JP2021125114A - Notification device - Google Patents

Abstract

To provide a notification device capable of appropriately providing information to traffic participants around an automatic driving vehicle.SOLUTION: A notification device, provided on a vehicle and notifying a traffic participant existing in a travel direction of the vehicle, includes: a recognition section for recognizing a traffic participant; a notification section for notifying those outside the vehicle of information; a notification control section for controlling the notification section to notify of a vehicle deceleration state; and a determination section for determining whether or not another traffic participant closer than the traffic participant in the travel direction of the vehicle has appeared. Upon determination, by the determination section, that the another traffic participant has appeared, the notification control section controls the notification section not to notify of the vehicle deceleration state until the vehicle reaches a position corresponding to the another traffic participant, and then, controls the notification section to notify of the vehicle deceleration state after the vehicle passes the position corresponding to the another traffic participant.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to a notification device.

Patent Document 1 discloses an autonomous driving vehicle. Self-driving vehicles are equipped with a light source on the front grill. If there is a pedestrian trying to cross the road in front of the vehicle, the self-driving vehicle controls the light source and indicates to the pedestrian that the vehicle will stop while approaching the pedestrian.

UK Patent Application Publication No. 2531084

When the self-driving vehicle described in Patent Document 1 displays information while approaching a pedestrian, another pedestrian, a merging vehicle, or the like may appear between the self-driving vehicle and the pedestrian. Another pedestrian or merging vehicle may recognize that the information displayed by the self-driving vehicle is directed at it. The present disclosure provides a notification device capable of appropriately providing information to traffic participants around an autonomous driving vehicle.

One aspect of the present disclosure is a notification device provided in the vehicle to notify the traffic participants existing in the traveling direction of the vehicle, and has a recognition unit that recognizes the traffic participants and information toward the outside of the vehicle. A notification unit that notifies the vehicle, a notification control unit that notifies the notification unit of the deceleration state of the vehicle, and a determination unit that determines whether or not another traffic participant appears in front of the traffic participant in the traveling direction of the vehicle. In response to the determination by the determination unit that another traffic participant has appeared, the notification control unit decelerates the vehicle until it reaches a position corresponding to another traffic participant. Instead of notifying the notification unit, the notification unit is notified of the deceleration state of the vehicle after the vehicle has passed a position corresponding to another traffic participant.

According to the present disclosure, information can be appropriately provided to traffic participants around the autonomous driving vehicle.

It is a functional block diagram of an example of a vehicle including the notification device which concerns on embodiment. It is a figure which shows an example of the vehicle mounting position of a notification part. It is a figure which shows an example of the operation scene which the notification device gives notification. It is a flowchart which shows an example of the operation of a notification device. It is a flowchart which shows an example of the control operation of a direction indicator.

Hereinafter, exemplary embodiments will be described with reference to the drawings. In the following description, the same or equivalent elements are designated by the same reference numerals, and duplicate description will not be repeated.

[Vehicle and notification device configuration]
FIG. 1 is a functional block diagram of an example of a vehicle 2 including the notification device 1 according to the embodiment. As shown in FIG. 1, the notification device 1 is mounted on a vehicle 2 such as a passenger car, and notifies information to peripheral vehicles existing in the vicinity of the vehicle. The vehicle 2 is, for example, a vehicle that travels by automatic driving. The automatic driving is a vehicle control that automatically drives the vehicle 2 toward a preset destination. The destination may be set by an occupant such as a driver, or may be automatically set by the vehicle 2. In automatic driving, the vehicle 2 automatically travels without the need for the driver to perform a driving operation.

The vehicle 2 includes an external sensor 3, a GPS receiving unit 4, an internal sensor 5, a map database 6, a navigation system 7, an automatic driving ECU 8 (an example of an automatic driving unit), and an actuator 9.

The external sensor 3 is a detection device that detects the situation around the vehicle 2. The external sensor 3 detects the position of an object in front of the roadway on which the vehicle 2 travels. The external sensor 3 includes at least one of a camera and a radar sensor.

The camera is an imaging device that captures the external situation of the vehicle 2. The camera is provided behind the windshield of the vehicle 2 as an example. The camera acquires imaging information regarding the external situation of the vehicle 2. The camera may be a monocular camera or a stereo camera.

The radar sensor is a detection device that detects an object around the vehicle 2 by using radio waves (for example, millimeter waves) or light. Radar sensors include, for example, millimeter-wave radar or lidar (LIDAR: Laser Imaging Detection and Ranging). The radar sensor transmits radio waves or light to the periphery of the vehicle 2 and detects the object by receiving the radio waves or light reflected by the object.

The GPS receiving unit 4 receives signals from three or more GPS satellites and acquires position information indicating the position of the vehicle 2. The location information includes, for example, latitude and longitude. Instead of the GPS receiving unit 4, other means that can identify the latitude and longitude in which the vehicle 2 exists may be used.

The internal sensor 5 is a detection device that detects the traveling state of the vehicle 2. The internal sensor 5 includes a vehicle speed sensor, an acceleration sensor and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the vehicle 2. As the vehicle speed sensor, for example, a wheel speed sensor provided on a wheel of the vehicle 2 or a drive shaft that rotates integrally with the wheel or the like and detects the rotation speed of the wheel is used.

The acceleration sensor is a detector that detects the acceleration of the vehicle 2. The acceleration sensor may include a front-rear acceleration sensor that detects the acceleration in the front-rear direction of the vehicle 2 and a lateral acceleration sensor that detects the acceleration of the vehicle 2. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) around the vertical axis of the center of gravity of the vehicle 2. As the yaw rate sensor, for example, a gyro sensor can be used.

The map database 6 is a storage device that stores map information. The map database 6 is stored in, for example, an HDD (Hard Disk Drive) mounted on the vehicle 2. The map database 6 includes information on stationary objects, traffic rules, the position of traffic lights, and the like as map information. Stationary objects are, for example, road paint (including lane boundaries such as white and yellow lines) and structures (curbs, poles, utility poles, buildings, signs, trees, etc.). A part of the map information included in the map database 6 may be stored in a storage device different from the HDD in which the map database 6 is stored. A part or all of the map information included in the map database 6 may be stored in a storage device other than the storage device provided in the vehicle 2.

The navigation system 7 is a system that guides the driver of the vehicle 2 to a preset destination. The navigation system 7 recognizes the traveling road and traveling lane on which the vehicle 2 travels based on the position of the vehicle 2 measured by the GPS receiving unit 4 and the map information of the map database 6. The navigation system 7 calculates a target route from the position of the vehicle 2 to the destination, and guides the driver of the target route using an HMI (Human Machine Interface).

The actuator 9 is a device that executes traveling control of the vehicle 2. The actuator 9 includes at least an engine actuator, a brake actuator, and a steering actuator. The engine actuator controls the driving force of the vehicle 2 by changing the amount of air supplied to the engine (for example, changing the throttle opening degree) according to the control signal from the automatic driving ECU 8. When the vehicle 2 is a hybrid vehicle or an electric vehicle, the engine actuator controls the driving force of the motor as a power source.

The automatic driving ECU 8 controls the vehicle 2. The ECU is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network) communication circuit, and the like. The automatic driving ECU 8 is connected to a network that communicates using, for example, a CAN communication circuit, and is communicably connected to the above-described component of the vehicle 2. For example, the automatic operation ECU 8 operates a CAN communication circuit to input / output data based on a signal output by the CPU, stores the data in the RAM, loads the program stored in the ROM into the RAM, and loads the RAM into the RAM. The automatic operation function is realized by executing the program loaded in. The automatic operation ECU 8 may be composed of a plurality of electronic control units.

As an example, the automatic driving ECU 8 recognizes an object (including the position of the object) around the vehicle 2 based on the detection result of the external sensor 3 and at least one of the map database 6. Objects include non-moving stationary objects such as utility poles, guardrails, trees and buildings, as well as dynamic objects such as pedestrians, bicycles and other vehicles. The automatic operation ECU 8 recognizes an object every time a detection result is acquired from, for example, an external sensor 3. The automatic operation ECU 8 may recognize the object by other well-known methods.

As an example, the automatic driving ECU 8 detects a dynamic object from the recognized objects by using the information of the stationary object included in the map database 6. The automatic operation ECU 8 may detect a dynamic object by another well-known method.

The automatic operation ECU 8 applies a Kalman filter, a particle filter, or the like to the detected dynamic object to detect the amount of movement of the dynamic object at that time. The amount of movement includes the direction of movement and the speed of movement of the dynamic object. The amount of movement may include the rotational speed of the dynamic object. Further, the automatic operation ECU 8 may estimate the error of the movement amount.

The automatic driving ECU 8 recognizes the traveling state of the vehicle 2 based on the detection result of the internal sensor 5 (for example, vehicle speed information of the vehicle speed sensor, acceleration information of the acceleration sensor, yaw rate information of the yaw rate sensor, etc.). The traveling state of the vehicle 2 includes, for example, vehicle speed, acceleration, and yaw rate.

The automatic driving ECU 8 recognizes the boundary line of the lane in which the vehicle 2 travels based on the detection result of the external sensor 3.

The automatic driving ECU 8 includes the detection result of the external sensor 3, the map database 6, the recognized position of the vehicle 2 on the map, the information of the recognized object (including the lane boundary line), and the running of the recognized vehicle 2. The course of the vehicle 2 is generated based on the state and the like. At this time, the automatic driving ECU 8 generates a course of the vehicle 2 by assuming the behavior of an object around the vehicle 2. As an example of the assumption of the behavior of the object, it is assumed that all the objects around the vehicle 2 are stationary objects, the dynamic object moves independently, and the dynamic object is at least another object and the vehicle 2. The assumption is that it moves while interacting with one of them.

The autonomous driving ECU 8 uses a plurality of assumptions to generate a plurality of course candidates for the vehicle 2. The course candidate includes at least one course in which the vehicle 2 travels while avoiding an object. The automatic driving ECU 8 selects one course by using the reliability of each course candidate and the like.

The automatic driving ECU 8 generates a travel plan according to the selected course. The automatic driving ECU 8 generates a traveling plan according to the course of the vehicle 2 based on the detection result of the external sensor 3 and the map database 6. The automatic driving ECU 8 uses the speed limit stored in the map database 6 to generate a driving plan within a range that does not exceed the speed limit of the traveling lane. Further, the automatic driving ECU 8 generates a traveling plan in which the vehicle 2 travels within a range not exceeding a predetermined upper limit speed.

The automatic driving ECU 8 uses the generated travel plan as a set consisting of two elements, that is, the target position p in the coordinate system in which the course of the vehicle 2 is fixed to the vehicle 2 and the speed V at each target point, that is, the coordination coordinates. Output as having a plurality of (p, V). Here, each target position p has at least the x-coordinate and y-coordinate positions in the coordinate system fixed to the vehicle 2 or information equivalent thereto. The travel plan is not particularly limited as long as it describes the behavior of the vehicle 2. For example, the travel plan may use the target time t instead of the speed V, or may add the target time t and the direction of the vehicle 2 at that time. The travel plan may be data showing changes in the vehicle speed, acceleration / deceleration, steering torque, etc. of the vehicle 2 when the vehicle 2 travels on the course. The travel plan may include the speed pattern, acceleration / deceleration pattern, and steering pattern of the vehicle 2.

The automatic driving ECU 8 automatically controls the running of the vehicle 2 based on the generated running plan. The automatic operation ECU 8 outputs a control signal according to the travel plan to the actuator 9. As a result, the automatic driving ECU 8 controls the running of the vehicle 2 so that the vehicle 2 automatically runs according to the running plan.

The notification device 1 notifies the traffic participants existing in the traveling direction of the vehicle 2 of the information. The traffic participant is a person or an object involved in the traffic of the vehicle 2, and for example, a pedestrian, a bicycle, a vehicle, a motorcycle, or the like.

The notification device 1 includes a notification ECU 10 and a notification unit 14. The notification ECU 10 is an electronic control unit that controls the notification of information to pedestrians. The notification ECU 10 may be composed of a plurality of ECUs, or may be included in the automatic operation ECU 8. The notification unit 14 is a device provided on the vehicle 2 to notify information to the outside of the vehicle. The notification unit 14 is connected to the notification ECU 10 and notifies information based on the output signal of the notification ECU 10.

The information notified by the notification unit 14 is the action schedule of the vehicle 2 or the running state of the vehicle 2. The action schedule is the future action of the vehicle 2, and is determined based on the information obtained from the automatic driving ECU 8. The traveling state is information detected by the internal sensor 5 of the vehicle 2, and is, for example, a stopped state, a deceleration state, an acceleration state, and the like.

The notification unit 14 is, for example, a display device. The notification unit 14 is arranged at a position visible from the front, the rear, or the side of the vehicle 2. FIGS. 2A to 2C are views showing an example of a vehicle mounting position of the notification unit. As shown in FIG. 2A, a front display device 14a is provided on the grille portion on the front surface of the vehicle 2 as the notification unit 14. Further, as shown in FIG. 2B, a rear display device 14b is provided on the back surface of the vehicle 2 as the notification unit 14. Further, as shown in FIG. 2C, a side display device 14c is provided on the side surface of the vehicle 2 as the notification unit 14. The notification unit 14 is not limited to the example shown in FIG. 2, and a plurality of display devices may be provided on the grille portion on the front surface of the vehicle 2, or a plurality of display devices may be provided on the back surface or the side surface of the vehicle 2. You may be.

The notification ECU 10 includes a recognition unit 11, a determination unit 12, and a notification control unit 13.

The recognition unit 11 recognizes a traffic participant based on the detection result of the external sensor 3. The recognition unit 11 uses a technique such as pattern matching to determine whether or not the object detected by the external sensor 3 is a traffic participant.

The determination unit 12 determines whether or not another traffic participant appears in front of the traffic participant in the traveling direction of the vehicle 2. That is, the determination unit 12 determines whether or not another traffic participant has appeared between the vehicle 2 and the already recognized traffic participant. The determination unit 12 makes a determination based on the detection result of the external sensor 3.

The notification control unit 13 controls the operation of the notification unit 14. For example, the notification control unit 13 notifies the notification unit 14 of the deceleration state of the vehicle 2. The notification control unit 13 notifies the deceleration state of the vehicle 2 until the vehicle 2 reaches a position corresponding to another traffic participant in response to the determination by the determination unit 12 that another traffic participant has appeared. Instead of notifying the unit 14, the notification unit 14 is notified of the deceleration state of the vehicle 2 after the vehicle 2 has passed a position corresponding to another traffic participant.

FIG. 3 is a diagram showing an example of an operation scene in which the notification device 1 notifies. In FIG. 3A, there is a pedestrian H1 which is an example of a traffic participant in the traveling direction (forward) of the vehicle 2. Pedestrian H1 is waiting in front of the pedestrian crossing and is scheduled to cross the road on which vehicle 2 travels. The automatic driving ECU 8 of the vehicle 2 predicts that the pedestrian H1 is going to cross the road based on the face orientation and the movement of the pedestrian H1. Based on the Road Traffic Act and the like, the automatic driving ECU 8 determines that the pedestrian H1 has priority over the passage of the pedestrian H1 over its own passage. When the automatic driving ECU 8 determines that the vehicle can be stopped before the pedestrian H1, the automatic driving ECU 8 starts decelerating the vehicle 2. At the point where deceleration is started or the distance between the vehicle 2 and the pedestrian H1 is equal to or less than a predetermined value (point P1), the notification control unit 13 provides information indicating that the vehicle 2 is in the deceleration state. To notify. The notification control unit 13 notifies the notification unit 14 of information indicating that the vehicle 2 is in the deceleration state until the vehicle 2 stops. The pedestrian H1 confirms the notification unit 14 of the vehicle 2 and predicts that the vehicle 2 will stop. As a result, the pedestrian H1 can cross the road with peace of mind.

As shown in FIG. 3B, another traffic participant appears in front of the pedestrian H1 in the traveling direction of the vehicle 2 during deceleration (or deceleration display) toward the pedestrian H1. There is. In the figure, another traffic participant is vehicle H2. This vehicle H2 is a vehicle that is scheduled to cross the lane in which the vehicle 2 travels. At this time, the vehicle H2 may recognize that the notification directed to the pedestrian H1 of the notification unit 14 is information directed to itself. Therefore, even if the notification control unit 13 reaches the point P1, the notification unit 14 does not notify the information indicating that the vehicle 2 is in the deceleration state. If the vehicle H2 appears after the vehicle 2 has passed the point P1, the notification is immediately terminated. The notification control unit 13 does not notify the notification unit 14 until the vehicle 2 reaches the position (point P2) corresponding to the vehicle H2. The notification control unit 13 causes the notification unit 14 to resume notification after passing the point P2. As a result, the notification device 1 can avoid providing erroneous information to the vehicle H2.

Such a situation can also occur by operating a turn signal. As shown in FIG. 3C, there is a store GL in which the vehicle 2 travels on the road and is scheduled to enter in the traveling direction (forward) of the vehicle 2. The vehicle 2 operates the direction indicator at a point (point P1) where the distance to the store GL is equal to or less than a predetermined distance. As shown in FIG. 3D, a traffic participant may appear in front of the store GL in the traveling direction of the vehicle 2. In the figure, the traffic participant is the vehicle H2. This vehicle H2 is a vehicle that is scheduled to cross the lane in which the vehicle 2 travels. At this time, the vehicle H2 may recognize that the operation of the direction indicator is information directed toward itself. That is, the vehicle H2 may mistakenly recognize that the vehicle 2 turns left without reaching the position (point P2) corresponding to the vehicle H2. Therefore, the notification control unit 13 does not operate the direction indicator even if the point P1 is reached. When the vehicle H2 appears after the vehicle 2 has passed the point P1, the operation of the turn signal indicator is immediately terminated. The notification control unit 13 does not operate the turn signal until the vehicle 2 reaches the position (point P2) corresponding to the vehicle H2. The notification control unit 13 restarts the operation of the direction indicator after passing the point P2. As a result, the notification device 1 can avoid providing erroneous information to the vehicle H2.

(Operation of notification device)
FIG. 4 is a flowchart showing an example of the operation of the notification device 1. The flowchart shown in FIG. 4 is executed by the notification ECU 10 of the notification device 1. The notification ECU 10 starts processing when the notification start button is turned on, for example, by the operation of the driver. An example of displaying information as a mode of information notification will be described.

As shown in FIG. 4, the recognition unit 11 of the notification ECU 10 acquires information on an object around the vehicle 2 detected by the external sensor 3 as a traffic participant detection process (S10). Then, the recognition unit 11 determines whether or not the detected object is a traffic participant. When the detected object is a traffic participant, the recognition unit 11 recognizes the position, traveling direction, speed, and the like of the traffic participant.

Subsequently, the notification ECU 10 determines whether or not the traffic participant is the notification target as the target determination process (S12). The notification ECU 10 determines whether or not the vehicle is a notification target based on the body orientation, face orientation, traveling direction of the vehicle 2 and the like of the traffic participant. For example, when the traveling direction of the vehicle 2 and the predicted traveling direction of the traffic participant overlap, the notification ECU 10 targets the traffic participant as the notification target.

When it is determined that the notification target is (S12: YES), the notification ECU 10 acquires the traveling state of the vehicle 2 as the traveling state acquisition process (S14). The notification ECU 10 acquires the speed of the vehicle 2 based on the information of the internal sensor 5. The notification ECU 10 may acquire the slope of the road on which the vehicle 2 travels based on the information of the external sensor 3.

Subsequently, the notification ECU 10 determines whether or not the traffic of the vehicle 2 is prioritized over the traffic to be notified as the priority determination process (S16). The notification ECU 10 may make a determination by applying the current situation to the Road Traffic Act, or may make a determination based on road information, traffic information, or the like stored in the map database 6.

When it is determined that the vehicle 2 is a non-priority vehicle (S16: YES), the notification ECU 10 determines whether or not the vehicle 2 can be stopped in front of the traffic participant to be notified as a stop determination process (S18). Is determined. The notification ECU 10 determines whether or not the vehicle can be stopped based on the distance to the traffic participant to be notified, the speed of the vehicle 2, and the allowable deceleration.

When it is determined that the vehicle can be stopped (S18: YES), the notification control unit 13 of the notification ECU 10 causes the notification unit 14 to display a display according to the traveling state of the vehicle 2 as a stop notification process (S20). On the other hand, when it is determined that the vehicle cannot be stopped (S18: NO), the notification control unit 13 of the notification ECU 10 displays on the notification unit 14 a display indicating that the vehicle 2 is passing as a passage notification process (S22). Let me. Alternatively, the notification control unit 13 does not display the information. When it is determined that there is no notification target (S12: NO), the stop notification process (S20) or the passage notification process (S22) is completed, the flowchart shown in FIG. 4 ends. If the end condition is not satisfied, the notification ECU 10 starts the flowchart shown in FIG. 4 from the beginning. The end condition is, for example, that the notification start button is turned off. As described above, when the vehicle 2 is a non-priority vehicle, the process of determining whether or not another traffic participant has appeared between the vehicle 2 and the already recognized traffic participant is not executed. This is because when another traffic participant appears, it is determined whether or not the other traffic participant is the notification target, and the other traffic participant is treated as the notification target.

On the other hand, when it is determined that the vehicle 2 is the priority vehicle (S16: NO), the notification ECU 10 can stop the vehicle 2 in front of the traffic participant to be notified as a stop determination process (S23). It is determined whether or not it is. The notification ECU 10 determines whether or not the vehicle can be stopped based on the distance to the traffic participant to be notified, the speed of the vehicle 2, and the allowable deceleration.

When it is determined that the vehicle can be stopped (S23: YES), the determination unit 12 of the notification ECU 10 performs another traffic participant between the vehicle 2 and the already recognized traffic participant as an interrupt determination process (S24). Determines if has appeared. The determination unit 12 may exclude a person, a bicycle, or a motorcycle moving away from the vehicle 2 from the interruption determination among other traffic participants. The determination unit 12 may exclude the vehicle that is about to merge in the traveling direction of the vehicle 2 from the interruption determination. The determination unit 12 determines whether or not the vehicle intends to merge in the traveling direction of the vehicle 2 by using the direction of the target vehicle and the angle (incident angle) formed by the traveling direction of the vehicle 2 and the direction of the target vehicle. Can be determined.

When it is determined that another traffic participant has not appeared (S24: NO), the notification control unit 13 of the notification ECU 10 displays a display according to the running state of the vehicle 2 as a stop notification process (S26). To display. On the other hand, when it is determined that the vehicle cannot be stopped (S23: NO) or when it is determined that another traffic participant has appeared (S24: YES), the notification control unit 13 of the notification ECU 10 passes through. As the notification process (S22), the notification unit 14 displays a display indicating that the vehicle 2 is passing. Alternatively, the notification control unit 13 does not display the information. When the stop notification process (S26) or the passage notification process (S28) is completed, the flowchart shown in FIG. 4 ends. If the end condition is not satisfied, the notification ECU 10 starts the flowchart shown in FIG. 4 from the beginning. The end condition is, for example, that the notification start button is turned off. In this way, when the vehicle 2 is the priority vehicle, the traffic participant who is the interrupt target is not notified (or notified that the vehicle is passing). As a result, the notification device 1 can provide only appropriate information to the interrupt target.

FIG. 5 is a flowchart showing an example of the control operation of the direction indicator. The flowchart shown in FIG. 5 is executed by the notification ECU 10 of the notification device 1. The notification ECU 10 starts processing when the notification start button is turned on, for example, by the operation of the driver.

As shown in FIG. 5, the notification ECU 10 determines whether or not the vehicle 2 has reached the operation start position of the direction indicator as the start determination process (S30). When it is determined that the vehicle 2 has reached the operation start position (S30: YES), the notification ECU 10 performs another traffic participation between the vehicle 2 and the already recognized traffic participant as an interrupt determination process (S32). Determine if a person has appeared.

When it is determined that another traffic participant has not appeared (S32: NO), the notification ECU 10 operates the direction indicator as an operation process (S40). When the operation process (S40) is completed, the flowchart shown in FIG. 5 is completed. If the end condition is not satisfied, the notification ECU 10 starts the flowchart shown in FIG. 5 from the beginning. The end condition is, for example, that the notification start button is turned off.

When it is determined that another traffic participant has appeared (S32: YES), the notification ECU 10 is set as a mask process (S34) so that the direction indicator does not perform the display operation. Subsequently, the notification ECU 10 determines whether or not the vehicle 2 has passed the position (point) corresponding to the interrupt target as the passage determination (S36).

When it is determined that the position corresponding to the interrupt target has been passed (S36: YES), the notification ECU 10 restarts the operation of the direction indicator as a restart process (S38).

When it is determined that the vehicle 2 has not reached the operation start position (S30: NO), when it is determined that the vehicle 2 has not passed the position corresponding to the interrupt target (S36: NO), or the restart process (38). ) Ends, the flowchart shown in FIG. 5 ends. If the end condition is not satisfied, the notification ECU 10 starts the flowchart shown in FIG. 5 from the beginning. The end condition is, for example, that the notification start button is turned off.

As described above, according to the notification device 1 according to the embodiment, even if another traffic participant appears between the vehicle 2 and the already recognized traffic participant, the traffic participant around the autonomous driving vehicle Can provide information appropriately.

Although various exemplary embodiments have been described above, various omissions, substitutions, and changes may be made without being limited to the above-mentioned exemplary embodiments.

For example, the vehicle 2 is not limited to a vehicle that travels by automatic driving, and may be a vehicle that has a function of assisting the driver's driving, or a general vehicle that does not have an automatic driving function or a support function. There may be. The recognition unit 11 may not only recognize based on the detection result of the external sensor 3, but may also recognize based on the information obtained via communication. The notification unit 14 does not need to be provided outside the vehicle 2, and may be provided inside the vehicle such as inside the windshield as long as the information can be notified to the outside of the vehicle. The notification unit 14 may notify the information in characters. The notification unit 14 is not limited to the display device, and may be a light source device such as a lamp. In this case, the notification unit 14 can notify the information in the lit state. Alternatively, the notification unit 14 may be a floodlight that displays optical paint on the road surface. In this case, the notification unit 14 can project the information to be displayed on the display device onto the road surface. The notification unit 14 is not limited to notification by display, and may notify by voice or vibration.

1 ... Notification device, 10 ... Notification ECU, 8 ... Automatic operation ECU, 11 ... Recognition unit, 12 ... Judgment unit, 13 ... Notification control unit, 14 ... Notification unit.

Claims (1)

It is a notification device provided in a vehicle and notifies information to traffic participants existing in the traveling direction of the vehicle.
The recognition unit that recognizes the traffic participants and
A notification unit that notifies the above information to the outside of the vehicle,
A notification control unit that notifies the notification unit of the deceleration state of the vehicle, and
A determination unit for determining whether or not another traffic participant appears in front of the traffic participant in the traveling direction of the vehicle, and a determination unit.
With
In response to the determination by the determination unit that the other traffic participant has appeared, the notification control unit is in a deceleration state of the vehicle until the vehicle reaches a position corresponding to the other traffic participant. Is not notified to the notification unit, but the deceleration state of the vehicle is notified to the notification unit after the vehicle has passed a position corresponding to the other traffic participant.
Notification device.

Images