information of the specific object specified by the vehicle exterior environment recognition device 20 is used at least for automatic driving processing such as collision avoidance control and cruise control.

FIG. 2 is a functional block diagram showing a schematic function of the vehicle exterior environment recognition device 20. As shown in FIG. 2, the vehicle exterior environment recognition device 20 includes an interface unit 22, a data holding unit 24, a central control unit 26, and a system bus 28. The interface unit 22 is an interface for bidirectional information exchange between the image pickup device 10 and the vehicle control device 40. The data holding unit 24 is composed of a RAM, a flash memory, an HDD, and the like, and holds various information necessary for processing of each of the following functional units.

The central control unit 26 is composed of a semiconductor integrated circuit including a central processing unit (CPU), a ROM in which programs and the like are stored, a RAM as a work area, and the like, and controls the external environment recognition device 20 in an integrated manner. In the present embodiment, the central control unit 26 functions as an image processing unit 26a, a three-dimensional position information generation unit 26b, a grouping unit 26c, and a specific unit 26d.

The image processing unit 26a performs so-called pattern matching using the image data acquired from the two image pickup devices 10 to derive parallax. Specifically, the image processing unit 26a searches for a block corresponding to a block arbitrarily extracted from one image data (for example, an array of 4 horizontal pixels × 4 vertical pixels) from the other image data, and disparates each block. Is derived. The image processing unit 26a generates an image (hereinafter, referred to as a distance image) in which the derived parallax information (corresponding to relative distance information) is associated with each part (each block) of the image data.

FIG. 3 is an explanatory diagram for explaining the luminance image A and the distance image B. For example, it is assumed that the luminance image A as shown in FIG. 3A is generated for the detection region C through the two imaging devices 10. However, here, for ease of understanding, only one of the two luminance images A is schematically shown. The image processing unit 26a obtains the parallax for each block from such a luminance image A, and generates a distance image B as shown in FIG. 3B. Each block in the distance image B is associated with the parallax of that block. Here, the block from which the parallax is derived is represented by a black dot.

The three-dimensional position information generation unit 26b shown in FIG. 2 derives three-dimensional position information of each block in the real space based on the distance image B. Here, the three-dimensional position information is derived by converting the parallax information for each block in the distance image B into three-dimensional position information including the horizontal distance, the height, and the relative distance by using the so-called stereo method. ..

The grouping unit 26c groups blocks that have three-dimensional position information within a predetermined range (for example, 0.1 m) assuming that they are the same specific object. In this way, an object that is an aggregate of blocks is generated.

The identification unit 26d specifies which specific object the object generated by the grouping unit 26c corresponds to, based on the brightness, color, size, shape, positional relationship, and the like. Here, the specific object is, for example, another vehicle (preceding vehicle or oncoming vehicle), a pedestrian, a road, a road marking (white line or yellow line), a road sign, a traffic signal, a guardrail, or the like.

In this way, the vehicle exterior environment recognition device 20 detects the surrounding environment of the vehicle 1 (specifically, the specific object specified by the specific unit 26d), and sends a detection signal (hereinafter, referred to as peripheral environment information) indicating the specific object to the vehicle. Output to the control device 40.

The vehicle state detection sensor 30 shown in FIGS. 1 and 2 includes a plurality of sensors mounted on the vehicle 1. For example, the vehicle state detection sensor 30 includes a vehicle speed sensor, an acceleration sensor, a gyro sensor, a GNSS (Global Navigation Satellite System) sensor, and the like. The vehicle speed sensor detects the speed (vehicle speed) of the vehicle 1 and outputs a detection signal indicating the vehicle speed to the vehicle control device 40. The acceleration sensor detects the acceleration of the vehicle 1 and outputs a detection signal indicating the acceleration to the vehicle control device 40. The gyro sensor detects the angular velocity (yaw, pitch, roll) of the vehicle 1 and outputs a detection signal indicating the angular velocity to the vehicle control device 40. The GNSS sensor detects the position (latitude, longitude) of the vehicle 1 and outputs a detection signal indicating the position to the vehicle control device 40.

In this way, the vehicle state detection sensor 30 detects the state of the vehicle 1 (specifically, the speed, acceleration, angular velocity, position of the vehicle 1) and indicates a detection signal indicating the state of the vehicle 1 (hereinafter referred to as vehicle state information). ) Is output to the vehicle control device 40.

The vehicle control device 40 shown in FIGS. 1 and 2 is a microcomputer including a central processing unit (CPU), a ROM in which a program or the like is stored, a RAM as a work area, and the like, and controls the entire vehicle 1 in an integrated manner. Various vehicle control programs (for example, programs for automatic driving) are stored in the ROM. In the present embodiment, the vehicle control device 40 functions as a travel control unit 42.

The travel control unit 42 controls the travel (driving) of the vehicle 1. The travel control unit 42 includes a manual operation mode and an automatic operation mode. The manual driving mode is a driving mode in which the driver drives (operates) the vehicle 1. The automatic driving mode is a driving mode in which the traveling control unit 42 drives (operates) the vehicle 1. The manual operation mode and the automatic operation mode are set, for example, by the driver switching the operation mode changeover switch provided on the vehicle 1.

When the travel control unit 42 is set to the manual operation mode, the steering mechanism 90, the drive mechanism 100, and the braking mechanism are based on the amount of operation of the steering wheel 60, the accelerator pedal 70, and the brake pedal 80 operated by the driver. Controls the drive of 110.

When set to the automatic driving mode, the travel control unit 42 generates a steering control signal, an accelerator control signal, and a brake control signal from the vehicle state information and the surrounding environment information by using the existing technology. The travel control unit 42 controls the drive of the steering mechanism 90, the drive mechanism 100, and the braking mechanism 110 based on the generated steering control signal, accelerator control signal, and brake control signal. As described above, in the present embodiment, the vehicle 1 is automatically controlled (automatically driven) by the traveling control unit 42 during the automatic driving mode.

The steering mechanism 90 changes the steering angle of the steering wheel 60 operated by the driver or the angle of the front wheels with respect to the vehicle body (that is, the traveling direction of the vehicle 1) according to the steering control signal. The drive mechanism 100 includes a drive source (in this embodiment, at least one of an engine and a motor). The drive mechanism 100 changes the output of the drive source according to the amount of depression of the accelerator pedal 70 operated by the driver or the accelerator control signal. The braking mechanism 110 changes the braking force according to the depression amount of the brake pedal 80 operated by the driver or the brake control signal.

The notification device 50 shown in FIGS. 1 and 2 is mounted on the vehicle 1 and is composed of, for example, an instrument panel, a car navigation system, a head-up display, or a stereoscopic image device. The notification device 50 includes a display unit 52 and an acoustic unit 54.

The display unit 52 may be a screen provided on an instrument panel, a car navigation system, a head-up display, or the like, or is a space on the driver's seat of the vehicle 1 on which the stereoscopic image projected from the stereoscopic image device is displayed. You may. The acoustic unit 54 is a speaker provided in the vehicle 1.

When the driving control unit 42 switches from the manual driving mode to the automatic driving mode described above, the driving control unit 42 transmits information related to automatic driving control such as a steering control signal, an accelerator control signal, and a brake control signal to the notification device 50. In the present embodiment, when the travel control unit 42 changes the behavior of the vehicle 1 (for example, decelerating, accelerating, or changing lanes) during the automatic driving mode, at least the information regarding the behavior change timing of the vehicle 1 is notified by the notification device 50. Send to.

When the travel control unit 42 transmits information on the automatic travel control, the notification device 50 displays the information on the automatic travel control (particularly, the behavior change timing of the vehicle 1) on the display unit 52. The notification device 50 may output information related to automatic driving control by voice from the acoustic unit 54. Hereinafter, the display contents (information regarding automatic driving control) displayed on the display unit 52 of the notification device 50 will be described in detail.

FIG. 4 is a diagram showing a first example of an image displayed on the display unit 52 during the automatic driving mode of the vehicle 1. As shown in FIG. 4, the notification device 50 is a non-existent virtual driver (hereinafter, simply referred to as a virtual driver) that imitates a human movement according to the automatic driving control performed by the traveling control unit 42 during the automatic driving mode of the vehicle 1. ) The VD is displayed on the display unit 52.

The display unit 52 shows how the virtual driver VD is driving the vehicle 1. In this way, the notification device 50 causes the display unit 52 to display the automatic driving control performed by the driving control unit 42 as if the virtual driver VD is driving (steering) in the driver's seat. FIG. 4 shows how the virtual driver VD is driving (operating) the vehicle 1 and checking the side mirror SM.

An occupant (hereinafter, simply referred to as an occupant) boarding the vehicle 1 can visually recognize the virtual driver VD displayed on the display unit 52 during the automatic driving mode of the vehicle 1. For example, the occupant can visually recognize the behavior of the virtual driver VD displayed on the display unit 52 (here, the confirmation operation of confirming the side mirror SM).

In this way, the notification device 50 notifies the occupants of information regarding the automatic driving control of the vehicle 1 via the virtual driver VD displayed on the display unit 52. By visually recognizing the operation (behavior) of the virtual driver VD shown in FIG. 4, the occupant will change the behavior of the vehicle 1 by the virtual driver VD (that is, the traveling control unit 42) (here, let's change the lane). ) Can be grasped in advance.

FIG. 5 is a diagram showing a second example of an image displayed on the display unit 52 during the automatic driving mode of the vehicle 1. As shown in FIG. 5, the display unit 52 displays the confirmation content (confirmation information) in which the virtual driver VD has confirmed the side mirror SM in FIG. Here, as shown in FIG. 5, the side mirror SM is provided with a camera CM. The notification device 50 can display the image captured by the camera CM on the display unit 52. In FIG. 5, the side mirror SM shows a state in which another vehicle is not traveling in a traveling lane different from the traveling lane in which the vehicle (own vehicle) 1 is traveling. The notification device 50 can display the image captured by the image pickup device 10 on the display unit 52. That is, the notification device 50 can display an image of the external space of the vehicle 1 (hereinafter, also referred to as surrounding environment information) captured by the camera CM and the image pickup device 10 on the display unit 52.

In this way, the notification device 50 notifies the occupant of the confirmation information confirmed by the virtual driver VD via the display unit 52. By visually recognizing the confirmation information confirmed by the virtual driver VD, the occupant can confirm the safety of the lane change that the virtual driver VD is trying to make.

FIG. 5 has described an example in which the display unit 52 displays the confirmation information confirmed by the virtual driver VD. However, the notification device 50 is not limited to this, and when the traveling control unit 42 changes the behavior of the vehicle 1, it determines the outside world information (surrounding environment information) to be confirmed if the driver actually exists and the driver if the driver actually exists. Information on the safety to be carried out (safety information) may be notified to the occupants. In other words, is it safe for the notification device 50 to change the external world information (surrounding environment information) and the behavior of the vehicle 1 in the surrounding environment of the vehicle 1 when the traveling control unit 42 changes the behavior of the vehicle 1. Safety information regarding whether or not it may be notified to the occupants.

In the example of FIG. 5, the notification device 50 includes information on the space on the traveling lane (surrounding environment information) of the lane change destination, which affects the case where the traveling control unit 42 changes lanes before changing lanes. , Notify occupants of safety information regarding whether it is safe to change lanes. That is, when the traveling control unit 42 changes the behavior of the vehicle 1, the notification device 50 changes the external world information (surrounding environment information) that affects the change in the behavior of the vehicle 1 and the behavior of the vehicle 1. Notify the occupants of safety information regarding whether or not it is safe. Here, the safety information is information indicating that, for example, when the vehicle 1 changes lanes, no other vehicle is detected within a predetermined distance in front of and behind the destination lane (for example, within 45 m in front and behind). Further, the safety information is information indicating that another vehicle within a predetermined distance (for example, within 45 m) has not changed lanes around the vehicle 1. The safety information may be displayed on the display unit 52 or may be output as voice from the acoustic unit 54.

FIG. 6 is a diagram showing a third example of an image displayed on the display unit 52 during the automatic driving mode of the vehicle 1. In FIG. 6A, the display unit 52 shows that the virtual driver VD is operating the turn signal DI in order to change the lane of the vehicle 1. In FIG. 6B, the display unit 52 shows that the virtual driver VD is operating the steering wheel 60 of the vehicle 1 (that is, changing the traveling direction of the vehicle 1). In response to the operation of the steering wheel 60 of the virtual driver VD (steering control signal of the traveling control unit 42) shown in FIG. 6B, the steering mechanism 90 sets the angle of the front wheels with respect to the vehicle body (that is, the traveling direction of the vehicle 1). change.

The notification device 50 confirms the side mirror SM (that is, the surrounding environment of the vehicle 1) of the virtual driver VD shown in FIG. 4 before notifying the occupant of the steering wheel operation of the virtual driver VD shown in FIG. 6 (b). Notify the occupants of the operation. Further, the notification device 50 confirms the side mirror SM (that is, the surrounding environment of the vehicle 1) by the virtual driver VD shown in FIG. 5 before notifying the occupant of the handle operation of the virtual driver VD shown in FIG. 6 (b). Notify the occupants of the confirmed confirmation information or the above-mentioned surrounding environment information and safety information. Further, the notification device 50 operates the virtual driver VD shown in FIG. 6A to operate the direction indicator DI before notifying the occupant of the steering wheel operation of the virtual driver VD shown in FIG. 6B. Is notified to the occupants.

That is, the notification device 50 has operation information of the virtual driver VD (for example, confirmation operation and operation operation of the virtual driver VD) and confirmation information (for example, information visually recognized by the virtual driver VD) before the behavior of the vehicle 1 is changed. ) And other information about the virtual driver VD is notified to the occupants. Alternatively, the notification device 50 determines the outside world information (surrounding environment information) that is confirmed if the driver actually exists before the behavior of the vehicle 1 is changed, and the safety at the time of changing the behavior of the vehicle 1 that determines if the driver actually exists. Notify the occupants of information (safety information) regarding.

In this way, the occupant can perform the behavior of the vehicle 1 through the display contents (virtual driver VD, outside world information, safety information) of the display unit 52 before the behavior of the vehicle (own vehicle) 1 is changed in the automatic driving mode. It is possible to grasp in advance what will be changed. The notification device 50 allows the occupant to visually grasp the contents of the display unit 52 so that the occupant can grasp the behavior of the vehicle 1 in the automatic driving mode in advance. As a result, the notification device 50 can give the occupant a sense of security.

FIG. 7 is a diagram showing a fourth example of an image displayed on the display unit 52 during the automatic driving mode of the vehicle 1. As shown in FIG. 7, the display unit 52 displays the target stop position P1 of the vehicle 1, the deceleration start position P2, and the deceleration start timing T. For example, the travel control unit 42 determines the deceleration start timing (“Deceleration start 3 seconds” in FIG. 7) based on the distance ΔP from the current position P3 of the vehicle 1 to the deceleration start position P2 and the vehicle speed of the vehicle 1. Previous ") T is derived.

The notification device 50 causes the display unit 52 to display the deceleration start timing T, the deceleration start position P2, and the target stop position P1 derived by the travel control unit 42. On the contrary, the notification device 50 may display the acceleration start timing, the acceleration start position, and the acceleration end position derived by the traveling control unit 42 on the display unit 52. In this way, the notification device 50 notifies the occupant of the content of the change in the behavior of the vehicle 1 before the travel control unit 42 changes the behavior of the vehicle 1 within a predetermined period (for example, 3 seconds before).

As a result, the occupant can grasp in advance the content of the change in the behavior of the vehicle 1 through the display content of the display unit 52 before the behavior of the vehicle (own vehicle) 1 is changed in the automatic driving mode. .. In this way, the notification device 50 allows the occupant to visually recognize the contents of the display unit 52 so that the occupant can grasp the behavior of the vehicle 1 in the automatic driving mode in advance. As a result, the notification device 50 can give the occupant a sense of security.

FIG. 8 is a diagram showing a fifth example of an image displayed on the display unit 52 during the automatic driving mode of the vehicle 1. As shown in FIG. 8, the deceleration start position P2 is set on the display unit 52 at a position in front of the target stop position P1 by a predetermined distance (60 m in this embodiment) when the vehicle 1 is controlled to stop traveling. Is displayed about that. Here, the distance (that is, a predetermined distance) between the target stop position P1 and the deceleration start position P2 is changed according to the vehicle speed of the vehicle 1.

Further, for example, the display unit 52 may indicate that the vehicle 1 travels inside the curve during the automatic driving mode. In this way, the notification device 50 notifies the occupant of information regarding the rules of automatic driving control performed by the traveling control unit 42 (that is, the algorithm of the automatic traveling control executed by the traveling control unit 42 in the automatic driving mode).

As a result, the occupant can grasp in advance the content of the change in the behavior of the vehicle 1 through the display content of the display unit 52 before the behavior of the vehicle (own vehicle) 1 is changed in the automatic driving mode. .. In this way, the notification device 50 allows the occupant to visually recognize the contents of the display unit 52 so that the occupant can grasp the behavior of the vehicle 1 in the automatic driving mode in advance. As a result, the notification device 50 can give the occupant a sense of security.

Although the preferred embodiment of the present invention has been described above with reference to the accompanying drawings, it goes without saying that the present invention is not limited to such an embodiment. It is clear that a person skilled in the art can come up with various modifications or modifications within the scope of the claims, and it is understood that these also naturally belong to the technical scope of the present invention. Will be done.

In the above embodiment, the notification device 50 has described an example in which the display unit 52 displays the virtual driver VD for confirming the side mirror SM. However, the present invention is not limited to this, and the notification device 50 may display the virtual driver VD for confirming the rearview mirror and the virtual driver VD for visually observing from the driver's seat on the display unit 52.

In the above embodiment, an example in which the notification device 50 displays the virtual driver VD for operating the handle 60 on the display unit 52 has been described. However, the present invention is not limited to this, and the notification device 50 may display the virtual driver VD for operating the accelerator pedal 70 and the brake pedal 80 on the display unit 52.

In the above embodiment, the notification device 50 has described an example in which the information regarding the automatic traveling control of the vehicle 1 is notified to the occupant by an image (video) or characters. However, the present invention is not limited to this, and the notification device 50 may notify the occupants of information regarding the automatic traveling control of the vehicle 1 by voice. For example, the acoustic unit 54 provides information on automatic driving control of the vehicle 1, such as "no vehicle ahead within XX m", "no vehicle with a right turn signal in the left lane", and "accelerate to XX km". May be notified to the occupants by voice.

In the above embodiment, the notification device 50 has described an example in which the target stop position P1 (acceleration end position), deceleration start position P2 (acceleration start position), and deceleration start timing T (acceleration start timing) are displayed on the display unit 52. .. However, the present invention is not limited to this, and the notification device 50 may display the lane change end position, the lane change start position, and the lane change start timing on the display unit 52.

The present invention can be used in a vehicle notification system.

1 Vehicle 42 Travel control unit 50 Notification device (notification unit)
S Vehicle notification system

Claims (6)

A driving control unit that automatically controls the driving of the vehicle according to the vehicle status information and the surrounding environment information.
A notification unit that notifies the occupants of the vehicle of information about a virtual driver that imitates human movement in response to the automatic driving control.
Vehicle notification system equipped with. The vehicle notification system according to claim 1, wherein the notification unit notifies the occupant of the operation information of the virtual driver. The vehicle notification system according to claim 1 or 2, wherein the notification unit notifies the occupant of the confirmation information confirmed by the virtual driver. A driving control unit that automatically controls the driving of the vehicle according to the vehicle status information and the surrounding environment information.
When the traveling control unit changes the behavior of the vehicle, the vehicle is boarded with the surrounding environment information and safety information regarding whether or not it is safe to change the behavior of the vehicle in the surrounding environment of the vehicle. A notification unit that notifies the occupants and
Vehicle notification system equipped with. The vehicle according to any one of claims 1 to 4, wherein the notification unit notifies the occupant of the content of the change in the behavior of the vehicle before the travel control unit changes the behavior of the vehicle for a predetermined period of time. Notification system. The vehicle notification system according to any one of claims 1 to 5, wherein the notification unit notifies the occupant of the rules of the automatic driving control performed by the travel control unit.

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