JP6299323B2 - Information presentation device and information presentation method - Google Patents

Description

  The present invention relates to an information presentation apparatus and method used for an automatic traveling vehicle capable of switching between automatic driving control for automatically controlling traveling of the vehicle and manual driving control by a driver.

  In recent years, an automatic traveling vehicle has been developed that automatically performs vehicle traveling control by an automatic driving system. In such an automatic traveling vehicle, a driver's consciousness is tested to determine a consciousness level during automatic driving control. Conventionally, as a method for determining a driver's consciousness level in a vehicle capable of automatic traveling control, Patent Literature 1 is disclosed.

  In the driver awareness level determination method disclosed in Patent Document 1, a test item is given to the driver when a predetermined driving time has elapsed, and the response is evaluated to determine the driver awareness level.

  Here, since the driver of the autonomous vehicle leaves the operation to the automatic driving system at the time of automatic driving control, it lacks the recognition of the surrounding environment and the grasp of the state of the own vehicle that were taken for granted at the time of manual driving. There is a high possibility. However, despite the fact that the driver is in this state, the automatic driving vehicle may switch from automatic driving control to manual driving control, so the driver can take over driving at any time instead of the automatic driving system. It is requested.

JP-A-11-185200

  However, since the conventional driver awareness level determination method described above only determines whether or not the driver is aware, it is confirmed whether the driver can take over from automatic driving control to manual driving control. There was a problem that it was not possible.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and provides an information presentation apparatus and method for confirming that the driver can take over from automatic driving control to manual driving control. The purpose is to provide.

In order to solve the above-described problem, an information presentation apparatus according to an aspect of the present invention is used for an automatic traveling vehicle capable of switching between automatic driving control and manual driving control. This information presentation device determines a gesture according to the currently executed driving operation as a confirming operation action for confirming that the driver can take over from the automatic driving control to the manual driving control. The control for causing the driver to execute the gesture of the confirmed confirming action is performed, and the gesture executed by the driver is detected.

  According to the present invention, since it is possible to confirm that the driver can take over from the automatic driving control to the manual driving control, even if the automatic driving vehicle is switched from the automatic driving control to the manual driving control, the driving continues safely. can do.

FIG. 1 is a block diagram showing a configuration of an information presentation apparatus according to the first embodiment of the present invention. FIG. 2 is a flowchart showing a processing procedure of a confirmation operation action control loop by the information presentation apparatus according to the first embodiment of the present invention. FIG. 3 is a diagram illustrating an example of a display when a confirmation operation action is requested from the driver by the information presenting apparatus according to the first embodiment of the present invention. FIG. 4 is a diagram illustrating an example of a display when a confirmation operation action is requested from the driver by the information presenting apparatus according to the first embodiment of the present invention. FIG. 5 is a diagram illustrating an example of a display when a confirmation operation action is requested from the driver by the information presenting apparatus according to the first embodiment of the present invention. FIG. 6 is a flowchart showing a processing procedure of a confirmation operation action execution determination process by the information presentation apparatus according to the first embodiment of the present invention. FIG. 7 is a flowchart showing a processing procedure of an automatic driving control loop by the information presenting apparatus according to the first embodiment of the present invention. FIG. 8 is a diagram illustrating an example of a display when the driver is requested to input a task by the information presenting apparatus according to the second embodiment of the present invention. FIG. 9 is a flowchart showing a processing procedure of the confirmation operation action execution determination process by the information presentation apparatus according to the second embodiment of the present invention. FIG. 10 is a block diagram showing a configuration of an information presentation apparatus according to the third embodiment of the present invention. FIG. 11 is a flowchart showing a processing procedure of a confirmation operation action execution determination process by the information presentation apparatus according to the third embodiment of the present invention.

  Hereinafter, first to third embodiments to which the present invention is applied will be described with reference to the drawings.

[First Embodiment]
[Configuration of information presentation device]
FIG. 1 is a block diagram showing the configuration of the information presentation apparatus according to the present embodiment. As shown in FIG. 1, the information presentation apparatus 1 according to the present embodiment includes a driver analysis unit 3, a driver reaction recording unit 5, a confirmation operation act determination unit 7, a confirmation operation act control unit 9, and a task. An input unit 11, a display image generation unit 13, an alarm control unit 15, and a sound generation unit 17 are provided. Furthermore, the information presenting apparatus 1 includes an ambient environment recognition unit 21, an itinerary control unit 23, a host vehicle behavior generation unit 25, a host vehicle behavior determination unit 27, a vehicle behavior control unit 29, and a vehicle state detection unit 31. It has.

  The information presentation apparatus 1 according to the present embodiment is mounted on an automatic traveling vehicle (hereinafter referred to as a vehicle) that can switch between automatic driving control that automatically performs driving control of the vehicle and manual driving control by a driver. In addition, an automatic driving system is mounted on the vehicle, and the automatic driving system automatically performs driving control of the vehicle based on the driving state of the vehicle and the external environment. Then, the automatic driving system switches from automatic driving control to manual driving control at a predetermined timing or as necessary. For example, when the driver puts his hand on the steering wheel or puts his / her foot on the pedal, a sensor installed on the steering wheel and the pedal detects it, and the automatic driving system immediately controls the operating authority to the driver. At this time, the automatic driving system hands over the steering and pedal operation authority independently according to the operation contents of the driver.

  The driver analysis unit 3 detects the driver's state and operation from each device mounted on the vehicle and acquires information such as the operation status of the vehicle so that the driver is in what state and in what state. Analyzes whether the operation or driving operation has been performed. In particular, the driver analysis unit 3 of the present embodiment is connected to the vehicle state detection unit 31 and acquires vehicle information related to the amount of movement of the vehicle steering, pedals, etc., and analyzes the manual driving performed by the driver. Then, the confirmation operation act executed by the driver is detected. Note that manual driving in the present embodiment includes pedal operation and steering operation by the driver. That is, it includes either pedal operation or steering operation, or both.

  The driver analysis unit 3 can also analyze the driver's biological signal to estimate the driver's arousal level, fatigue level, driving accuracy, driving stability, and the like. The driver analysis unit 3 acquires brain wave α wave, θ wave, heart rate, frequency analysis of heart rate waveform, respiratory rate, eye movement frequency, closed eye time, head posture, salivary cortisol and amylase as physiological information. Further, the driver analysis unit 3 acquires vehicle lateral position fluctuation amount as vehicle information, steering pattern, frequency analysis of steering waveform, etc. as behavior information, and based on these information, the arousal level, fatigue level, driving accuracy, Estimate driving stability.

  The driver reaction recording unit 5 records the reaction performed by the driver such as the state of the driver, the operation performed by the driver, and the driving operation. Specifically, the driver reaction recording unit 5 stores information such as results of analysis by the driver analysis unit 3, manual driving by the driver, tasks input from the task input unit 11, and whether or not a confirmation operation is performed. Record. In particular, the driver response recording unit 5 is not limited to the manual operation executed as the confirmation operation action, but also performs all manual operations such as an inevitable manual operation in a situation where the self-executed manual operation or the automatic operation system cannot cope. Record.

  The confirmation operation action determination unit 7 determines a confirmation operation action for confirming that the vehicle driver can take over from automatic operation control to manual operation control. Here, the confirmation operation act of this embodiment is for confirming that the process of the operation performed by the driver during manual driving can be executed. Normally, when a driver performs manual driving, he / she “recognizes” the situation around the vehicle, “determines” what operation should be performed, and “operates” the vehicle based on that determination. The process is executed. Therefore, in the present embodiment, a confirmation operation action for confirming that the driver can execute the “operation” process among these processes is set, and the driver is caused to execute this confirmation operation action. Is in a state that can be transferred from automatic operation control to manual operation control. However, if the driver can execute the operation process, the driver can also execute the recognition and determination process. Therefore, the information presentation apparatus 1 according to the present embodiment executes the recognition, determination, and operation process. I can confirm that I can do it.

  Specifically, the confirmation operation act determination unit 7 acquires a plurality of candidates for the vehicle behavior generated by the vehicle behavior generation unit 25, and the safe driving possible area information and obstacles in the surrounding environment from the vehicle behavior generation unit 25. Get object placement information. Then, based on these pieces of information, the confirmation operation act determination unit 7 determines what kind of manual driving the driver can take over from the automatic driving control to the manual driving control and performs the checking operation. Determine the action. For example, the confirmation operation act determination unit 7 specifies the position of the obstacle ahead of the vehicle from the obstacle arrangement information, and determines the driving operation to avoid the obstacle as the confirmation operation action. Alternatively, the confirmation operation act determination unit 7 may determine, as the confirmation operation action, a driving operation for turning the vehicle to the right or left according to the traveling track of the own vehicle behavior selected by the automatic driving system. In addition, the confirmation operation act determination unit 7 may determine a driving operation such as lane change, acceleration / deceleration, stop, start, or temporary stop as the confirmation operation act.

  The confirmation operation action control unit 9 performs control for causing the driver to execute the confirmation operation action determined by the confirmation operation action determination unit 7. Specifically, the confirmation operation action control unit 9 determines the timing for requesting the driver to execute the confirmation operation action, determines whether the driver has executed the confirmation operation action, and sets an approval flag. Or

  The task input unit 11 acquires a candidate for own vehicle behavior generated by the own vehicle behavior generation unit 25 and displays the candidate for own vehicle behavior on the display device 33 as a task. The driver touches the display device 33 having a touch panel function to select a task to be executed immediately after the displayed tasks and operate the vehicle. Here, the task is the minimum unit of driving operations such as straight ahead, right / left turn, left / right lane change, stop, start, acceleration, deceleration, etc., and the display screen provided to the driver shows straight forward or right / left turn A pictogram representing the task is displayed. When displaying the task, the task input unit 11 displays the task selected by the automatic driving system, the task that can be selected by the driver, or the task that cannot be selected by the driver. Therefore, the driver can change the task by selecting a task that the automatic driving system has not selected from the selectable tasks. Although the final vehicle behavior is determined by the own vehicle behavior determining unit 27, the task input from the task input unit 11 is preferentially determined as the own vehicle behavior.

  The display image generation unit 13 is connected to the display device 33 and generates a display image to be presented to the driver when requesting the driver to perform a confirmation operation or when displaying a task. To 33. The display device 33 is configured by a liquid crystal display or the like, and is disposed, for example, at a position with an angle of 10 degrees and a viewing distance of 90 cm below the front of the driver. Further, the display device 33 has a touch panel function and accepts an input from the driver.

  The alarm control unit 15 is connected to the alarm sound generation unit 35. When the alarm control unit 15 acquires information from the confirmation operation action control unit 9 and determines that an alarm is necessary, the alarm control unit 15 sets an appropriate alarm sound and generates an alarm sound generation unit. 35 outputs a signal. The alarm control unit 15 also outputs a signal to the display image generation unit 13 so that an alarm image is displayed on the display device 33 when an alarm is required. Similarly, the alarm control unit 15 outputs a signal to the sound generation unit 17 so that an alarm message is output from the speaker 37.

  The voice generation unit 17 is connected to the speaker 37, and generates an appropriate message and outputs it to the speaker 37 when requesting the driver to perform the confirmation operation action.

  The ambient environment recognition unit 21 acquires information on the surrounding environment of the host vehicle from a sensor group 41 mounted on the host vehicle such as a camera, a radar, and a GPS, and acquires map data and current position information of the host vehicle from the database 43. To do. Based on these pieces of information, the surrounding environment recognition unit 21 recognizes the surrounding environment of the host vehicle and generates surrounding environment information.

  The itinerary control unit 23 acquires the map data stored in the database 43 and the current position information of the host vehicle, and manages the entire travel route from the current position of the host vehicle to the destination. The itinerary control unit 23 generates itinerary plan information in which a plan for the entire travel route of the host vehicle is recorded.

  The own vehicle behavior generation unit 25 acquires the surrounding environment information from the surrounding environment recognition unit 21 to recognize the surrounding environment of the host vehicle, acquires the itinerary plan information from the itinerary control unit 23, and grasps the travel route of the host vehicle. . And based on these information, the own vehicle behavior production | generation part 25 calculates | requires the safe driving | running | working possible area | region information and obstacle arrangement | positioning information of the own vehicle in the present time, and the some vehicle which can drive | work the own vehicle in a safe driving | running | working possible area | region. The candidate of the own vehicle behavior (running track and speed profile) is calculated.

  The own vehicle behavior determination unit 27 acquires the surrounding environment information from the surrounding environment recognition unit 21 to recognize the surrounding environment of the host vehicle, acquires the itinerary plan information from the itinerary control unit 23, and grasps the travel route of the host vehicle. . Based on the information, the host vehicle behavior determining unit 27 determines the host vehicle behavior from the host vehicle behavior candidates generated by the host vehicle behavior generating unit 25 and outputs the determined host vehicle behavior to the vehicle behavior control unit 29. . When the driver performs the confirmation operation, the vehicle behavior determination unit 27 evaluates whether the confirmation operation is effective in light of the current state of the surrounding environment. Further, when a task is input from the task input unit 11 by the driver, the host vehicle behavior determination unit 27 preferentially determines the host vehicle behavior by giving priority to the input task.

  The vehicle behavior control unit 29 outputs a control signal to each actuator 45 mounted on the host vehicle in order to execute the host vehicle behavior determined by the host vehicle behavior determination unit 27. At this time, the vehicle behavior control unit 29 outputs the own vehicle behavior as a control result to the driver analysis unit 3.

  The vehicle state detection unit 31 acquires detection values from sensors installed in each part of the vehicle, generates vehicle information, and outputs the generated vehicle information to the driver analysis unit 3. For example, the vehicle state detection unit 31 generates the vehicle information by acquiring the amount of movement of the steering or pedal from sensors installed on the steering, accelerator pedal, brake pedal, or the like of the vehicle.

  The information presentation device 1 includes a general-purpose electronic circuit including a microcomputer, a microprocessor, and a CPU and peripheral devices, and operates as the above-described units by executing a specific program.

[Processing procedure of confirmation operation action control loop]
Next, the processing procedure of the confirmation operation action control loop by the information presentation apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG.

  As shown in FIG. 2, first, in step S <b> 101, the confirmation operation action control unit 9 reads data necessary for processing of the confirmation operation action control loop. Specifically, the confirmation operation action control unit 9 reads the vehicle information of the vehicle state detection unit 31 from the driver analysis unit 3, reads the surrounding environment information from the surrounding environment recognition unit 21, and the itinerary plan information from the itinerary control unit 23. Read. The confirmation operation action control unit 9 also reads the driver reaction history recorded in the driver reaction recording unit 5.

  In step S <b> 102, the confirmation operation action control unit 9 analyzes the confirmation operation action requested by the driver and the driver's reaction history with respect to the confirmation operation action based on the read data.

  In step S103, the confirmation operation action control unit 9 determines whether or not the number of non-executions of the confirmation operation action is greater than or equal to a reference value. However, the non-execution of the confirmation operation act includes a case where the driver does not react to the execution request for the confirmation operation act or a case where the driver reacts inappropriately. Then, the confirmation operation action control unit 9 proceeds to step S104 when the number of non-executions of the confirmation operation action is greater than or equal to the reference value, and proceeds to step S105 when the number of non-executions of the confirmation operation action is less than the reference value. move on.

  In step S104, the confirmation operation action control unit 9 sets the approval flag to “false” because the number of non-executions of the confirmation operation action is equal to or greater than the reference value. Thereby, the confirmation operation action control part 9 determines that the driver has not approved the automatic driving control, and performs control so as to interrupt the automatic driving control. Moreover, the confirmation operation action control part 9 determines with the driver not being in the state which can be handed over from automatic operation control to manual operation control. Further, the confirmation operation action control unit 9 inputs to the host vehicle behavior determination unit 27 that the approval flag is set to “false”.

  Thus, when the approval flag is set to “false”, the confirmation operation action control loop according to the present embodiment ends.

  On the other hand, in step S105, the confirmation operation action determination unit 7 determines the confirmation operation action requested from the driver. Specifically, the confirmation operation action determination unit 7 acquires a plurality of candidates for own vehicle behavior from the own vehicle behavior generation unit 25, and acquires safe driving possible region information and obstacle arrangement information. And the confirmation operation action determination part 7 determines the confirmation operation action for confirming that the driver | operator can be taken over from automatic operation control to manual operation control based on such information. For example, the driving operations required for the driver as the confirmation operation include turning left and right, overtaking, changing lanes to the left and right, acceleration / deceleration, merging, stopping, starting, temporary stop, front vehicle following, and the like. These driving operations can be executed in consideration of the surrounding environment. In addition, a reasonable driving operation is set as an option for the confirming operation action considering the entire itinerary of the host vehicle.

  Next, in step S <b> 106, the confirmation operation action control unit 9 determines the timing for requesting the driver for the confirmation operation action. Specifically, the confirmation operation action control unit 9 acquires the analysis result of the driver's state and vehicle information from the driver analysis unit 3, and the timing when the previous confirmation operation action is executed from the driver reaction recording unit 5 Get elapsed time information. Moreover, the confirmation operation action control part 9 acquires safe driving | running | working possible area information and obstacle arrangement | positioning information from the confirmation operation action determination part 7, and acquires the information regarding traveling control from the automatic driving system of the own vehicle. And based on these information, the confirmation operation action control part 9 determines the timing which requests | requires a confirmation operation action from a driver | operator.

  For example, the confirmation operation action control unit 9 requests the driver to execute the confirmation operation action every time a predetermined time elapses or every time the host vehicle performs a predetermined number of times of travel control. Moreover, the confirmation operation action control part 9 may set the timing which requests | requires a confirmation operation action from a driver | operator based on a driver | operator's state. For example, the confirmation operation action control unit 9 requests the driver to execute the confirmation operation action when detecting that the driver is not awake or detecting that the driver is not monitoring the front. . Furthermore, the manual driving performed by the driver may be analyzed, and the timing for requesting the driver to perform a confirmation operation may be set based on the analysis result. For example, the manual driving performed by the driver is analyzed, and if the driver's arousal level, driving accuracy, and driving stability are high, the time until the confirmation operation is requested is set longer, and the driver's arousal level and driving accuracy are set. If the driving stability is low, the time until the confirmation operation action is requested is set short. Similarly, if the driver's fatigue level is high, the time until the confirmation operation action is requested is set short, and if the driver's fatigue level is low, the time until the confirmation operation action is requested is set long.

  Furthermore, the confirmation operation action control unit 9 may set a timing for requesting the driver to perform a confirmation operation action based on the traveling state of the host vehicle and the external situation. For example, the timing for requesting the confirmation operation action is set according to the speed of the host vehicle, the traffic jam condition, whether or not the vehicle is traveling on an expressway, and the like. However, if the driver performs manual driving control at his / her discretion, or if the driver performs manual driving by being prompted by information from the automatic driving system, he / she will perform a confirmation operation as long as the manual driving is performed safely. It can be regarded as an equivalent act. Therefore, when such a manual operation is performed, the confirmation operation action control unit 9 performs control so as to delay the timing for requesting the confirmation operation action from the driver, or reduces the number of times the confirmation operation action is requested. Or

  In addition, when the timing at which takeover from automatic operation control to manual operation control is set in advance, the confirmation operation action control unit 9 requests the driver to execute the confirmation operation action as the timing approaches. Reduce the interval. For example, when taking over from automatic driving control to manual driving control when getting off from a car-only road to a general road, as the timing of getting off to the general road approaches, the interval for requesting the confirmation operation action from the driver is shortened .

  Next, in step S107, the confirmation operation action control unit 9 determines whether it is time to request the confirmation operation action determined in step S106, and if it is not time to request the confirmation operation action. It is determined whether or not it is time to continuously request a confirmation operation action. Then, when it is time to request a confirmation operation, the process proceeds to step S108.

  In step S108, the confirmation operation action control unit 9 requests the driver to perform the confirmation operation action. At this time, the confirmation operation action control unit 9 provides a display on the display device 33 and a message from the speaker 37 as information prompting the driver to perform manual driving. For example, information that prompts the user to perform manual driving such as “can change lane to the right” or “can accelerate” is provided.

  Here, as an example of specific processing when requesting the driver to perform the confirmation operation action, when the own vehicle is currently running automatically while maintaining the distance between the front vehicles, A process when the driver is requested to change the lane to the right as an operation action will be described.

  As shown in FIG. 3, the confirmation operation act control unit 9 displays “Please change lane to the right” on the display device 33 and simultaneously notifies the driver from the speaker 37 by voice. Here, when the driver immediately grips the steering wheel, a sensor installed in the steering reacts to detect that the driver grips the steering wheel, and the driving authority is handed over to the driver. Thereafter, the driver changes the lane to the right lane, returns the vehicle posture to be parallel to the lane, and releases the steering wheel. When the driver releases his hand from the steering wheel, the sensor detects it, the driving authority returns to the automatic driving system, and normal automatic driving control is resumed.

  On the other hand, if the driver does not follow the instruction “please change lane to the right”, the confirmation operation action control unit 9 maintains following vehicle while the lane change to the right can be performed safely. While continuing automatic driving, it waits for the driver's response. Or you may make it wait for a driver | operator's response only until predetermined time, for example, 30 second, after instruct | indicating lane change. At this time, the confirmation operation action control unit 9 displays the elapsed time on the display device 33. When the surrounding environment changes and the lane change to the right cannot be executed safely, or when the waiting time has elapsed, the confirmation operation action control unit 9 “the confirmation operation action was not executed” Is displayed on the display device 33 and notified from the speaker 37 by voice. Thereafter, when the confirmation operation action is not performed a predetermined number of times, the confirmation operation action control unit 9 is in a state where the driver ignores the confirmation operation action or cannot select the next driving operation. Therefore, the alarm sound generation unit 35 generates an alarm and controls the display screen to blink.

  At this time, the confirmation operation action control unit 9 may perform a pictogram display as shown in FIG. 4 as a display for requesting execution of the confirmation operation action. In the pictogram display shown in FIG. 4, 51 is a right turn, 52 is a left turn, 53 is a lane change to the left, 54 is a lane change to the right, 55 is a straight line (starting, following the front car), and 56 is a pictogram indicating a stop. doing. In FIG. 4, a dotted line (left turn 52, right lane change 54) is a driving operation that cannot be selected by the driver, and is a driving operation determined by the automatic driving system to be infeasible from the route of the entire itinerary and the surrounding environment. The white display (straight forward 55) is the driving operation currently being executed, the dark color display (right turn 51) is the driving operation instructed by the automatic driving system, and the light color display (left lane change 53) is the ambient environment. Represents a driving operation that can be implemented from the above but was not selected as a confirmation operation action.

  Moreover, the confirmation operation action control part 9 may process the pictogram image shown in FIG. 4 so that it can be recognized by peripheral vision as shown in FIG. The display in this case displays a pattern of spatial frequency and time frequency that does not have a luminance edge. For example, the confirmation operation action control unit 9 displays a pattern whose main component is a spatial frequency of 1 CPD (Cycle Per Degree) or less and a temporal frequency of 1 to 7 Hz on the display device 33. As a result, the driver can recognize the confirmation operation action with peripheral vision without directing his / her line of sight toward the display device 33.

  The pictogram image shown in FIG. 5 constitutes a continuous flow in which the mountain-shaped elements constituting the pictogram smoothly move from the bottom to the top. In addition, since the line of sight is easily guided by the flow of the pictogram image, a low-pass filtering process for removing high spatial frequency components is performed on the entire image.

  In FIG. 5, the speed at which the pictogram representing the driving operation currently being executed is set relatively high, then the driving operation of the confirmation operation action, and then the default setting of the driving operation is followed by the speed at which the pictogram flows. Lower. Thus, by assigning a flow to a pictogram, each pictogram is distinguished by a plurality of attributes such as color, flow speed and direction, brightness and darkness. In addition, since the pictogram is blurred by image processing, the driver can see the driving operation currently being executed, the driving operation of the confirming operation action, and the driving operation set as default only by looking at the peripheral vision without gazing. be able to. Specifically, JP-A-2006-184854, Ambient information display method based on spatio-temporal frequency characteristics of Masami Funagawa, Automobile Technology, 40, 5, 1191-1196. Please refer to. Further, the pictogram representing the driving operation of the confirmation operation act may be repeatedly blinked instead of flowing. Thereby, it becomes easier to discriminate than the case of distinguishing by the difference in speed. However, since the blinking in which the light and darkness changes in a rectangular wave shape is troublesome and may induce the driver's line of sight, it is better to make the blinking a smooth light and dark change in a sine wave shape.

  Furthermore, the confirmation operation action control unit 9 may provide sensory stimulation to the driver in synchronization with the display on the display device 33. For example, a vibration stimulus may be given to the driver through steering or the like, or a sound effect may be provided. Thus, the driver can surely feel that the information is provided.

  In step S109, the confirmation operation action control unit 9 compares the manual operation by the driver with the confirmation operation action requested by the driver, and determines whether or not the driver has executed the confirmation operation action. A specific confirmation operation execution determination process will be described later with reference to FIG.

  If the driver performs another driving operation instead of the confirmation operation, and the driving operation can be performed safely in consideration of the surrounding environment, it is determined that the driver has performed the confirmation operation. May be. This is because it is possible for the driver to recognize the surrounding environment and perform the manual operation based on the safety rather than whether or not the confirmation operation has been performed. This is because it is important for judging.

  If it is determined in step S109 that the driver has not performed the confirmation operation, the process proceeds to step S110. In step S110, the confirmation operation action control unit 9 inputs non-execution of the confirmation operation action to the driver reaction recording unit 5, and the process returns to step S101.

  On the other hand, if it is determined in step S109 that the driver has performed the confirmation operation, the process proceeds to step S111. In step S111, the confirmation operation action control unit 9 inputs the execution of the confirmation operation action into the driver reaction recording unit 5, and proceeds to step S112.

  In step S112, the confirmation operation action control unit 9 sets the approval flag to “true”. Accordingly, the confirmation operation action control unit 9 determines that the driver has approved the automatic driving control, and performs control so as to continue the automatic driving control. In addition, the confirmation operation action control unit 9 determines that the driver can take over from the automatic operation control to the manual operation control. Further, the confirmation operation action control unit 9 inputs to the host vehicle behavior determination unit 27 that the approval flag is set to “true”.

  Thus, when the approval flag is set to “true”, the confirmation operation action control loop according to the present embodiment ends.

[Procedure for execution judgment processing for confirmation operation]
Next, the processing procedure of the confirmation operation action execution determination process executed in step S109 of the above-described confirmation operation action control loop will be described with reference to the flowchart of FIG.

  As shown in FIG. 6, first, in step S <b> 201, the confirmation operation action control unit 9 reads vehicle information data detected by the vehicle state detection unit 31 from the driver analysis unit 3. Thereby, the confirmation operation action control part 9 can recognize the operation amount of the steering and the pedal by the driver.

  In step S <b> 202, the confirmation operation action control unit 9 analyzes the content of manual driving by the driver from the vehicle information detected by the vehicle state detection unit 31. Specifically, the confirmation operation action control unit 9 determines whether the manual driving is a left or right turn based on the amount of steering and pedal operation by the driver, or overtaking, changing lanes, accelerating / decelerating, joining, stopping, starting, temporarily stopping, Determine which one is following the car.

  In step S203, the confirmation operation action control unit 9 compares the manual operation obtained in the analysis in step S202 with the confirmation operation action determined in step S105, and whether the manual operation by the driver is consistent with the confirmation operation action. Determine whether or not. And the confirmation operation action control part 9 progresses to step S204, when the manual driving | operation by a driver is consistent with the confirmation operation action. In step S204, the confirmation operation action control unit 9 outputs execution of the confirmation operation action and determines that the driver can take over from the automatic operation control to the manual operation control.

  On the other hand, if the manual driving by the driver is not consistent with the confirmation operation in step S203, the process proceeds to step S205. In step S <b> 205, the confirmation operation action control unit 9 determines that the confirmation operation action is not executed and the driver is not in a state where the driver can take over from the automatic operation control to the manual operation control.

  When execution or non-execution of the confirmation operation action is output in this way, the confirmation operation action execution determination process is terminated, and the process returns to the confirmation operation action control loop.

[Processing procedure of automatic operation control loop]
Next, the processing procedure of the automatic driving control loop by the information presentation apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG.

  As shown in FIG. 7, first, in step S <b> 301, the own vehicle behavior generation unit 25 reads the surrounding environment information from the surrounding environment recognition unit 21 and reads the itinerary plan information from the itinerary control unit 23.

  In step S302, the vehicle behavior generation unit 25 generates a vehicle behavior candidate according to the system logic of a normal automatic driving system. A plurality of candidates for the own vehicle behavior are generated and include information on the traveling track and speed profile of the own vehicle.

  Here, the system logic of the automatic driving system is a logic for determining the own vehicle behavior in consideration of driving efficiency and safety. For example, the vehicle behavior is determined with priority on the shortest route to the destination, or the vehicle behavior is determined with priority over time over the distance in a traffic jam section. On the route, although necessary lane changes are made, priority is given to safety so that unnecessary lane changes are not made.

  In accordance with such a system logic, the host vehicle behavior generation unit 25 generates a plurality of traveling tracks such as a right turn, a left turn, and a straight travel, and speed profiles at that time as candidates for the host vehicle behavior.

  In step S <b> 303, the host vehicle behavior determination unit 27 determines whether the approval flag is “true” based on the input from the confirmation operation action control unit 9. If the approval flag is “true”, the host vehicle behavior determination unit 27 determines that the continuation of automatic driving is approved, and proceeds to step S304. If the approval flag is not “true” The process returns to step S301.

  In step S304, the host vehicle behavior determination unit 27 determines whether or not there is a task input from the driver via the task input unit 11. If there is no task input, the process proceeds to step S305, where the task input is performed. If there is, the process proceeds to step S306.

  In step S305, the host vehicle behavior determination unit 27 determines the host vehicle behavior according to the system logic of the automatic driving system because there is no task input from the driver. Since the vehicle behavior generation unit 25 generates a plurality of candidates for the vehicle behavior, the vehicle behavior determination unit 27 determines the vehicle behavior according to the system logic from these candidates.

  For example, in the system logic of the automatic driving system, the own vehicle behavior is determined in consideration of driving efficiency and safety. Therefore, when there is no traffic jam, the own vehicle behavior is determined by giving priority to the shortest route to the destination. On the other hand, when there is a traffic jam, the vehicle behavior is determined by giving priority to time over distance.

  In this way, the own vehicle behavior determining unit 27 determines the traveling trajectory such as right turn, left turn, straight traveling, and the speed profile at that time as the own vehicle behavior, and proceeds to step S309.

  On the other hand, in step S <b> 306, the host vehicle behavior determination unit 27 determines the task input from the driver via the task input unit 11 as the host vehicle behavior. Then, the host vehicle behavior determining unit 27 records in the driver reaction recording unit 5 that the task input from the driver has been determined as the host vehicle behavior, and proceeds to step S307.

  In step S307, the host vehicle behavior determination unit 27 determines whether or not the task input from the driver matches the confirmation operation action. If the input task and the confirmation operation action match, the process proceeds to step S308. If not, the process proceeds to step S309.

  In step S308, the host vehicle behavior determination unit 27 notifies the confirmation operation act control unit 9 that the confirmation operation action is executed because the task input from the driver coincides with the confirmation operation action. Proceed to

  In step S309, the vehicle behavior control unit 29 executes the host vehicle behavior determined in step S305 or step S306. That is, the vehicle behavior control unit 29 executes either the own vehicle behavior determined according to the system logic in step S305 or the input task from the driver determined in step S306. At this time, the vehicle behavior control unit 29 outputs a control signal necessary for executing the own vehicle behavior to the actuator 45 to execute the own vehicle behavior. Further, the vehicle behavior control unit 29 inputs the executed own vehicle behavior to the driver analysis unit 3.

  When the vehicle behavior is thus executed, the information presentation device 1 according to the present embodiment ends the automatic driving control loop.

[Effect of the first embodiment]
As described above in detail, in the information presentation apparatus 1 according to the present embodiment, in order to confirm that the driver can take over from the automatic driving control to the manual driving control, a confirmation operation action is performed on the driver. Let it run. As a result, it can be confirmed that the driver can take over from the automatic driving control to the manual driving control, so that it is possible to continue traveling safely even if the automatic driving control is switched from the automatic driving control to the manual driving control. it can.

  Moreover, according to the information presentation apparatus 1 according to the present embodiment, since the confirmation operation act is manual operation, it is possible to reliably confirm that the driver can take over from automatic operation control to manual operation control. it can.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, the manual operation is detected from the pedal operation and the steering operation, so that the manual operation performed by the driver can be reliably detected.

  Moreover, in the information presentation apparatus 1 according to the present embodiment, it is determined whether or not the confirmation operation has been executed by comparing the manual operation by the driver with the confirmation operation requested by the driver. Thereby, it is possible to accurately determine whether or not the driver can take over from the automatic operation control to the manual operation control.

  Furthermore, according to the information presenting apparatus 1 according to the present embodiment, since the automatic driving control is interrupted when the driver does not execute the confirmation operation act, safety can be ensured in the automatic traveling vehicle.

  Moreover, in the information presentation apparatus 1 according to the present embodiment, the execution of the confirmation operation action is requested every time a predetermined time elapses or every time the traveling control is performed a predetermined number of times by the automatic traveling vehicle. Thereby, since it can request | require a driver | operator's execution of a check operation action regularly, safety | security can be improved in automatic driving | operation control.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, when the driver detects that the driver is not awake, or when the driver detects that the driver is not monitoring the front, the confirmation operation action is performed by the driver. To request. As a result, since the driver can be requested to execute the confirmation operation when the driver's consciousness level is lowered, safety can be improved in the automatic traveling vehicle.

  Moreover, in the information presentation apparatus 1 which concerns on this embodiment, the timing which requests | requires a driver | operator to perform confirmation operation action is set based on a driver | operator's state, the driving | running | working state of an autonomous vehicle, and an external condition. Accordingly, it is possible to request the driver to execute the confirmation operation action at an appropriate timing according to the state of the driver, the traveling state of the autonomous vehicle, and the external situation.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, when the timing at which the automatic operation control is transferred to the manual operation control is preset, the interval for requesting the execution of the confirmation operation action as the timing approaches. To shorten. Thereby, when handing over from automatic driving | operation control to manual driving | operation control is performed, a driver | operator can be made into the state which can be handed over reliably.

  Moreover, in the information presentation apparatus 1 according to the present embodiment, when the driver performs manual driving, the timing for requesting the driver to perform the confirmation operation action is delayed. Thereby, since the frequency | count which requests | requires confirmation operation action can be reduced, the load of a system and a driver | operator's troublesomeness can be reduced.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, the manual driving performed by the driver is analyzed, and the timing for requesting the driver to execute the confirmation operation action is set based on the analysis result. Accordingly, it is possible to request the driver to execute the confirmation operation action at an appropriate timing according to the manual driving performed by the driver.

  Further, in the information presentation device 1 according to the present embodiment, the driver's manual driving is analyzed to estimate the driver's arousal level, and the driver is requested to execute the confirmation operation based on this arousal level. Set the timing. As a result, it is possible to request the driver to execute the confirmation operation act at an appropriate timing according to the driver's arousal level.

  Furthermore, according to the information presenting apparatus 1 according to the present embodiment, the driver is provided with information that prompts the driver to perform manual driving. Therefore, the driver can smoothly shift to manual driving.

  Further, according to the information presenting apparatus 1 according to the present embodiment, the spatial frequency and temporal frequency patterns that do not have the luminance edge are displayed when the execution of the confirmation operation action is requested, so that the driver displays the line of sight. It is possible to recognize the execution request for the confirmation operation action with peripheral vision without turning to the point.

  Furthermore, according to the information presenting apparatus 1 according to the present embodiment, when the execution of the confirmation operation action is requested, since the sensory stimulus is provided to the driver in synchronization with the provision of the display, the driver requires the confirmation operation action. It can be surely recognized that

[Second Embodiment]
Next, an information presentation apparatus according to a second embodiment of the present invention will be described with reference to the drawings. In addition, the same number is attached | subjected to the component same as 1st Embodiment, and detailed description is abbreviate | omitted.

[Configuration of information presentation device]
In the first embodiment described above, manual driving by the driver is requested as the confirmation operation action. However, in the information presenting apparatus according to the present embodiment, an action equivalent to the manual driving by the driver is requested as the confirmation operation action. In particular, in the present embodiment, the driver is requested to perform task-directed driving as an action equivalent to manual driving. The task instruction operation is an operation in which the driver inputs a task from the task input unit 11 to give an instruction to the automatic driving system to drive the host vehicle. Hereinafter, components different from the first embodiment will be described.

  The driver analysis unit 3 analyzes not only the manual driving performed by the driver but also the act according to the manual driving by the driver. In particular, the driver analysis unit 3 analyzes the task input from the task input unit 11.

  The driver reaction recording unit 5 records not only the manual driving performed by the driver but also the act according to the manual driving by the driver. In particular, the driver reaction recording unit 5 records the task input from the task input unit 11.

  The confirmation operation act determination unit 7 acquires a plurality of candidates for the vehicle behavior generated by the vehicle behavior generation unit 25, and from the vehicle behavior generation unit 25, safe driving possible area information and obstacle arrangement information To get. Then, based on these pieces of information, the confirmation operation act determination unit 7 determines whether it is possible to take over from the automatic operation control to the manual operation control when the driver performs an act corresponding to the manual operation. To confirm the confirmation action. For example, the confirmation operation act determination unit 7 specifies the position of the obstacle ahead of the vehicle from the obstacle arrangement information, and determines a task for avoiding the obstacle as the confirmation operation action. Alternatively, the confirmation operation act determination unit 7 may determine, as the confirmation operation action, a task for turning the vehicle to the right or left according to the traveling track of the own vehicle behavior selected by the automatic driving system. In addition to this, the confirmation operation act determination unit 7 determines tasks such as lane change, acceleration / deceleration, stop, start, and pause as confirmation operation actions.

  The task input unit 11 acquires a candidate for own vehicle behavior and displays it on the display device 33 as a task. The driver touches the display device 33 having a touch panel function to select a task to be executed immediately after the displayed tasks and operate the vehicle.

  Here, when displaying the task, the task input unit 11 can identify a task selected by the automatic driving system (currently executing task), a task that can be selected by the driver, and a task that cannot be selected by the driver. indicate. For example, as shown in FIG. 8, the straight-ahead task 81 is displayed as a task currently being executed, and the right lane change 82 and the left lane change 83 are displayed as tasks that can be selected by the driver. The temporary stop 84, right turn 85, and left turn 86 are displayed as tasks that the driver cannot select. When the task input unit 11 requests the driver to execute the confirmation operation action, the task input unit 11 displays the task of the confirmation operation action as a task that can be selected by the driver. Therefore, the driver can execute the confirmation operation by selecting a task from the selectable tasks.

[Processing procedure of confirmation operation action control loop]
Next, the processing procedure of the confirmation operation action control loop by the information presentation apparatus according to the present embodiment will be described. However, since the confirmation operation action control loop of this embodiment is the same as the flowchart of the first embodiment shown in FIG. 2, only the steps in which processing different from that of the first embodiment is performed will be described in detail.

  In the flowchart of FIG. 2, when the processing from step S101 to step S105 is executed and the confirmation operation action is determined, in step S106, the confirmation operation action control unit 9 determines the timing for requesting the confirmation operation action. The method for determining the timing for requesting the confirmation operation action is substantially the same as in the first embodiment, but differs from the first embodiment in the following cases.

  The confirmation operation action control unit 9 analyzes an action according to the manual operation performed by the driver, that is, a task instruction operation, and sets a timing for requesting the driver to perform a confirmation operation action based on the analysis result. For example, by analyzing the task-directed driving performed by the driver, if the driver's arousal level, driving accuracy, and driving stability are high, the time until the confirmation operation is requested is set longer, and the driver's arousal level and driving If the accuracy and driving stability are low, the time until the confirmation operation is requested is set short. Similarly, if the driver's fatigue level is high, the time until the confirmation operation action is requested is set short, and if the driver's fatigue level is low, the time until the confirmation operation action is requested is set long.

  In addition, if the driver performs task-directed driving at his / her discretion, or if the driver performs task-directed driving as prompted by information from the automatic driving system, it will be confirmed as long as the input task is executed safely. It can be regarded as an act equivalent to an operation act. Therefore, when such a task instruction operation is performed, the confirmation operation action control unit 9 performs control so as to delay the timing for requesting the confirmation operation action from the driver, or sets the number of times of requesting the confirmation operation action. Reduce it.

  When the timing for requesting the confirmation operation is determined in this way, and it is determined in step S107 that it is the timing for requesting the confirmation operation, in step S108, the confirmation operation action control unit 9 performs the confirmation operation action on the driver. Request execution. At this time, the confirmation operation action control unit 9 provides a display on the display device 33 and a message from the speaker 37 as information for prompting the driver to perform a task instruction operation, which is an action equivalent to manual driving. However, whether or not the driver can take over from automatic driving to manual driving only by selecting the right lane changing task in response to the instruction “change lane to the right”. Cannot be determined. Therefore, the confirmation operation action control unit 9 issues a vague instruction such as “please perform the task instruction operation” without giving a specific instruction as information prompting the user to perform the task instruction operation.

  Next, in step S109, the confirmation operation action control unit 9 compares the action according to the manual driving by the driver with the confirmation operation action requested by the driver, and whether or not the driver has executed the confirmation operation action. Determine. Specific confirmation operation execution determination processing will be described later with reference to FIG.

  Then, the process of step S110-S112 is performed and the confirmation operation action control loop which concerns on this embodiment is complete | finished.

[Procedure for execution judgment processing for confirmation operation]
Next, the processing procedure of the confirmation operation action execution determination process executed in step S109 of the confirmation operation action control loop described above will be described with reference to the flowchart of FIG.

  As shown in FIG. 9, first, in step S <b> 401, the confirmation operation action control unit 9 reads task data input from the task input unit 11 from the driver reaction recording unit 5. Thereby, the confirmation operation action control part 9 can recognize the task input by the driver.

  In step S402, the confirmation operation action control unit 9 compares the task input by the driver with the confirmation operation action requested by the driver, and determines whether or not they match. However, when a confirmation operation action is requested from the driver, all tasks displayed on the display device 33 as tasks that can be selected by the driver are confirmation operation actions. Therefore, if the driver inputs a task when requesting the driver to perform the confirmation operation, the input task is consistent with the confirmation operation. Therefore, the confirmation operation action control unit 9 determines whether or not there is a task input from the driver. If there is a task input, the process proceeds to step S403. In step S403, the confirmation operation action control unit 9 outputs execution of the confirmation operation action and determines that the driver can take over from the automatic operation control to the manual operation control.

  On the other hand, if there is no task input from the driver in step S402, the process proceeds to step S404. In step S <b> 404, the confirmation operation action control unit 9 outputs a non-execution of the confirmation operation action and determines that the driver is not in a state where it can take over from the automatic operation control to the manual operation control.

  When execution or non-execution of the confirmation operation action is output in this way, the confirmation operation action execution determination process is terminated, and the process returns to the confirmation operation action control loop.

[Processing procedure of automatic operation control loop]
Since the automatic operation control loop according to the present embodiment is the same processing procedure as the automatic operation control loop of the first embodiment, detailed description thereof is omitted.

[Effects of Second Embodiment]
As described above in detail, according to the information presenting apparatus according to the present embodiment, the confirmation operation action is an action in accordance with the manual operation, so that the driver can take over from the automatic operation control to the manual operation control. This can be easily confirmed.

  Moreover, in the information presentation apparatus according to the present embodiment, the task instruction operation in which the driver instructs the task which is the minimum unit of the driving operation and operates the automatic traveling vehicle is an act similar to the manual driving. Thereby, it can be easily confirmed that the driver can take over from the automatic operation control to the manual operation control.

  Furthermore, in the task instruction operation of the information presenting apparatus according to the present embodiment, the automatic operation system presents the currently executable task to the driver, and the driver selects from the presented tasks and instructs the task. Thereby, the driver can perform the driving operation of the own vehicle only by selecting from the presented tasks.

  Further, in the information presentation device according to the present embodiment, it is determined whether or not the confirmation operation has been executed by comparing the action according to the manual driving by the driver with the confirmation operation requested by the driver. Thereby, it is possible to accurately determine whether or not the driver can take over from the automatic operation control to the manual operation control.

  Furthermore, in the information presentation apparatus according to the present embodiment, when the driver performs an action equivalent to manual driving, the timing for requesting the driver to perform the confirmation operation action is delayed. Thereby, since the frequency | count which requests | requires confirmation operation action can be reduced, the load of a system and a driver | operator's troublesomeness can be reduced.

  Moreover, in the information presentation apparatus according to the present embodiment, an action according to the manual driving performed by the driver is analyzed, and the timing for requesting the driver to execute the confirmation operation action is set based on the analysis result. Accordingly, it is possible to request the driver to execute the confirmation operation action at an appropriate timing in accordance with the action according to the manual driving executed by the driver.

  Furthermore, in the information presentation device according to the present embodiment, the driver's wakefulness level is estimated by analyzing the action according to the manual driving performed by the driver, and the confirmation operation action is executed to the driver based on the wakefulness level. Set the request timing. As a result, it is possible to request the driver to execute the confirmation operation act at an appropriate timing according to the driver's arousal level.

  In addition, according to the information presenting apparatus according to the present embodiment, the driver is provided with information prompting the driver to perform an act equivalent to the manual driving, so that the driver smoothly shifts to the act conforming to the manual driving. Can do.

[Third Embodiment]
Next, an information presentation apparatus according to a third embodiment of the present invention will be described with reference to the drawings. In addition, the same number is attached | subjected to the component same as 1st and 2nd embodiment, and detailed description is abbreviate | omitted.

[Configuration of information presentation device]
In the second embodiment described above, an action according to the manual operation by the driver is requested as the confirmation operation action, and the task instruction operation is requested as an action according to the manual operation. However, in the information presentation apparatus according to the present embodiment, the manual operation is performed manually. The driver is requested to drive in a manner equivalent to driving.

  The driving operation is a driving in which the driver performs a gesture in accordance with the driving operation currently being executed by the automatic driving system. For example, when the automatic driving system rotates the steering wheel to the right in order to turn the host vehicle to the right, the driver makes a gesture of turning the steering wheel to the right in accordance with the rotation of the steering wheel.

  FIG. 10 is a block diagram showing the configuration of the information presentation apparatus according to this embodiment. As shown in FIG. 10, the information presentation device 61 according to the present embodiment is different from the first and second embodiments in that it further includes a driver imaging unit 63.

  The driver imaging unit 63 includes a plurality of cameras, and outputs driver operation information in which a driver's motion in the driver's seat is recorded and the driver's operation is recorded to the driver analysis unit 3.

  The driver analysis unit 3 detects not only the manual driving performed by the driver but also the driving operation as an action according to the manual driving by the driver. The driver analysis unit 3 detects the driver's gesture from the video imaged by the driver imaging unit 63 using a technique such as motion capture. In particular, the driver analysis unit 3 detects driving by hitting from either or both of a gesture by the driver's hand and arm and a gesture by the driver's foot.

  The driver reaction recording unit 5 records the hitting operation detected by the driver analysis unit 3 as an action according to the manual driving by the driver.

  The confirmation operation act determination unit 7 determines the hit operation as the confirmation operation action in accordance with the drive operation currently being executed by the automatic driving system. For example, when the driving operation currently being executed by the automatic driving system is a right turn, the gesture for rotating the steering wheel to the right is determined to be the hitting operation as the confirmation operation act. At this time, if it is necessary to decelerate before making a right turn, a gesture of stepping on the brake is also added to the driving operation as a confirmation operation.

[Processing procedure of confirmation operation action control loop]
Next, the processing procedure of the confirmation operation action control loop by the information presentation apparatus 61 according to the present embodiment will be described. However, since the confirmation operation action control loop of this embodiment is the same as the flowchart of the first embodiment shown in FIG. 2, only the steps in which processing different from that of the first embodiment is performed will be described in detail.

  In the flowchart of FIG. 2, when the processing from step S101 to step S105 is executed and the confirmation operation action is determined, in step S106, the confirmation operation action control unit 9 determines the timing for requesting the confirmation operation action. The method for determining the timing for requesting the confirmation operation action is substantially the same as in the first embodiment, but differs from the first embodiment in the following cases.

  The confirmation operation action control unit 9 analyzes an action in accordance with the manual operation performed by the driver, that is, a driving operation, and sets a timing for requesting the driver to perform a confirmation operation action based on the analysis result. For example, by analyzing the driving performed by the driver, if the driver's arousal level, driving accuracy, and driving stability are high, the time required for the confirmation operation is set longer, and the driver's arousal level and driving If the accuracy and driving stability are low, the time until the confirmation operation is requested is set short. Similarly, if the driver's fatigue level is high, the time until the confirmation operation action is requested is set short, and if the driver's fatigue level is low, the time until the confirmation operation action is requested is set long.

  In addition, when the driver performs a blink operation based on his / her judgment, or when the driver performs a blink operation in response to information from the automatic driving system, it can be regarded as an action in accordance with the confirmation operation action. Therefore, when such a driving operation is performed, the confirmation operation action control unit 9 performs control so as to delay the timing for requesting the confirmation operation action from the driver, or determines the number of times the confirmation operation action is requested. Reduce it.

  When the timing for requesting the confirmation operation is determined in this way, and it is determined in step S107 that it is the timing for requesting the confirmation operation, in step S108, the confirmation operation action control unit 9 performs the confirmation operation action on the driver. Request execution. At this time, the confirmation operation action control unit 9 provides a display on the display device 33 and a message from the speaker 37 as information for prompting the driver to perform the driving operation corresponding to the manual driving. For example, information on a driving operation that is performed immediately after the automatic driving system such as “change lane to the right” is provided so that the driver can easily perform the driving operation. Further, the planned trajectory of the vehicle may be displayed on the display device 33, or the result of the driving operation may be displayed.

  Next, in step S109, the confirmation operation action control unit 9 determines whether or not the driver has performed the confirmation operation action by comparing the driving operation performed by the driver with the confirmation operation action requested by the driver. To do. Specific confirmation operation execution determination processing will be described later with reference to FIG.

  Then, the process of step S110-S112 is performed and the confirmation operation action control loop which concerns on this embodiment is complete | finished.

[Procedure for execution judgment processing for confirmation operation]
Next, the procedure of the confirmation operation action execution determination process executed in step S109 of the confirmation operation action control loop will be described with reference to the flowchart of FIG.

  As shown in FIG. 11, first, in step S <b> 501, the confirmation operation action control unit 9 reads the driver operation information data detected by the driver imaging unit 63 from the driver analysis unit 3 and at the same time, the driver analysis unit 3. Also obtain the analysis result by. Thereby, the confirmation operation action control part 9 can recognize the gesture which the driver | operator performed.

  In step S <b> 502, the confirmation operation action control unit 9 analyzes the contents of the driving operation by the driver based on the driver operation information detected by the driver imaging unit 63 and the analysis result by the driver analysis unit 3. Specifically, the confirmation operation action control unit 9 determines whether the driver's heading operation is a left or right turn, or overtaking, lane change, acceleration / deceleration, merging, stopping, starting, temporary stop, front vehicle following, etc. Ask for it.

  In step S503, the confirmation operation act control unit 9 compares the heading operation obtained in step S502 with the confirmation operation act determined in step S105, and confirms whether the driver operation matches the confirmation operation action. Determine whether or not. And the confirmation operation action control part 9 progresses to step S504, when the driving operation by the driver is consistent with the confirmation operation action. In step S504, the confirmation operation action control unit 9 outputs execution of the confirmation operation action and determines that the driver can take over from the automatic operation control to the manual operation control.

  On the other hand, in step S503, when the driving operation by the driver is not consistent with the confirming operation action, the process proceeds to step S505. In step S505, the confirmation operation action control unit 9 determines that the confirmation operation action is not executed and the driver is not in a state where the driver can take over from the automatic operation control to the manual operation control.

  When execution or non-execution of the confirmation operation action is output in this way, the confirmation operation action execution determination process is terminated, and the process returns to the confirmation operation action control loop.

[Processing procedure of automatic operation control loop]
Since the automatic operation control loop according to the present embodiment is the same processing procedure as the automatic operation control loop of the first embodiment, detailed description thereof is omitted.

[Effect of the third embodiment]
As described above in detail, in the information presentation device 61 according to the present embodiment, the driving operation in which the driver performs a gesture in accordance with the driving operation currently being executed by the automatic driving system is an act similar to the manual driving. To do. Thereby, it can be easily confirmed that the driver can take over from the automatic operation control to the manual operation control.

  Furthermore, according to the information presentation device 61 according to the present embodiment, since the driving operation is detected from either or both of the gesture by the driver's hand and arm and the gesture by the driver's foot, Driving can be detected accurately.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and even if it is a form other than this embodiment, as long as it does not depart from the technical idea of the present invention, it depends on the design and the like. Of course, various modifications are possible.

DESCRIPTION OF SYMBOLS 1,61 Information presentation apparatus 3 Driver analysis part 5 Driver reaction recording part 7 Confirmation operation action determination part 9 Confirmation operation action control part 11 Task input part 13 Display image generation part 15 Alarm control part 17 Voice generation part 21 Ambient environment recognition Unit 23 itinerary control unit 25 own vehicle behavior generation unit 27 own vehicle behavior determination unit 29 vehicle behavior control unit 31 vehicle state detection unit 33 display device 35 alarm sound generation unit 37 speaker 41 sensor group 43 database 45 actuator 63 driver imaging unit

Claims (20)

An information presentation device used for an automatic traveling vehicle capable of switching between automatic driving control for automatically controlling driving of a vehicle and manual driving control by a driver,
A confirmation operation act determination unit for determining a confirmation operation act for confirming that the driver of the automatic traveling vehicle can take over from the automatic operation control to the manual operation control;
A confirmation operation action control unit that performs control for causing the driver to execute the confirmation operation action determined by the confirmation operation action determination unit;
A driver analysis unit for detecting the confirmation operation act executed by the driver, and
The information presenting apparatus , wherein the confirmation operation act is a gesture adapted to a driving operation currently being executed . An information presentation device used for an automatic traveling vehicle capable of switching between automatic driving control for automatically controlling driving of a vehicle and manual driving control by a driver,
A confirmation operation act determination unit for determining a confirmation operation act for confirming that the driver of the automatic traveling vehicle can take over from the automatic operation control to the manual operation control;
A confirmation operation action control unit that performs control for causing the driver to execute the confirmation operation action determined by the confirmation operation action determination unit;
A driver analysis unit for detecting the confirmation operation act executed by the driver, and
When the timing for taking over from automatic operation control to manual operation control is set in advance, the confirmation operation action control unit requests the driver to execute the confirmation operation action as the timing approaches An information presentation device characterized by shortening . The information presenting apparatus according to claim 2, wherein the confirmation operation action is a manual operation or an action according to a manual operation . The information presentation apparatus according to claim 3 , wherein the manual operation includes a pedal operation and a steering operation . The information presenting apparatus according to claim 3 , wherein the action according to the manual driving is a task instruction driving in which the driver operates the automatic traveling vehicle by instructing a task which is a minimum unit of the driving operation. . In the task-directed driving, a task that can be currently executed by an automatic driving system mounted on the automatic traveling vehicle is presented to the driver, and the driver selects the presented task to operate the automatic traveling vehicle. The information presentation device according to claim 5 , wherein The information presentation apparatus according to claim 1, wherein the gesture is one or both of a gesture by a driver's hand and arm and a gesture by a driver's foot. The confirmation operation action control unit, said manual operation or by comparing the confirmation operation acts and act pursuant to the manual operation, according to claim 3, characterized in that determining whether the confirmation operation action is executed The information presentation device described in 1.   The said confirmation operation action control part interrupts the automatic driving | operation control of the said automatic traveling vehicle, when a driver | operator does not perform the said confirmation operation action. The information presentation device described in 1.   The said confirmation operation action control part requests | requires a driver to perform the said confirmation operation action every time progress of predetermined time, or every time the driving | running | working control of the automatic traveling vehicle is performed a predetermined number of times. The information presentation apparatus according to any one of 1 to 9.   The confirmation operation action control unit requests the driver to perform the confirmation operation action when detecting that the driver is not awake or detecting that the driver is not monitoring the front. The information presenting apparatus according to claim 1, wherein the information presenting apparatus is an information presenting apparatus.   The said confirmation operation action control part sets the timing which requests | requires a driver | operator to perform the said confirmation operation action based on a driver | operator's state, the driving | running | working state of the self-propelled vehicle, and the external condition. Item 12. The information presentation device according to any one of Items 1 to 11. The confirmation operation act control unit delays the timing of requesting the driver to execute the confirmation operation action when the driver performs the manual operation or an action equivalent to the manual operation. 3. The information presentation device according to 3 . The confirmation operation action control unit analyzes the manual operation performed by the driver or an action equivalent to the manual operation, and sets a timing for requesting the driver to execute the confirmation operation action based on the analysis result. The information presentation apparatus according to claim 3 . The confirmation operation act control unit estimates the driver's arousal level by analyzing the manual operation performed by the driver or an act equivalent to the manual operation, and drives the execution of the confirmation operation act based on the arousal level. The information presentation apparatus according to claim 14 , wherein a timing required for a person is set. The information presenting apparatus according to claim 3 , wherein the confirmation operation action control unit provides the driver with information prompting the driver to perform the manual driving or the action in conformity with the manual driving. The said confirmation operation action control part displays the pattern of the spatial frequency and time frequency which do not have a brightness | luminance edge, when requesting | requiring execution of the said confirmation operation action. The information presentation device described in 1. The said confirmation operation action control part provides sensory stimulation in synchronization with providing a display to a driver, when execution of the confirmation operation action is requested | required . The information presentation apparatus according to item 1. An information presenting method for an information presenting device used for an automatic traveling vehicle capable of switching between automatic driving control for automatically performing vehicle driving control and manual driving control by a driver,
Determining a confirmation operation action for confirming that the driver of the automatic traveling vehicle is in a state where it can be taken over from automatic driving control to manual driving control;
The confirmation operation act is a gesture adapted to the driving operation currently being executed,
Perform control for causing the driver to execute the determined confirming action,
An information presentation method, wherein the confirmation operation action executed by a driver is detected. An information presenting method for an information presenting device used for an automatic traveling vehicle capable of switching between automatic driving control for automatically performing vehicle driving control and manual driving control by a driver,
Determining a confirmation operation action for confirming that the driver of the automatic traveling vehicle is in a state where it can be taken over from automatic driving control to manual driving control;
Perform control for causing the driver to execute the determined confirming action,
When the timing for taking over the automatic operation control to the manual operation control is set in advance, the confirmation operation act shortens the interval for requesting the driver to execute the confirmation operation act as the timing approaches. And
An information presentation method, wherein the confirmation operation action executed by a driver is detected.