JP2021107772A - Notification device for vehicle, notification method for vehicle, and program - Google Patents

Abstract

To provide a notification device for a vehicle, a notification method for a vehicle, and a program that perform notification of information demanded by an own vehicle's occupants.SOLUTION: A notification device for a vehicle comprises: an acquisition unit 21 that acquires current position information indicating the current position of an own vehicle; a determination unit 22 that determines, based on the current position information, whether the position of the own vehicle on a navigation map is located within a predetermined range relative to a specific place present on a side on the navigation map that the vehicle is going to head for; a first notification unit 23 that, when the own vehicle is within the predetermined range, performs pre-notification to the own vehicle's occupants; a detection unit 24 that detects the facial directions or the visual line directions of the own vehicle's occupants; and a second notification unit 29 that, when the detection unit 24 detects after the pre-notification that the facial directions or the visual line directions of the occupants are directed in the direction of the specific place, performs main notification to the occupants, and when the facial directions or the visual line directions of the occupants are not directed in the direction of the specific place, does not perform the main notification.SELECTED DRAWING: Figure 6

Description

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

Patent Document 1 discloses a technique of specifying the position information of the own vehicle and displaying a tourist spot within a predetermined distance from the own vehicle on a display.
Patent Document 2 discloses a technique of mapping and displaying an actual road and route guidance information on a windshield based on a detected position of the driver's line of sight.

Japanese Unexamined Patent Publication No. 2006-053111 Japanese Unexamined Patent Publication No. 2012-22489

However, there is not always a specific place such as a tourist spot that the driver is interested in in the direction in which the driver's line of sight is directed, and the technology of Patent Document 2 provides information that the driver does not particularly want to know. There is a possibility that the driver will be notified.
In particular, when the own vehicle performs automatic driving at a level of automatic driving level 3 or higher defined by SAE (Society of Automotive Engineers) International, the driver does not need to monitor the surroundings. Therefore, since the driver can freely take various actions in the vehicle, the technology of Patent Document 2 may notify the driver of unnecessary information, which is complicated for the driver.

Therefore, it is an object of the present invention to provide a vehicle notification device, a vehicle notification method, and a program for notifying information desired by a passenger of the own vehicle.

In the present invention, the acquisition unit that acquires the current position information indicating the current position of the own vehicle and the position of the own vehicle on a predetermined map based on the current position information are within a predetermined range with reference to a specific location. The determination unit for determining whether or not the vehicle is within the predetermined range, the first notification unit for first notifying the passenger of the vehicle when the vehicle is within the predetermined range, and the face of the passenger of the vehicle. Alternatively, when the detection unit that detects the line-of-sight direction and, after the first notification, the detection unit detects that the face direction or the line-of-sight direction of the occupant faces the specific location direction side, the occupant is notified. It is characterized by including a second notification unit that performs the second notification and does not perform the second notification when the passenger's face direction or line-of-sight direction does not face the specific location direction side.

According to the present invention, it is possible to provide a vehicle notification device, a vehicle notification method, and a program for notifying information desired by a passenger of the own vehicle.

It is a figure which shows the whole structure of the vehicle which includes the vehicle control device which concerns on embodiment of this invention. It is a functional block block diagram which shows the structure of the vehicle control device which concerns on embodiment of this invention, and its peripheral part. It is a schematic block diagram of HMI connected to the vehicle control device which concerns on embodiment of this invention. It is a figure which shows the front part structure of the vehicle interior of the vehicle which comprises the vehicle control device which concerns on embodiment of this invention. It is an external view which shows the front part structure of the vehicle which includes the vehicle control device which concerns on embodiment of this invention. It is an external view which shows the rear structure of the vehicle which includes the vehicle control device which concerns on embodiment of this invention. It is a front view which shows the schematic structure of the right front lighting part provided in a vehicle. It is a functional block diagram which shows the detailed structure of the navigation device which concerns on embodiment of this invention. It is a flowchart explaining the process executed by the navigation device which concerns on embodiment of this invention. It is a top view of the traveling route which illustrates the traveling of the own vehicle which concerns on embodiment of this invention. It is a front view which shows the example of the pre-notification displayed on the multi-information panel by the navigation device which concerns on embodiment of this invention. It is a front view which shows the example of this notification displayed on the multi-information panel by the navigation device which concerns on embodiment of this invention.

Hereinafter, the vehicle control device according to the embodiment of the present invention will be described in detail with reference to the drawings.
In the drawings shown below, members having a common function shall be designated by a common reference numeral. In addition, the size and shape of the member may be deformed or exaggerated schematically for convenience of explanation.
In the description of the vehicle control device according to the embodiment of the present invention, when the left and right expressions are used for the own vehicle M, the front of the own vehicle M in the traveling direction is used as a reference. Specifically, for example, the own vehicle M is placed in a case with a right-hand steering wheel, and the driver's seat side is called the right side and the passenger's seat side is called the left side.

[Structure of own vehicle M]
First, the configuration of a vehicle (hereinafter, referred to as “own vehicle M”) including the vehicle control device 100 according to the embodiment of the present invention will be described with reference to FIG.

FIG. 1 is an overall configuration diagram of a vehicle including the vehicle control device 100 according to the embodiment of the present invention.
As shown in FIG. 1, the own vehicle M on which the vehicle control device 100 according to the embodiment of the present invention is mounted is, for example, a two-wheeled vehicle, a three-wheeled vehicle, a four-wheeled vehicle, or the like.
The own vehicle M includes an automobile powered by an internal combustion engine such as a diesel engine or a gasoline engine, an electric vehicle powered by an electric motor, a hybrid vehicle having both an internal combustion engine and an electric motor, and the like. Of these, electric vehicles are driven using, for example, electric power discharged by batteries such as secondary batteries, hydrogen fuel cells, metal fuel cells, and alcohol fuel cells.

As shown in FIG. 1, the own vehicle M has an external world sensor 10 having a function of detecting external world information about a target including an object or a sign existing around the own vehicle M, and the current position of the own vehicle M on a map. Equipped with a navigation device 20 having a function of mapping and providing route guidance to a destination, and a vehicle control device 100 having a function of autonomous driving control of the own vehicle M including steering / acceleration / deceleration of the own vehicle M. Has been done.
These devices and devices are configured to be connected to each other so as to be capable of data communication via a communication medium such as CAN (Controller Area Network).

The "vehicle control device" according to the present invention may include other configurations (external world sensor 10, HMI 35, etc.) in addition to the configuration of the "vehicle control device 100" according to the present embodiment.

[External sensor 10]
The external sensor 10 includes a camera 11, a radar 13, and a rider 15.
The camera 11 has an optical axis inclined diagonally downward in front of the own vehicle, and has a function of capturing an image of the traveling direction of the own vehicle M. As the camera 11, for example, a CMOS (Complementary Metal Oxide Semiconductor) camera, a CCD (Charge Coupled Device) camera, or the like can be appropriately used. The camera 11 is provided in the vicinity of the rear-view mirror (not shown) in the vehicle interior of the own vehicle M, and in the front right door, the front left door, and the like outside the vehicle interior of the own vehicle M.

For example, the camera 11 periodically and repeatedly captures the front, right rear side, and left rear side of the own vehicle M in the traveling direction. In the present embodiment, the camera 11 provided in the vicinity of the rear-view mirror includes a pair of monocular cameras arranged side by side. The camera 11 may be a stereo camera.
The image information of the own vehicle M captured by the camera 11 in the forward direction, the right rear side, and the left rear side in the traveling direction is sent to the vehicle control device 100 via the communication medium.
The radar 13 irradiates the target including the preceding vehicle to be followed traveling in front of the own vehicle M with the radar wave, and receives the radar wave reflected by the target to increase the distance to the target. It has a function to acquire distribution information of the target including the direction of the target. As the radar wave, a laser, a microwave, a millimeter wave, an ultrasonic wave or the like can be appropriately used.

In the present embodiment, as shown in FIG. 1, three radars 13 are provided on the front side and two radars 13 are provided on the rear side. The distribution information of the target by the radar 13 is sent to the vehicle control device 100 via the communication medium.
The lidar 15 (LIDAR: Light Detection and Ranging) has a function of detecting the presence or absence of a target and the distance to the target by measuring the time required for detecting the scattered light with respect to the irradiation light, for example. In the present embodiment, as shown in FIG. 1, two riders 15 are provided on the front side and three on the rear side. The distribution information of the target by the rider 15 is sent to the vehicle control device 100 via the communication medium.

[Navigation device 20]
The navigation device 20 includes a GNSS (Global Navigation Satellite System) receiver, map information (navigation map), a touch panel type internal display device 61 that functions as a human-machine interface, a speaker 63 (see FIG. 3 for all), a microphone, and the like. It is composed of. The navigation device 20 plays a role of determining the current position of the own vehicle M by the GNSS receiver and deriving a route from the current position to the destination specified by the user.

The route derived by the navigation device 20 is provided to the target lane determination unit 110 (described later) of the vehicle control device 100. The current position of the own vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 30. In addition, the navigation device 20 provides guidance by voice or map display on the route to the destination.
The function for determining the current position of the own vehicle M may be provided independently of the navigation device 20. Further, the navigation device 20 may be realized by the function of a terminal device such as a smartphone or a tablet terminal carried by the user, for example. In this case, information is transmitted and received between the terminal device and the vehicle control device 100 by wireless or wired communication.

[Vehicle control device 100 and its peripheral configuration]
Next, the vehicle control device 100 and its peripheral configuration according to the embodiment of the present invention mounted on the own vehicle M will be described with reference to FIG.

FIG. 2 is a functional block configuration diagram showing the configuration of the vehicle control device 100 and its peripheral portion according to the embodiment of the present invention.
In addition to the external world sensor 10, the navigation device 20, and the vehicle control device 100 described above, the own vehicle M includes a communication device 25, a vehicle sensor 30, an HMI (Human Machine Interface) 35, and a traveling drive, as shown in FIG. A force output device 200, a steering device 210, and a braking device 220 are mounted.

The communication device 25, the vehicle sensor 30, the HMI 35, the traveling driving force output device 200, the steering device 210, and the brake device 220 are connected to and from the vehicle control device 100 via a communication medium so as to be capable of data communication. Has been done.

[Communication device 25]
The communication device 25 has a function of communicating via a wireless communication medium such as a cellular network, a Wi-Fi network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication).
The communication device 25 wirelessly communicates with an information providing server of a system for monitoring road traffic conditions such as VICS (Vehicle Information and Communication System) (registered trademark), and the vehicle M is traveling on the road or traveling. Acquire traffic information showing the traffic status of the planned road. Traffic information includes traffic jam information ahead, time required to pass a traffic jam point, accident / breakdown vehicle / construction information, speed regulation / lane regulation information, parking lot location information, parking lot / service area / parking area. Information such as full / empty information is included.

Even if the communication device 25 acquires the traffic information by communicating with a wireless beacon provided on a side band of a road or by performing inter-vehicle communication with another vehicle traveling around the own vehicle M. good.
Further, the communication device 25 performs wireless communication with, for example, an information providing server of a signal information utilization driving support system (TSPS: Traffic Signal Prediction Systems), and a traffic light provided on a road on which the own vehicle M is traveling or is scheduled to travel. Acquire signal information related to. The TSPS plays a role of supporting the operation for smoothly passing through the signalized intersection by using the signal information of the traffic light.

Even if the communication device 25 acquires the signal information by communicating with an optical beacon provided on a side band of a road or by performing inter-vehicle communication with another vehicle traveling around the own vehicle M. good.

[Vehicle sensor 30]
The vehicle sensor 30 has a function of detecting various information about the own vehicle M. The vehicle sensor 30 detects a vehicle speed sensor that detects the vehicle speed of the own vehicle M, an acceleration sensor that detects the acceleration of the own vehicle M, a yaw rate sensor that detects an angular speed around the vertical axis of the own vehicle M, and a direction of the own vehicle M. An azimuth sensor, an inclination angle sensor that detects the inclination angle of the own vehicle M, an illuminance sensor that detects the illuminance of the place where the own vehicle M exists, an illuminance sensor that detects the illuminance of the place where the own vehicle M exists, and a place where the own vehicle M exists. Includes a raindrop sensor and the like that detect the amount of raindrops.

[Structure of HMI35]
Next, the HMI 35 will be described with reference to FIGS. 3, 4, 5A, and 5B.
FIG. 3 is a schematic configuration diagram of an HMI 35 connected to the vehicle control device 100 according to the embodiment of the present invention. FIG. 4 is a diagram showing a front structure of the passenger compartment of the own vehicle M including the vehicle control device 100. 5A and 5B are external views showing a front structure and a rear structure of the own vehicle M including the vehicle control device 100, respectively.

As shown in FIG. 3, the HMI 35 includes a component of a driving operation system and a component of a non-driving operation system. These boundaries are not clear, and a configuration in which the components of the driving operation system have the functions of the non-driving operation system (or vice versa) may be adopted.
As shown in FIG. 3, the HMI 35 shifts the accelerator pedal 41, the accelerator opening sensor 43, the accelerator pedal reaction force output device 45, the brake pedal 47, and the brake depression sensor 49 as constituent members of the operation operation system. It includes a lever 51, a shift position sensor 53, a steering wheel 55, a steering steering angle sensor 57, a steering torque sensor 58, and other driving operation devices 59.

The accelerator pedal 41 is an acceleration operator for receiving an acceleration instruction (or a deceleration instruction by a return operation) by the driver. The accelerator opening sensor 43 detects the amount of depression of the accelerator pedal 41 and outputs an accelerator opening signal indicating the amount of depression to the vehicle control device 100.
Instead of outputting the accelerator opening signal to the vehicle control device 100, a configuration may be adopted in which the accelerator opening signal is directly output to the traveling driving force output device 200, the steering device 210, or the brake device 220. The same applies to the configurations of other operation operation systems described below. The accelerator pedal reaction force output device 45 outputs a force (operation reaction force) in the direction opposite to the operation direction to the accelerator pedal 41 in response to an instruction from, for example, the vehicle control device 100.

The brake pedal 47 is a deceleration operator for receiving a deceleration instruction by the driver. The brake pedal amount sensor 49 detects the depression amount (or depression force) of the brake pedal 47, and outputs a brake signal indicating the detection result to the vehicle control device 100.
The shift lever 51 is a shift controller for receiving an instruction to change the shift stage by the driver. The shift position sensor 53 detects the shift stage instructed by the driver, and outputs a shift position signal indicating the detection result to the vehicle control device 100.

The steering wheel 55 is a steering operator for receiving a turning instruction by the driver. The steering steering angle sensor 57 detects the operating angle of the steering wheel 55 and outputs a steering steering angle signal indicating the detection result to the vehicle control device 100. The steering torque sensor 58 detects the torque applied to the steering wheel 55 and outputs a steering torque signal indicating the detection result to the vehicle control device 100.
The other driving operation device 59 is, for example, a joystick, a button, a dial switch, a GUI (Graphical User Interface) switch, or the like. The driving operation device 59 receives an acceleration instruction, a deceleration instruction, a turning instruction, and the like, and outputs the instruction to the vehicle control device 100.

As shown in FIG. 3, the HMI 35 includes, for example, an internal display device 61, a speaker 63, a contact operation detection device 65, a content reproduction device 67, various operation switches 69, a seat 73, and the components of the non-operation operation system. The seat drive device 75, the window glass 77, the window drive device 79, the vehicle interior camera 81, and the external display device 83 are included.
The internal display device 61 is preferably a touch panel type display device having a function of displaying various information to the occupants in the vehicle interior. As shown in FIG. 4, the internal display device 61 is provided in the instrument panel 60 so as to face the meter panel 85 provided at a position facing the driver's seat and the driver's seat and the passenger seat in the vehicle width direction. Includes a horizontally long multi-information panel 87, a right panel 89a provided on the driver's seat side in the vehicle width direction, and a left panel 89b provided on the passenger seat side in the vehicle width direction. The internal display device 61 may be additionally provided at a position facing the rear seats (all on the back side of the seats).

On the meter panel 85, for example, a speedometer, a tachometer, an odometer, shift position information, lighting status information of lights, and the like are displayed.
On the multi-information panel 87, for example, map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information (including signal information) regarding the current travel route / planned route of the own vehicle M, and own Various information such as traffic participant information regarding traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the vehicle M, messages sent to the traffic participants, and the like are displayed.

On the right panel 89a, image information of the rear side and the lower side on the right side of the own vehicle M captured by the camera 11 provided on the right side of the own vehicle M is displayed.
On the left panel 89b, image information of the rear side and the lower side on the left side of the own vehicle M captured by the camera 11 provided on the left side of the own vehicle M is displayed.
The internal display device 61 is not particularly limited, but is composed of, for example, an LCD (Liquid Crystal Display), an organic EL (Electroluminescence), or the like. The internal display device 61 may be configured by a HUD (Head Up Display) that projects a required image onto the window glass 77.

The speaker 63 has a function of outputting sound. An appropriate number of speakers 63 are provided at appropriate positions such as an instrument panel 60, a door panel, and a rear parcel shelf (all not shown) in the vehicle interior.
The contact operation detection device 65 has a function of detecting a touch position on the display screen of the internal display device 61 and outputting the detected touch position information to the vehicle control device 100 when the internal display device 61 is a touch panel type. .. If the internal display device 61 is not a touch panel type, the contact operation detection device 65 can omit this.

The content playback device 67 includes, for example, a DVD (Digital Versatile Disc) playback device, a CD (Compact Disc) playback device, a television receiver, and various guidance image generation devices. The internal display device 61, the speaker 63, the contact operation detection device 65, and the content reproduction device 67 may have a configuration in which a part or all of them are common to the navigation device 20.
The various operation switches 69 are arranged at appropriate positions in the vehicle interior. The various operation switches 69 include an automatic operation changeover switch 71 for instructing immediate start (or future start) and stop of automatic operation. The automatic operation changeover switch 71 may be either a GUI (Graphical User Interface) switch or a mechanical switch. Further, the various operation switches 69 may include a switch for driving the seat drive device 75 and the window drive device 79.

The seat 73 is a seat on which the occupant of the own vehicle M is seated. The seat driving device 75 freely drives the reclining angle, the position in the front-rear direction, the yaw angle, and the like of the seat 73. The window glass 77 is provided on each door, for example. The window driving device 79 drives the window glass 77 to open and close.
The vehicle interior camera 81 is a digital camera that uses a solid-state image sensor such as a CCD or CMOS. The vehicle interior camera 81 (imaging element) is provided at a position where at least the head of the driver seated in the driver's seat can be imaged, such as a rear-view mirror, a steering boss portion (all not shown), and an instrument panel 60. The vehicle interior camera 81 periodically and repeatedly captures the state of the vehicle interior including the driver, for example.

The external display device 83 has a function of displaying various information to traffic participants (including pedestrians, bicycles, motorcycles, other vehicles, etc.) existing around the own vehicle M. As shown in FIG. 5A, the external display device 83 includes a right front lighting portion 91A and a left front lighting portion 91B, and left and right front portions of the front grill 90 of the own vehicle M, which are provided apart from each other in the vehicle width direction. A front display unit 93 provided between the lighting units 91A and 91B is provided.
Further, as shown in FIG. 5B, the external display device 83 includes the right rear lighting portion 95A and the left rear lighting portion 95B, and the vehicle interior of the own vehicle M, which are provided apart from each other in the vehicle width direction of the rear grill 94 of the own vehicle M. The rear display unit 97 is provided at a position where the rear window 96 can be seen from the outside through the lower center. The rear display unit 97 is provided, for example, at the lower end of the opening (not shown) of the rear window 96.

Here, the configurations of the left and right front lighting portions 91A and 91B of the external display device 83 will be described with reference to FIG. 5C. FIG. 5C is a front view showing a schematic configuration of the right front lighting portion 91A provided in the own vehicle M. Since the left and right front lighting units 91A and 91B have the same configuration, the schematic configuration of the right front lighting unit 91A will be described instead of the configuration of the left and right front lighting units 91A and 91B. And.
The right front lighting portion 91A is formed in a circular shape when viewed from the front. The right front lighting unit 91A has a headlamp 91Aa formed in a circular shape in a front view, which has a smaller diameter than the outer diameter dimension, and a direction indicator 91Ab and a lighting display, each of which is formed in an annular shape. The portion 91Ac and the position lamp 91Ad are sequentially arranged concentrically toward the outside in the radial direction.

The headlamp 91Aa plays a role of assisting the front view of the occupant by irradiating light forward in the traveling direction while the own vehicle M is traveling in a dark place. The direction indicator 91Ab plays a role of communicating the intention to the traffic participants around the own vehicle M when the own vehicle M turns left or right. The light display unit 91Ac, in combination with the display content of the front display unit 93, conveys the driving intention including the stop of the own vehicle M (details will be described later) to the traffic participants around the own vehicle M. Fulfill. The position lamp 91Ad plays a role of transmitting the width of the own vehicle M to the surrounding traffic participants while the own vehicle M is traveling in a dark place.

[Structure of vehicle control device 100]
Next, returning to FIG. 2, the configuration of the vehicle control device 100 will be described.
The vehicle control device 100 is realized by, for example, one or more processors or hardware having equivalent functions. The vehicle control device 100 is configured by combining a processor such as a CPU (Central Processing Unit), a storage device, an ECU (Electronic Control Unit) to which a communication interface is connected by an internal bus, an MPU (Micro-Processing Unit), or the like. It may be.

The vehicle control device 100 includes a target lane determination unit 110, a driving support control unit 120, a travel control unit 160, an HMI control unit 170, and a storage unit 180.
The functions of each unit of the target lane determination unit 110 and the driving support control unit 120, and some or all of the functions of the travel control unit 160 are realized by the processor executing a program (software). Further, some or all of these functions may be realized by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), or may be realized by a combination of software and hardware. good.

In the following description, when the main body is described as "○○ part is", the driving support control unit 120 reads each program from ROM / EEPROM (Electrically Erasable Programmable Read-Only Memory) as necessary and then loads it into RAM. Then, each function (described later) shall be executed. Each program may be stored in the storage unit 180 in advance, or may be incorporated into the vehicle control device 100 as necessary via another storage medium or communication medium.

[Target lane determination unit 110]
The target lane determination unit 110 is realized by, for example, an MPU (Micro Processing Unit). The target lane determination unit 110 divides the route provided by the navigation device 20 into a plurality of blocks (for example, divides the route every 100 [m] with respect to the vehicle traveling direction), and refers to the high-precision map information 181 for each block. Determine the target lane. The target lane determination unit 110 determines, for example, which lane from the left to drive. The target lane determination unit 110 determines the target lane so that the own vehicle M can travel on a rational travel route for traveling to the branch destination, for example, when there are branch points or merging points on the route. .. The target lane determined by the target lane determination unit 110 is stored in the storage unit 180 as the target lane information 182.

[Driving support control unit 120]
The driving support control unit 120 includes a driving support mode control unit 130, a recognition unit 140, and a switching control unit 150.

<Driving support mode control unit 130>
The driving support mode control unit 130 is an automatic driving executed by the driving support control unit 120 based on the driver's operation on the HMI 35, the event determined by the action plan generation unit 144, the driving mode determined by the track generation unit 147, and the like. Determine the mode (automatic driving support state). The automatic operation mode is notified to the HMI control unit 170.
In any of the automatic operation modes, it is possible to switch (override) to a lower automatic operation mode by operating the components of the operation operation system in the HMI 35.

The override is, for example, when the driver of the own vehicle M continues to operate the components of the driving operation system of the HMI 35 for more than a predetermined time, a predetermined amount of operation change (for example, the accelerator opening by the accelerator pedal 41, the brake pedal 47). This is started when the amount of braking stepped by the vehicle (the amount of braking by the steering wheel 55, the steering angle by the steering wheel 55) is exceeded, or when the operation on the components of the driving operation system is performed more than a predetermined number of times.

<Recognition unit 140>
The recognition unit 140 includes a vehicle position recognition unit 141, an outside world recognition unit 142, an area identification unit 143, an action plan generation unit 144, and a track generation unit 147.

<Own vehicle position recognition unit 141>
The own vehicle position recognition unit 141 is based on the high-precision map information 181 stored in the storage unit 180 and the information input from the camera 11, the radar 13, the rider 15, the navigation device 20, or the vehicle sensor 30. It recognizes the traveling lane in which the vehicle M is traveling and the relative position of the own vehicle M with respect to the traveling lane.
The own vehicle position recognition unit 141 recognizes the road marking line pattern (for example, the arrangement of solid lines and broken lines) recognized from the high-precision map information 181 and the roads around the own vehicle M recognized from the image captured by the camera 11. By comparing with the pattern of the lane marking, the traveling lane is recognized. In this recognition, the current position of the own vehicle M acquired from the navigation device 20 and the processing result by the INS may be added.

<External world recognition unit 142>
As shown in FIG. 2, the outside world recognition unit 142 is based on the outside world information input from the outside world sensor 10 including the camera 11, the radar 13, and the rider 15, for example, the outside world state including the position, vehicle speed, and acceleration of peripheral vehicles. Recognize. The peripheral vehicle is, for example, a vehicle that travels around the own vehicle M and travels in the same direction as the own vehicle M.
The position of the peripheral vehicle may be represented by a representative point such as the center of gravity or a corner of another vehicle, or may be represented by an area represented by the outline of the other vehicle. The state of the peripheral vehicle may include the acceleration of the peripheral vehicle and whether or not the vehicle is changing lanes (or whether or not the vehicle is trying to change lanes), which is grasped based on the information of the various devices. Further, the outside world recognition unit 142 may adopt a configuration that recognizes the position of a target including a guardrail, a utility pole, a parked vehicle, a pedestrian, and a traffic sign in addition to a peripheral vehicle.
In the embodiment of the present invention, among the peripheral vehicles, the vehicle traveling immediately before the own vehicle M and the vehicle to be followed in the follow-up travel control is referred to as a "preceding vehicle".

<Area identification part 143>
The area specifying unit 143 acquires information related to a specific area (interchange: IC / junction: JCT / lane increase / decrease point) existing around the own vehicle M based on the map information. As a result, the area specifying unit 143 can obtain information related to the specific area that assists the smooth progress of the own vehicle M even when the traveling direction image cannot be acquired through the outside world sensor 10 while hiding behind the vehicle in front including the preceding vehicle. Can be obtained.

The area specifying unit 143 identifies the target by image processing based on the traveling direction image acquired via the outside world sensor 10 instead of acquiring the information related to the specific area based on the map information, or the outside world. Information related to the specific area may be acquired by recognizing the target based on the contour of the traveling direction image by the internal processing of the recognition unit 142.
Further, as will be described later, a configuration may be adopted in which the VICS information obtained by the communication device 25 is used to improve the accuracy of the information related to the specific area acquired by the area specifying unit 143.

<Action plan generation unit 144>
The action plan generation unit 144 sets the start point of the automatic driving and / or the destination of the automatic driving. The starting point of the automatic driving may be the current position of the own vehicle M, or may be a point where an operation for instructing the automatic driving is performed. The action plan generation unit 144 generates an action plan in the section between the starting point and the destination of the automatic driving. Not limited to this, the action plan generation unit 144 may generate an action plan for any section.

An action plan is composed of, for example, a plurality of events that are executed sequentially. The plurality of events include, for example, a deceleration event for decelerating the own vehicle M, an acceleration event for accelerating the own vehicle M, a lane keeping event for driving the own vehicle M so as not to deviate from the traveling lane, and a lane for changing the traveling lane. Change event, overtaking event to let own vehicle M overtake the preceding vehicle, branch event to change to the desired lane at the branch point or drive own vehicle M so as not to deviate from the current driving lane, join the main line A merging event that accelerates or decelerates the own vehicle M in the merging lane to change the driving lane, shifts from the manual driving mode to the automatic driving mode (automatic driving support state) at the start point of the automatic driving, or plans to end the automatic driving. It includes a handover event that shifts from the automatic operation mode to the manual operation mode at the point.

The action plan generation unit 144 sets a lane change event, a branch event, or a merging event at a position where the target lane determined by the target lane determination unit 110 is switched. The information indicating the action plan generated by the action plan generation unit 144 is stored in the storage unit 180 as the action plan information 183.
The action plan generation unit 144 includes a mode change unit 145 and a notification control unit 146.

<Mode change unit 145>
The mode change unit 145 is, for example, in an operation mode including a plurality of stages of automatic operation mode and manual operation mode set in advance based on the recognition result of a target existing in the traveling direction of the own vehicle M by the outside world recognition unit 142. Therefore, a driving mode suitable for the recognition result is selected, and the driving operation of the own vehicle M is performed using the selected driving mode.

<Notification control unit 146>
When the operation mode of the own vehicle M is changed by the mode change unit 145, the notification control unit 146 notifies that the operation mode of the own vehicle M has changed. The notification control unit 146 notifies that the operation mode of the own vehicle M has changed by outputting the voice information stored in advance in the storage unit 180 to the speaker 63, for example.
As long as it is possible to notify the driver of the transition of the driving mode of the own vehicle M, the notification may be performed not only by voice but also by display, light emission, vibration, or a combination thereof.

<Orbit generator 147>
The track generation unit 147 generates a track to be traveled by the own vehicle M based on the action plan generated by the action plan generation unit 144.

<Switching control unit 150>
As shown in FIG. 2, the switching control unit 150 switches between the automatic operation mode and the manual operation mode based on the signal input from the automatic operation changeover switch 71 (see FIG. 3) and the like. Further, the switching control unit 150 switches the automatic operation mode at that time to a lower operation mode based on the operation of instructing acceleration, deceleration, or steering of the components of the operation operation system in the HMI 35. For example, when the operation amount indicated by the signal input from the component of the operation operation system in the HMI 35 continues to exceed the threshold value for the reference time or longer, the switching control unit 150 lowers the automatic operation mode at that time. Switch to mode (override).

Further, the switching control unit 150 returns to the original automatic operation mode when no operation on the components of the operation operation system in the HMI 35 is detected for a predetermined time after switching to the lower operation mode by overriding. Switching control may be performed.

<Driving control unit 160>
The travel control unit 160 includes a travel driving force output device 200, a steering device 210, and a steering device 210 so that the own vehicle M passes the track to be traveled by the own vehicle M generated by the track generation unit 147 on time. By controlling the brake device 220, the traveling control of the own vehicle M is performed.

<HMI control unit 170>
When the driving support control unit 120 notifies the HMI control unit 170 of the setting information related to the automatic driving mode of the own vehicle M, the HMI control unit 170 refers to the mode-specific operation availability information 184 (FIG. 2) and sets the automatic driving mode. The HMI 35 is controlled according to the above. The mode-specific operation enable / disable information 184 is information indicating a device (a part or all of the navigation device 20 and the HMI 35) that is permitted to be used for each operation mode and a device that is not permitted to be used.

As shown in FIG. 2, the HMI control unit 170 is permitted to be used based on the driving mode information of the own vehicle M acquired from the driving support control unit 120 and by referring to the mode-specific operation availability information 184. Devices (a part or all of the navigation device 20 and the HMI 35) and devices that are not permitted to be used are discriminated from each other. Further, the HMI control unit 170 controls whether or not the driver operation regarding the HMI 35 of the driving operation system or the navigation device 20 can be accepted based on the determination result.

For example, when the operation mode executed by the vehicle control device 100 is the manual operation mode, the HMI control unit 170 uses the HMI 35 of the operation system (for example, the accelerator pedal 41, the brake pedal 47, the shift lever 51, the steering wheel 55, etc.). Accepts driver operations related to (see Fig. 3).
The HMI control unit 170 includes a display control unit 171.

<Display control unit 171>
The display control unit 171 controls the display of the internal display device 61 and the external display device 83. Specifically, for example, when the driving mode executed by the vehicle control device 100 is an automatic driving mode with a high degree of automation, the display control unit 171 alerts / warns the traffic participants existing around the own vehicle M. -Controlling the display of information such as driving assistance on the internal display device 61 and / or the external display device 83 is performed. This will be described in detail later.

<Memory unit 180>
Information such as high-precision map information 181, target lane information 182, action plan information 183, and mode-specific operation availability information 184 is stored in the storage unit 180. The storage unit 180 is realized by a ROM (Read Only Memory), a RAM (Random Access Memory), an HDD (Hard Disk Drive), a flash memory, or the like. The program executed by the processor may be stored in the storage unit 180 in advance, or may be downloaded from an external device via an in-vehicle Internet facility or the like. Further, the program may be installed in the storage unit 180 by mounting a portable storage medium in which the program is stored in a drive device (not shown).

The high-precision map information 181 is high-precision map information as compared with the map information normally provided in the navigation device 20. The high-precision map information 181 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like. The boundary of the lane includes the type, color, length, road width, road shoulder width, main line width, lane width, boundary position, boundary type (guardrail, planting, curb), zebra zone, etc. of the lane mark. Boundaries are included in the high-precision map.
Further, the high-precision map information 181 may include road information, traffic regulation information, address information (address / zip code), facility information, telephone number information, and the like. Road information includes information indicating the type of road such as highways, toll roads, national roads, and prefectural roads, the number of lanes of the road, the width of each lane, the slope of the road, and the position of the road (longitudinal, latitude, height). Includes 3D coordinates), lane curve curvature, lane confluence and branch point locations, road signs and other information. Traffic regulation information includes information that lanes are blocked due to construction work, traffic accidents, traffic jams, and the like.

[Traveling driving force output device 200, steering device 210, and brake device 220]
As shown in FIG. 2, the vehicle control device 100 controls the driving of the traveling driving force output device 200, the steering device 210, and the braking device 220 in accordance with the traveling control command by the traveling control unit 160.

<Traveling driving force output device 200>
The traveling driving force output device 200 outputs a driving force (torque) for the own vehicle M to travel to the driving wheels. The traveling driving force output device 200 is, for example, an engine ECU (Electronic Control Unit: any of) that controls an internal combustion engine engine, a transmission, and an internal combustion engine engine when the own vehicle M is an automobile powered by an internal combustion engine engine. Not shown).

Further, the traveling driving force output device 200 includes a traveling motor and a motor ECU (both not shown) for controlling the traveling motor and the traveling motor when the own vehicle M is an electric vehicle powered by an electric motor.
Further, the traveling driving force output device 200 includes an internal combustion engine engine, a transmission, an engine ECU, a traveling motor, and a motor ECU (all not shown) when the own vehicle M is a hybrid vehicle.

When the traveling driving force output device 200 includes only the internal combustion engine, the engine ECU adjusts the throttle opening, the shift stage, and the like of the internal combustion engine engine according to the information input from the traveling control unit 160, which will be described later.
When the traveling driving force output device 200 includes only a traveling motor, the motor ECU adjusts the duty ratio of the PWM signal given to the traveling motor according to the information input from the traveling control unit 160.

When the traveling driving force output device 200 includes an internal combustion engine engine and a traveling motor, the engine ECU and the motor ECU cooperate with each other to control the traveling driving force according to the information input from the traveling control unit 160.

<Steering device 210>
The steering device 210 includes, for example, a steering ECU and an electric motor (both not shown). The electric motor, for example, applies a force to the rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor according to the information input from the vehicle control device 100 or the input steering steering angle or steering torque information to change the direction of the steering wheels.

<Brake device 220>
The brake device 220 is, for example, an electric servo brake device (not shown) including a brake caliper, a cylinder for transmitting hydraulic pressure to the brake caliper, an electric motor for generating flood pressure in the cylinder, and a braking control unit. The braking control unit of the electric servo brake device controls the electric motor according to the information input from the traveling control unit 160 so that the brake torque corresponding to the braking operation is output to each wheel. The electric servo brake device may include a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal to the cylinder via the master cylinder as a backup.

The brake device 220 is not limited to the electric servo brake device described above, and may be an electronically controlled hydraulic brake device. The electronically controlled hydraulic brake device controls the actuator according to the information input from the traveling control unit 160 to transmit the oil pressure of the master cylinder to the cylinder. Further, the braking device 220 may include a regenerative brake by a traveling motor that can be included in the traveling driving force output device 200.

[Details of navigation device 20]
FIG. 6 is a functional block diagram showing a detailed configuration of the navigation device 20. The navigation device 20 (vehicle notification device) includes an acquisition unit 21, a determination unit 22, a first notification unit 23, a detection unit 24, a second notification unit 29, and a vehicle speed indicator unit 26. The vehicle notification method of the present invention is carried out by the following processing executed by the navigation device 20. Further, the navigation device 20 operates based on a predetermined program, and the program of the present invention is implemented by the program.
The acquisition unit 21 acquires the current position information indicating the current position of the own vehicle M. The current position information is acquired by the GNSS receiver. The determination of the current position information of the own vehicle M may be specified or complemented by the INS using the output of the vehicle sensor 30.

Based on this current position information, the determination unit 22 determines that the position of the own vehicle M on the predetermined map information (navigation map) is within a predetermined range based on a specific location on the map where the own vehicle M is on the side to which the own vehicle M is heading. Determine if it is inside. Specifically, since the own vehicle M travels on the track generated by the track generation unit 147, the specific location is a specific location on the navigation map existing on the side of the track on which the own vehicle M is heading. It becomes. This "specific place" is a predetermined tourist spot or the like. The specific location may be a building or the like facing the track (road) generated by the track generation unit 147, or the own vehicle M may exist on the side to which the vehicle M is heading even if it is separated from the track to some extent. Just do it. More specifically, the specific location is displayed on the navigation information (navigation map) displayed on the multi-information panel 87 when the own vehicle M passes through the track generated by the track generation unit 147 by the navigation device 20. It is a tourist spot, etc. that exists within the possible range.

The "predetermined range" is a range from a specific place such as a tourist spot to a position separated by a predetermined distance, for example, in a straight line distance.
When the own vehicle M is within a predetermined range on the navigation map, the first notification unit 23 performs pre-notification, which is the first notification, to the passengers of the own vehicle M. This pre-notification, for example, guides the approximate direction as seen from the own vehicle M at a specific location within the predetermined range, the name of the specific location, and the like. For example, a message (notice) such as "There is a XX TV station on the right front". The direction in which the specific part can be seen may be distinguished by about three directions such as "right front", "front", and "left front". The first notification unit 23 can be performed by, for example, at least one of displaying an image on the multi-information panel 87 and outputting sound from the speaker 63. When pre-notifying the passengers in the rear seats by displaying an image, a display for notifying the same contents as the multi-information panel 87 may be provided on the rear seat side, for example, the ceiling.

The detection unit 24 detects the face direction or the line-of-sight direction of the passenger of the own vehicle M. The detection unit 24 detects the occupant's head by predetermined image processing from the image captured by the vehicle interior camera 81, and can estimate the occupant's face direction or line-of-sight direction (from the position of the black eye in the image of the eyeball). ) Is judged. Such detection determines in which direction the passenger is generally looking. The detection unit 24 detects the face direction or the line-of-sight direction between the driver of the own vehicle M and the passenger in the passenger seat. However, it may be possible to detect only the driver or all the passengers of the own vehicle M.

The first notification unit 23 may detect the state of the occupant by the detection unit 24 before the pre-notification and perform the pre-notification according to the detection result. Specifically, the first notification unit 23 did not change the face direction or the line-of-sight direction of the passenger detected by the detection unit 24 during a preset time (first predetermined time) before the pre-notification. At times, the implementation of pre-notification is suppressed. This means that if there is no change in the occupant's face or line of sight for a period of time, the occupant is performing a second task, that is, with another occupant reading a document, book, etc. It is considered that he is not interested in the scenery of the outside world, such as being absorbed in the story. Suppressing the execution of the pre-notification means that the first notification unit 23 does not perform the pre-notification.

After the pre-notification, the second notification unit 29 provides the passenger with a second notification when the face direction or the line-of-sight direction of the passenger is facing the direction side of the specific location notified by the pre-notification by the detection unit 24. This notification is performed, and when the passenger's face direction or line-of-sight direction is not facing the direction side of the specific location, the second notification is not performed. For example, when the pre-notification notifies that "there is a OOOO TV station in front of the right", this notification notifies detailed information about the specific location "OOOO TV station" guided by the pre-notification. This notification can also be performed, for example, by displaying an image on the multi-information panel 87 and outputting sound from the speaker 63. When pre-notification is performed by displaying an image to the passengers in the rear seats, a display for notifying the same contents as the multi-information panel 87 may be provided on the rear seat side, for example, the ceiling, as in the case of pre-notification.

When the target of this notification is the driver and the passenger in the passenger seat, the second notification unit 29 is a specific location where both the driver and the passenger in the passenger seat are subject to pre-notification in the face direction or the line-of-sight direction. This notification may be performed when facing the direction side. This is because, in response to the pre-notification, the driver and the passenger in the passenger seat were interested in the specific location that was the target of the pre-notification. be. This notification may be given when at least one of the driver and passengers in the passenger seat faces the direction of the specific location subject to the pre-notification, or all passengers including the passengers in the rear seats. This notification may be performed when at least one of the passengers faces the direction side of the specific location that is the target of the pre-notification. Alternatively, this notification may be performed when all the passengers face the direction side of the specific location that is the target of the pre-notification.

In this case, specifically, the second notification unit 29 presets the time during which the occupant's face direction or line-of-sight direction was facing the direction side of the specific location targeted for the pre-notification after the pre-notification. If it is less than the time (second predetermined time), this notification (second notification) is not performed. This is because when the passenger has been facing the direction side of the specific location targeted for the pre-notification for a short time, it is considered that the passenger is not very interested in the specific location.
The vehicle speed instruction unit 26 instructs the vehicle control device 100, which is a vehicle speed control unit that controls the vehicle speed of the own vehicle M, to lower the vehicle speed of the own vehicle M before the start of the main notification. Specifically, the driving support control unit 120 and the traveling control unit 160 of the vehicle control device 100 control the traveling driving force output device 200 based on the action plan information 183 to adjust the vehicle speed of the own vehicle M. Therefore, the vehicle speed instruction unit 26 instructs the vehicle control device 100 to reduce the speed to a certain extent during the execution of this notification from the vehicle speed instructed by the action plan information 183 or the like.
In addition, the navigation device 20 notifies the driver of normal navigation information, but since these are known techniques, detailed description thereof will be omitted.

An example of the flow of processing executed by the navigation device 20 will be described. FIG. 7 is a flowchart illustrating a process executed by the navigation device 20.
Such processing is carried out when the own vehicle M is performing automatic driving of automatic driving level 3 or higher specified by SAE International. First, the determination unit 22 has the position of the own vehicle M on the predetermined navigation map based on the current position information of the own vehicle M acquired by the acquisition unit 21 on the side where the own vehicle M is heading from now on the navigation map. It is determined whether or not it is within a predetermined range based on a specific place (sightseeing spot, etc.) (S1). When the own vehicle M is within the predetermined range (Yes in S1), the first notification unit 23 changes in the face direction or the line-of-sight direction of the occupant for a preset first predetermined time retroactively. It is determined whether or not there is (S2). In order to make such a determination, the first notification unit 23 takes an image of the passenger's face with the vehicle interior camera 81 at least while driving the own vehicle M, performs predetermined image processing on the image, and performs predetermined image processing on the passenger's face. The direction or line-of-sight direction is determined and the history is accumulated. The passengers to be judged in S2 may be set in various ways as described above.

When there is a change in the face direction or the line-of-sight direction of the passenger during the first predetermined time in the past (No in S2), the first notification unit 23 executes pre-notification to the passenger (S3). .. The passengers subject to pre-notification are usually passengers subject to the determination of S2, but the range of passengers subject to pre-notification may be further expanded.
After this pre-notification, the second notification unit 29 determines whether or not the time when the passenger's face direction or line-of-sight direction is facing the direction side of the specific portion of S1 is equal to or less than the preset second predetermined time. (S4). When the time when the occupant's face direction or line-of-sight direction is facing the direction side of the specific portion of S1 exceeds the second predetermined time (No in S4), the second notification unit 29 notifies the occupant. This notification is executed (S5). The passengers subject to this notification are the passengers subject to pre-notification.

Further, when the time when the occupant's face direction or line-of-sight direction is facing the direction side of the specific portion of S1 exceeds the second predetermined time (No of S4), the vehicle speed indicating unit 26 of the own vehicle M The vehicle control device 100 is instructed to lower the vehicle speed by a predetermined degree than before the start of this notification (S5).

FIG. 8 is a plan view of a traveling route illustrating the traveling of the own vehicle M. The own vehicle M can perform automatic driving with an automatic driving level 3 or higher defined by SAE International and an automatic driving level 4 in this example. During this automatic operation, the above-mentioned process described with reference to FIG. 6 and below is executed.
In this automatic driving, the own vehicle M travels on the preset travel route 501 illustrated in FIG. The own vehicle M travels on the travel route 501 with the point 503 as a start point and a goal point, for example. This travel route 501 is included in the action plan information 183. Then, when the own vehicle M approaches each specific location 502 while traveling on the travel route 501 (when the vehicle M enters a predetermined range based on the specific location 502), the driver obtains information about the specific location 502. Etc. will be notified. In the example of FIG. 8, the predetermined range is a range within 30 m in a straight line distance from the specific location. Such notification is performed one after another as the own vehicle M approaches each specific location 502 while the own vehicle M is traveling on the travel route 501. In FIG. 8, only one specific location is shown for convenience of explanation, but there are usually a plurality of specific locations 502. The notification may be applied to all of the specific locations 502 appearing on the navigation map displayed on the multi-information panel 87 by the navigation device 20 while traveling on the travel route 501.

On the other hand, if there is no change in the occupant's face direction or line-of-sight direction during the first predetermined time (Yes in S2), the occupant's face direction or line-of-sight direction faces the direction side of the specific location after the pre-notification. When the time is equal to or less than the second predetermined time (Yes in S4), the series of processes returns to the process in S1.

FIG. 9 is a front view showing an example of pre-notification displayed on the multi-information panel 87. On the screen 87a of the multi-information panel 87, map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information regarding the current travel route / planned route of the own vehicle M, and surroundings of the own vehicle M are displayed. Various information such as traffic participant information regarding existing traffic participants and messages sent to the traffic participants is displayed (image 87d). Then, the pre-notification image 87b is displayed on top of the image 87d. In the example of FIG. 9, it is notified that a TV station exists in front of the right side of the own vehicle M.

FIG. 10 is a front view showing an example of this notification displayed on the multi-information panel 87. On the screen 87a of the multi-information panel 87, map information around the own vehicle M, current position information of the own vehicle M on the map, traffic information regarding the current travel route / planned route of the own vehicle M, and surroundings of the own vehicle M are displayed. Various information such as traffic participant information regarding existing traffic participants and messages sent to the traffic participants is displayed (image 87d). Then, the image 87c of this notification is displayed on the image 87d. In the example of FIG. 10, a detailed description of the television station notified by the pre-notification is given. If the explanation is long, the image 87c may be displayed by scrolling. Further, the latest information for performing the main notification may be acquired from a predetermined server via the communication device 25 and notified.
In both the pre-notification and the main notification, it is preferable to notify the passenger of the sound output from the speaker 63 together with the images illustrated in FIGS. 9 and 10.

[Action and effect of this embodiment]
When the navigation device 20 of the present embodiment described above performs the pre-notification and detects that the face direction or the line-of-sight direction of the passenger faces the direction side of the specific location related to the pre-notification, the passenger performs the pre-notification. It can be judged that he / she was interested in the content of the notification. Therefore, in that case, this notification is given to the passenger. On the other hand, when the navigation device 20 performs the pre-notification but the face direction or the line-of-sight direction of the passenger does not face the direction side of the specific portion related to the pre-notification, the passenger is not interested in the content of the pre-notification. Can be judged. Therefore, in that case, this notification is not given to the passengers. Therefore, according to the navigation device 20 of the present embodiment, it is possible to only notify the information desired by the passenger of the own vehicle M.

In particular, since the own vehicle M performs automatic driving at a level of automatic driving level 3 or higher defined by SAE International, the driver does not need peripheral monitoring. Therefore, since the driver can freely take various actions in the vehicle, it is complicated to be notified of unnecessary information for the driver. According to the navigation device 20 of the present embodiment, since unnecessary and complicated information is not provided to the driver in this way, it is particularly suitable for automatic driving at a level of automatic driving level 3 or higher.

Further, when the detection unit 24 detects the face direction or the line-of-sight direction between the driver of the own vehicle M and the passenger in the passenger seat and determines the line-of-sight direction, the second notification unit 29 is boarding the driver and the passenger seat. Only the information necessary for the person can be notified.
Further, the first notification unit 23 detects the state of the occupant by the detection unit 24 before the pre-notification, and performs the main notification according to the detection result. Therefore, if the passenger is reading a document or a book and is not interested in the outside scenery, or if the pre-notification is deemed unnecessary in the first place, the pre-notification is not performed, so that the passenger is not bothered.

Specifically, the first notification unit 23 does not perform pre-notification when there is no change in the face direction or line-of-sight direction of the occupant during the first predetermined time set in advance before the pre-notification. It is possible to appropriately determine whether or not a person needs pre-notification and main notification.
In addition, the second notification unit 29 performs this notification when both the driver and the passenger in the passenger seat are facing or looking at a specific location. Therefore, as a result of the pre-notification, the main notification is performed only at a specific place where the driver and the passenger in the passenger seat are interested, so that the driver and the passenger in the passenger seat are not bothered.

In the above example, when the time when the passenger's face direction or line-of-sight direction is facing the direction side of the specific location after the pre-notification is equal to or less than the preset second predetermined time, the second notification unit 29 concerned. This notification related to the pre-notification is not performed. Therefore, it is possible to appropriately prevent the passenger from feeling complicated by not performing the main notification at a specific location where the passenger is not considered to be interested in the pre-notification.
Further, the vehicle speed instruction unit 26 instructs the vehicle control device 100 that controls the vehicle speed of the own vehicle M during the execution of the main notification to lower the vehicle speed of the own vehicle M by a predetermined degree than before the start of the main notification. Therefore, since the own vehicle M is prevented from passing through a specific place such as a tourist spot related to the main notification at high speed during the main notification, the passenger can receive the main notification while relaxingly visually observing the specific place. can.

20 Navigation device (vehicle notification device)
21 Acquisition unit 22 Judgment unit 23 1st notification unit 24 Detection unit 26 Vehicle speed indicator 29 2nd notification unit 100 Vehicle control device (vehicle speed control unit)
M own vehicle

Claims (7)

An acquisition unit that acquires the current position information indicating the current position of the own vehicle, and
A determination unit that determines whether or not the position of the own vehicle on a predetermined map is within a predetermined range based on a specific location based on the current position information.
When the own vehicle is within the predetermined range, a first notification unit that first notifies the passengers of the own vehicle, and a first notification unit.
A detector that detects the face direction or line-of-sight direction of the passengers of the own vehicle,
After the first notification, when the detection unit detects that the face direction or the line-of-sight direction of the passenger is facing the specific location direction, the second notification is given to the passenger, and the passenger's face direction or line-of-sight direction is directed. A vehicle notification device including a second notification unit that does not perform the second notification when the face direction or the line-of-sight direction does not face the specific location direction side. The vehicle notification device according to claim 1, wherein the detection unit detects the face direction or the line-of-sight direction with the driver of the own vehicle or the passenger in the passenger seat. Claim 1 or claim 2 is characterized in that the first notification unit detects the state of the occupant by the detection unit before the first notification and performs the first notification according to the detection result. The vehicle notification device described in. The first notification unit suppresses the execution of the first notification when there is no change in the face direction or the line-of-sight direction of the passenger for the first predetermined time preset before the first notification. The vehicle notification device according to claim 3. 2. The second notification unit is characterized in that the second notification is performed when both the driver and the passenger in the passenger seat are facing the face or the line-of-sight direction toward the specific location. The vehicle notification device described. When the time during which the passenger's face direction or line-of-sight direction is facing the specific location direction side after the first notification is equal to or less than a preset second predetermined time, the second notification unit performs the second notification. The vehicle notification device according to any one of claims 1 to 4, wherein the notification is not performed. During the execution of the second notification, the vehicle speed control unit that controls the vehicle speed of the own vehicle is provided with a vehicle speed instruction unit that instructs the vehicle speed control unit that controls the vehicle speed of the own vehicle to lower the vehicle speed of the own vehicle before the start of the second notification. The vehicle notification device according to any one of claims 1 to 6, which is characterized.

Images