JP2023114805A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device capable of continuously confirming a vehicle state even when an abnormality occurs in a control section of a vehicle display device.SOLUTION: In a vehicle display device 200, a data processing section 102 of an HCU 100 for generating image data detects an abnormality of a control section GDC 111 of an MID 110 for displaying the image data. A speaker 204 is controlled by an image generation section 101 so as to output a vehicle state by sound from the speaker 204 based on the detection of the abnormality of the GDC 111 by the data processing section 102. Thus, even when the vehicle state cannot be output from a first display unit 114 of the MID 110 and a buzzer 118 due to the abnormality of the GDC 111, sound is output from the speaker 204 so as to notify an inner side of a cabin of the vehicle state.SELECTED DRAWING: Figure 2

Description

The disclosure in this specification relates to a vehicle control device that is mounted on and used in a vehicle.

2. Description of the Related Art A vehicle display device that displays a vehicle state, for example, a vehicle speed, displays the vehicle speed by rotating an image pointer in accordance with the vehicle speed. In addition, when there is a problem with the vehicle as the vehicle state, the vehicle display device outputs a warning sound from the speaker to notify that there is a problem. When an abnormality such as a failure occurs in such a speaker, there is a problem that a warning sound cannot be output.

Japanese Patent Laid-Open No. 2002-200002 discloses a technique for coping with such an abnormality of the speaker. In the alarm device disclosed in Patent Literature 1, the alarm unit includes a speaker and a buzzer, and is controlled to output an alarm from the buzzer when an abnormality occurs in the speaker.

JP 2016-62247 A

In the alarm device described in Patent Literature 1 mentioned above, there is one control unit that controls the alarm unit. Then, if an abnormality occurs in the control unit, there is a problem that the two blowers, the speaker and the buzzer, cannot be used at the same time. In a vehicle display device, a display unit that displays vehicle speed and a buzzer that outputs sound are controlled by a single control unit. A person cannot confirm the vehicle state such as the vehicle speed.

Therefore, the object of the disclosure has been made in view of the above-mentioned problems. The object is to provide a control device for

The present disclosure employs the following technical means to achieve the aforementioned objects.

The vehicle state output device disclosed herein includes an image display unit (114) that displays an image of the vehicle state, a first sound output unit (118) that outputs the vehicle state with sound, an image display unit and the first sound output unit. a first control unit (111) for controlling a vehicle state output device (110), wherein an abnormality detection unit (102) for detecting an abnormality in the first control unit; A second sound output unit (204) for outputting sound into the interior of the vehicle, and the second sound output unit outputting the vehicle state by sound based on the abnormality detection unit detecting an abnormality in the first control unit. and a second control unit (101) that controls to

According to such a vehicle control device, the abnormality detection section detects an abnormality in the first control section of the vehicle state output device. Then, the second sound output section is controlled by the second control section so that the second sound output section outputs a sound indicating the state of the vehicle based on the detection of the abnormality of the first control section by the abnormality detection section. As a result, even if the sound cannot be output from the first sound output unit of the vehicle state output device due to an abnormality in the first control unit, the sound can be output from the second sound output unit to inform the vehicle interior of the vehicle of the state of the vehicle. .

It should be noted that the symbols in parentheses of each of the means described above are examples showing the correspondence with specific means described in the embodiments described later.

BRIEF DESCRIPTION OF THE DRAWINGS The perspective view which shows the vehicle by which the display apparatus 200 for vehicles of 1st Embodiment was mounted. FIG. 2 is a block diagram showing a vehicle display device 200; 4 is a flowchart showing display control of the HCU 100; 4 is a flowchart showing fail-safe control of the HCU 100;

(First embodiment)
A first embodiment of the present disclosure will be described with reference to FIGS. 1 to 4. FIG. As shown in FIG. 1, the vehicle display device 200 of the present embodiment is mounted on a vehicle, generates image data based on sensing data of the vehicle, and displays the generated data in the interior of the vehicle. The vehicle display device 200 includes an HCU (Human Machine Interface Control Unit) 100 that generates image data, and a plurality of display devices that display the image data. In this embodiment, a MID (Multi-Information Display) 110 and a CID (Center Information Display) 120 are provided as display devices. As shown in FIG. 2, the HCU 100, the MID 110 and the CID 120 are connected so as to be able to communicate with each other. Also, the HCU 100 is connected to equipment on the vehicle side so as to be able to communicate data with each other.

HCU 100, MID 110 and CID 120 each have a control unit. Each control unit executes a program stored in a storage medium to control each unit. Each control unit has at least one processing unit (CPU) and a storage medium for storing programs and data. Each control unit is realized by, for example, a microcomputer having a computer-readable storage medium. The storage medium is a non-transitional tangible storage medium that non-temporarily stores computer-readable programs and data. A storage medium is realized by a semiconductor memory, a magnetic disk, or the like.

The HCU 100 is a vehicle control device that controls the output of vehicle information. The HCU 100 has an image generator 101 and a data processor 102 . First, the data processing unit 102 will be described. The data processing unit 102 is connected via a first communication interface 103 to a sensor group 202 of the vehicle and other devices of the vehicle. The data processing unit 102 acquires sensor signals from the sensor group 202 . The sensor group 202 includes, for example, a vehicle speed sensor that detects the speed of the vehicle, a rotation speed sensor that detects the rotation speed of the engine, and a travel distance sensor that detects the travel distance.

The data processing unit 102 also functions as an acquisition unit, and receives position information regarding the current position of the vehicle from other devices such as a locator and perimeter monitoring sensors via the first communication interface 103, and legal speed information regarding the legal speed at the current position. Get speed information. The locator reads map data around the current position from the map database, and provides the data processing unit 102 with the locator information. Perimeter monitoring sensors are autonomous sensors that monitor the surrounding environment of the vehicle. Perimeter monitoring sensors, for example, detect moving objects such as pedestrians and other vehicles, road markings such as road markings, guardrails, curbs, road signs, lane markings, and structures along the road from the detection range around the vehicle. Detect stationary objects such as

The data processing unit 102 is also connected to the switch group 203 of the vehicle via the first input interface 104 . The data processing unit 102 acquires input signals from the switch group 203 . The switch group 203 includes, for example, an air conditioner switch for operating air conditioning, an audio switch for operating sound, a light switch for operating lights, and a mode switch for operating operation modes.

The data processing unit 102 generates sensing data based on sensor signals from the sensor group 202 and input signals from the switch group 203 . Sensing data is, for example, information about driving such as vehicle speed information or total travel distance information according to a sensor signal, and indicator information according to an input signal. The data processing unit 102 provides the generated sensing data to the image generation unit 101 .

The data processing unit 102 is connected with the MID 110 via the second communication interface 107 . The data processing unit 102 and the MID 110 are connected for data communication via a second communication path 206 different from a first communication path 205 which will be described later. Second communication interface 107 on second communication path 206 converts the sensing data into a data signal and transmits the data signal to MID 110 .

Next, the image generator 101 will be described. The image generation unit 101 is a second control unit, acquires sensing data from the data processing unit 102, and generates image data based on the sensing data. The image generator 101 and the MID 110 are connected for data communication via a first communication path 205 different from the second communication path 206 described above. A first signal conversion IC (Integrated Circuit) 108 forming the first communication path 205 converts the image data into a data signal and transmits the data signal to the MID 110 .

Further, the image generation unit 101 and the CID 120 are connected by a third communication path 207 so as to be capable of data communication. The first signal conversion IC 108 forming the third communication path 207 converts the image data into a data signal and transmits the data signal to the CID 120 . In this manner, the image generation unit 101 causes the display device corresponding to the generated image data to display the image data.

The image generation unit 101 is also connected to the speaker 204 of the vehicle via the audio interface 105 . Speaker 204 is a second sound output unit that outputs sound into the vehicle interior. As shown in FIG. 1, two or more speakers 204 are installed, for example, for the driver's seat, passenger's seat, and rear seat. Speaker 204 thereby outputs audio information, such as music, to the occupants of the vehicle. Also, in an emergency, which will be described later, the speaker 204 outputs a sound indicating the vehicle state and a guidance voice to guide a warning to the vehicle interior.

Next, the MID 110 will be explained. The MID 110 is an image display unit that displays at least the vehicle speed as the vehicle state, and is arranged in front of the driver's seat in the interior of the vehicle. The MID 110 displays the first vehicle image representing information related to driving the vehicle to the passenger in color or in monochrome. The first vehicle image data is based on image data generated by the image generator 101 of the HCU 100 . The MID 110 includes a GDC (Graphics Display Controller) 111 , a buzzer drive circuit 117 , a buzzer 118 , a first display 114 , a first backlight 115 and a nonvolatile memory 116 .

The first display 114 is an image display unit that displays an image of the vehicle state. The first display 114 is implemented by a liquid crystal display and emits display light representing display information (image). The first display 114 has a first display driver IC 114a. The first display drive IC 114a performs drive control to display the first vehicle image data provided from the GDC 111. FIG.

The first backlight illumination 115 is arranged on the side opposite to the display surface of the first display 114 . The first backlight illumination 115 emits light toward the first display 114 . The light emitted by the first backlight illumination 115 is partially transmitted through the first display 114 so that the first display 114 displays an image. The first backlight illumination 115 has a first backlight illumination drive IC 115a. The first backlight illumination drive IC 115 a performs lighting control based on the first vehicle image data provided from the GDC 111 .

The MID 110 is connected to the image generator 101 of the HCU 100 via the third signal conversion IC 112 . The third signal conversion IC 112 forming the first communication path 205 with the image generator 101 receives data signals from the second signal conversion IC 106 of the HCU 100 .

GDC 111 is a first control unit and controls the image output from first display 114 and the electronic sound output from buzzer 118 . The GDC 111 generates the first vehicle image based on the image data converted from the received signal by the third signal conversion IC 112 . The GDC 111 controls display of the first vehicle image by the first display 114 and transmission illumination of the first display 114 by the first backlight illumination 115 .

MID 110 is also connected to data processing unit 102 of HCU 100 via third communication interface 113 . A third communication interface 113 forming a second communication path 206 with the data processing unit 102 receives data signals from the second communication interface 107 of the HCU 100 . The GDC 111 processes sensing data converted from the received signal by the third communication interface 113 .

The GDC 111 also drives the buzzer 118 via the buzzer driving circuit 117 to output an electronic sound into the vehicle compartment. Buzzer 118 functions as a first sound output unit that outputs the vehicle state by sound. Buzzer 118 outputs a buzzer sound as a warning sound, for example, when a warning state to be notified to the driver occurs. Warning conditions include, for example, when the vehicle is about to leave the lane while driving, when approaching a preceding vehicle, when the door is not securely closed, and the like.

Buzzer 118 is realized by, for example, a piezoelectric buzzer, and outputs an electronic sound by applying a voltage. Buzzer drive circuit 117 controls the amount and timing of voltage applied to buzzer 118 . The buzzer drive circuit 117 controls the voltage to the buzzer 118 based on the command from the GDC 111 .

Next, the CID 120 will be explained. The CID 120 is arranged as a second display device in the center cluster of the instrument panel in the interior of the vehicle. The CID 120 displays a second vehicle image representing information relating to vehicle driving and interior comfort to the occupants in color or monochrome. The second vehicle image is, for example, a guidance screen for navigation, an operation screen for air conditioners, and an operation screen for audio equipment. The second vehicle image is based on image data generated by the image generator 101 of the HCU 100 . The CID 120 includes an MPU (Micro Processing Unit) 122 , a liquid crystal type second display 123 , and a second backlight illumination 124 .

The second display 123 is implemented by a liquid crystal display and emits display light representing display information (image). The second display 123 has a second display drive IC 123a. The second display drive IC 123a drives and controls to display the second vehicle image data provided from the MPU 122. FIG.

The second backlight illumination 124 is arranged on the side opposite to the display surface of the second display 123 . The second backlight illumination 124 emits light toward the second display 123 . The light emitted by the second backlight illumination 124 is partially transmitted through the second display 123 so that the second display 123 displays an image. The second backlight illumination 124 has a second backlight illumination drive IC 124a. The second backlight illumination driving IC 124 a performs lighting control based on the second vehicle image data provided from the MPU 122 .

CID 120 is connected to image generator 101 of HCU 100 via fourth signal conversion IC 121 . A fourth signal conversion IC 121 forming a third communication path 207 with the image generator 101 receives data signals from the first signal conversion IC 108 of the HCU 100 .

The MPU 122 generates a second vehicle image based on image data converted from the received signal by the fourth signal conversion IC 121 . The MPU 122 controls display of the second vehicle image by the second display 123 and transmission illumination of the second display 123 by the second backlight illumination 124 .

Next, the configuration for detecting an abnormality in the vehicle display device 200 and the fail-safe control when the abnormality is detected will be described. When an abnormality occurs in the GDC 111, an image different from the normal image display is displayed. When an abnormality occurs in the GDC 111, the image displayed by the meter image, for example, may become a black screen with a single color, for example, black. Further, when an abnormality occurs in the GDC 111, the image displayed by the meter image, for example, may become stuck on the screen without changing.

Also, when an abnormality occurs in the GDC 111, the buzzer 118 does not operate normally, so the buzzer sound may not be output in the warning state. Furthermore, if an abnormality occurs in GDC 111, the sound output from buzzer 118, for example, may differ from the normal sound. If such an abnormality occurs in the GDC 111, the vehicle speed cannot be confirmed by the MID 110, so it is necessary to notify the vehicle speed without using the MID 110 as fail-safe control.

First, anomaly detection will be described. The data processing unit 102 also functions as an anomaly detection unit that detects an anomaly of the GDC 111 . As an abnormality of the GDC 111, in this embodiment, the data processing unit 102 detects a sound output abnormality in which the buzzer 118 cannot output sound. Data processing unit 102 determines that an abnormality has occurred in GDC 111 when GDC 111 cannot output sound from buzzer 118, for example. As an example of determining the state of the GDC 111, for example, the data processing unit 102 periodically exchanges messages with the GDC 111, and when there is no response message or when an error response indicating an error of the buzzer 118 is returned, , the GDC 111 determines that a sound output abnormality has occurred. When the data processing unit 102 determines that the sound output abnormality has occurred in the GDC 111 , the data processing unit 102 outputs a signal indicating that the sound output abnormality has occurred to the image generation unit 101 .

Also, the GDC 111 detects its own abnormality by checking the internal circuit. Therefore, the GDC 111 has an internal circuit that is an abnormality detection section that detects its own abnormality. When the GDC 111 detects a sound output abnormality in which the buzzer drive circuit 117 cannot be controlled by an internal circuit, the GDC 111 transmits the result of this abnormality detection to the data processing unit 102 . The sound output abnormality may be hereinafter simply referred to as "abnormality".

Next, fail-safe control will be described. When detecting an abnormality in the GDC 111 , the data processing unit 102 converts the sensing data into a data signal, transmits the data signal to the image generation unit 101 , and gives a command to output the vehicle state from the speaker 204 .

The image generation unit 101 acquires sensing data from the data processing unit 102 and generates audio data based on the sensing data. The image generation unit 101 supplies the audio data to the speaker 204 via the audio interface 105 and controls the speaker 204 to output the audio data. As a result, the state of the vehicle is output to the interior of the vehicle from the speaker 204 in the form of sound.

Next, the output control of HCU 100 will be described using the flowchart of FIG. The HCU 100 periodically executes the process shown in FIG. In step S11, it is determined whether or not there is an abnormality in the GDC 111. If there is an abnormality, the process proceeds to step S13, and if there is no abnormality, the process proceeds to step S12. Whether or not there is an abnormality is determined by the determination processing of the data processing unit 102 as described above.

In step S13, since there is an abnormality in the GDC 111, fail-safe control is performed, and the process proceeds to step S14. Details of the fail-safe control will be described later.

In step S14, it is determined whether or not the abnormality of the GDC 111 continues. If the abnormality continues, the process returns to step S13 to continue the fail-safe control. If the abnormality does not continue, the process proceeds to step S12.

In step S12, since there is no abnormality in the GDC 111, normal output control is performed, and this flow ends. Control of normal output includes control of returning image display settings and volume settings that have been implemented for fail-safe control to normal settings. As will be described later, the volume of speaker 204 is set for fail-safe control during fail-safe control, so step S12 also includes a process of returning the volume of speaker 204 to the volume before switching to fail-safe control. Fail-safe control is performed when there is an abnormality in the GDC 111 as described above. Also, when the GDC 111 is normal, a normal image is displayed.

Next, fail-safe control will be described using the flowchart of FIG. The processing shown in FIG. 4 is executed by the image generator 101 . Further, the processing shown in FIG. 4 is executed periodically, for example, at the timing of notifying the vehicle state in the state of fail-safe control.

In step S21, it is determined whether or not the volume of the speaker 204 is set for fail control. In step S22, the volume of speaker 204 is set for fail control, and the process proceeds to step S23. The volume of the speaker 204 is individually set by the driver, and is set to a volume for listening to music or the like, and the volume may be too low. Also, for example, the sound may be muted. Therefore, the volume is set to the volume for fail control, and the volume is set to be audible inside the vehicle in case of an emergency.

In step S23, it is determined whether or not the advance notice has been output. If the advance notice has been output, the process proceeds to step S25, and if the advance notice has not been output, the process proceeds to step S24. In step S24, an advance notice guidance is output, and the process proceeds to step S25.

The advance notice is a voice indicating that an abnormality has occurred in the GDC 111 . For example, the notice guidance outputs sounds such as "Now, fail-safe control is being executed." Such advance notice guidance may be output periodically, for example, once every several minutes while the fail control is being executed, or may be output only once each time the vehicle is started.

In step S25, the image generation unit 101 controls the speaker 204 so as to output a guidance voice indicating the vehicle state, and this flow ends. The guidance voice is output according to the sensing data, such as, for example, the vehicle state such as "Currently, the speed is 50 km/h", "There is no warning display", and "The vehicle is deviating from the lane".

Further, when outputting the guidance voice, if the sound of the vehicle state is associated with the direction of the vehicle, control is performed so that the vehicle state is output by sound from the speaker 204 at the position corresponding to the associated direction. may For example, the blinker sound is output from the speaker 204 located on the right side when turning right, and is output from the speaker 204 located on the left side when turning left. Also, for example, a sonar warning sound outputs a warning sound or a warning voice from a speaker 204 positioned in the direction of the object to be warned. The position output thereby can provide directional information to the driver.

As described above, in the vehicle display device 200 of the present embodiment, the data processing unit 102 detects an abnormality in the GDC 111 that is the first control unit of the MID 110 . When the data processing unit 102 detects an abnormality in the GDC 111 , the speaker 204 is controlled by the image generating unit 101 so that the vehicle state is output by sound from the speaker 204 . As a result, even if the vehicle status cannot be output from the first indicator 114 and the buzzer 118 of the MID 110 due to an abnormality in the GDC 111, the speaker 204 can output sound to inform the vehicle interior of the vehicle status.

In other words, due to a failure of the GDC 111 that controls the MID 110, in addition to the display failure of the MID 110, such as a black screen, when the buzzer 118 fails to sound, the user cannot be notified of the vehicle status. In order to suppress such inability to notify the vehicle state, a system outside the MID 110 detects a failure of the GDC 111 and uses the speaker 204 outside the MID 110 as an alternative means to notify the user.

Further, in this embodiment, during the fail-safe control that is set based on the detection of an abnormality, when the vehicle state is output by sound from the speaker 204, the sound is output to the speaker 204 at the volume set for abnormal conditions. to control. In other words, by shifting to the fail-safe mode, when the speaker 204 is sounded, items that can be arbitrarily set by the driver, such as the volume, are temporarily fixed to the optimum values for sounding the warning sound. As a result, the sound volume can be automatically set to the sound volume for fail-safe, and the passenger can be reliably notified.

Furthermore, in this embodiment, during fail-safe control, control is performed so that a sound indicating that an abnormality has occurred in the MID 110 is output from the speaker 204 . In other words, the user is notified by voice that the buzzer sound from the MID 110 should be replaced by the speaker 204 due to the abnormality of the MID 110 . Thereby, the driver can recognize that the MID 110 is abnormal.

Further, in this embodiment, during the fail-safe control, the speaker 204 outputs a guidance voice indicating the vehicle state. The speaker 204 can output not only the buzzer sound but also voice and the like. The meter display of the MID 110 is the main status notification, and the speaker 204 is used to provide a specific vehicle status notification by voice with respect to a warning that it is difficult to accurately transmit information to the user only by blowing the buzzer sound of the speaker 204 . By notifying the vehicle state such as vehicle speed by voice, it is possible to output more specific information.

Furthermore, in this embodiment, when the vehicle state sound is associated with the direction of the vehicle, control is performed to output the vehicle information sound from the speaker 204 at the position corresponding to the associated direction. Accordingly, the position of the speaker 204 allows the driver to recognize the direction corresponding to the information.

(Other embodiments)
Although the preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present disclosure.

The structures of the above-described embodiments are merely examples, and the scope of the present disclosure is not limited to the scope of these descriptions. The scope of the present disclosure is indicated by the description of the claims, and further includes all changes within the meaning and range of equivalents to the description of the claims.

Although the data processing unit 102 detects an abnormality in the GDC 111 in the first embodiment described above, an abnormality may be detected by another configuration. For example, the first display driver IC 114a may detect the abnormality of the image data, and the first display 114 may include an optical sensor in the image display section and detect the abnormality by the optical sensor. Alternatively, an image display abnormality may be detected by another device that captures the image of the first display 114, such as an in-vehicle camera.

In the first embodiment described above, the MID 110 and CID 120 are used as display devices, but other display devices may be used. For example, a HUD (Head-Up Display) or the like may be employed as the first display device or the second display device.

In the above-described first embodiment, the buzzer 118 is used as the first sound output unit that outputs the vehicle state by sound, but the sound output unit is not limited to the sound output unit that outputs the buzzer sound. It may be a sound output unit capable of Also, the MID 110 functions as a vehicle state output device that outputs the vehicle state, but the device is not limited to the MID 110 and may be a navigation device capable of producing sound. For example, when the control unit of the navigation device fails, the speaker 204 may be similarly controlled to notify the state of the navigation device.

The functions realized by the controllers of the HCU 100, GDC 111 and CID 120 in the first embodiment described above may be realized by hardware and software different from those described above, or by a combination thereof. The control units of HCU 100, GDC 111 and CID 120 may communicate with, for example, another control device, and the other control device may perform part or all of the processing. When the control units of HCU 100, GDC 111 and CID 120 are implemented by electronic circuits, it can be implemented by digital circuits, including numerous logic circuits, or by analog circuits.

In the first embodiment described above, the vehicular display device 200 is used in a vehicle. It doesn't have to be.

Further, in the first embodiment described above, the abnormality detection unit detects an abnormality in the sound output of the buzzer 118, but the configuration is not limited to this. Even if the GDC 111 has an abnormality that is not a sound output abnormality, the sound output unit other than the MID 110 may be controlled to output a sound indicating the abnormality of the GDC 111 . Further, the second sound output unit is not limited to the speaker 204, and if there is another on-vehicle sound output unit, the sound that informs the abnormality may be output from that sound output unit.

100... HCU (vehicle control unit) 101... Image generation unit (second control unit)
102... Data processing unit (abnormality detection unit) 110... MID (vehicle status output device)
111... GDC (first control section) 114... First display device (image display section)
116... Non-volatile memory 117... Buzzer drive circuit 118... Buzzer (first sound output unit) 120... CID 122... MPU
DESCRIPTION OF SYMBOLS 123... 2nd indicator 200... Display apparatus for vehicles 202... Sensor group 203... Switch group 204... Speaker (2nd sound output part)

Claims (5)

An image display unit (114) for displaying an image of a vehicle state, a first sound output unit (118) for outputting the vehicle state by sound, and a first control unit for controlling the image display unit and the first sound output unit. (111) a vehicle control device in communication with a vehicle status output device (110) comprising:
an abnormality detection unit (102) for detecting an abnormality in the first control unit;
a second sound output unit (204) that outputs sound into the interior of the vehicle;
a second control unit (101) for controlling the second sound output unit to output the vehicle state by sound based on the fact that the abnormality detection unit has detected an abnormality in the first control unit. Vehicle controller. The second control unit outputs the vehicle state by sound from the second sound output unit based on the abnormality detection unit detecting the abnormality of the first control unit, the second sound output unit 2. The control device for a vehicle according to claim 1, wherein control is performed so that the sound is output at a volume set for use in an abnormal situation. The second control unit outputs a sound indicating that an abnormality has occurred in the vehicle state output device from the second sound output unit based on the abnormality detection unit detecting an abnormality in the first control unit. 3. The vehicle control device according to claim 1 or 2, wherein the control is performed so as to output The second control unit controls the second sound output unit to output a guidance voice indicating the vehicle state based on the abnormality detection unit detecting the abnormality in the first control unit. 4. The vehicle control device according to any one of 1 to 3. A plurality of the second sound output units are installed at different locations in the vehicle interior,
When the sound of the vehicle state is associated with the direction with respect to the vehicle, the second control unit outputs the vehicle state by sound from the second sound output unit at a position corresponding to the associated direction. 5. The vehicle control device according to any one of claims 1 to 4, wherein control is performed so as to

Images