JP6558738B2 - Driving support device, driving support system, driving support method, driving support program, and autonomous driving vehicle - Google Patents

Description

  The present invention relates to a technique for assisting a driver with a driving operation instruction to a vehicle during automatic driving.

  In recent years, development related to automatic driving of automobiles has been promoted. As for automatic operation, the automation levels defined in 2013 by NHTSA (National Highway Traffic Safety Administration) are no automation (level 0), automation of specific functions (level 1), automation of complex functions (level 2), semi-automatic operation ( Level 3) and fully automatic operation (level 4). Level 1 is a driving support system that automatically performs one of acceleration, deceleration, and steering. Level 2 is a driving support system that automatically performs two or more of acceleration, deceleration, and steering in harmony. is there. In either case, the driver remains involved in the driving operation. The automation level 4 is a fully automatic traveling system that automatically performs all of acceleration, deceleration, and steering, and the driver is not involved in the driving operation. The automation level 3 is a quasi-fully automatic traveling system in which acceleration, deceleration, and steering are all automatically performed, and a driver performs a driving operation as necessary.

  As a form of automatic driving, the driver does not operate the existing driving operation unit such as steering and accelerator pedal, but by issuing commands to the vehicle side, specific driving operation such as lane change, overtaking, following driving, etc. Can be considered to the vehicle side. In this form, a user interface with few erroneous operations is required.

Japanese Patent Laid-Open No. 10-105885

  By simply displaying the road conditions, when the driver instructs the vehicle to perform a specific driving operation, it is necessary to operate the specific switch, turn the steering wheel, or step on the accelerator while checking the road conditions. Yes, there is a possibility of eye movement and misoperation. In addition, in a design in which a switch is provided for each specific driving operation such as lane change, overtaking, and follow-up driving, the correspondence between the switch operation and automatic driving control is not intuitive, and instructions can be selected from many switches. Selecting a function that has been changed according to the situation by reducing the number of switches is a complicated task, such as those who have not been driving until now, those who want to continue driving even if the driving ability has declined There is a problem that a wide range of users cannot use an autonomous driving vehicle without training.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a technique by which a driver can instruct a vehicle to perform a specific driving operation intuitively and simply.

  In order to solve the above-described problem, the driving support device according to an aspect of the present invention includes an image including a host vehicle object representing the host vehicle and an other vehicle object representing the other vehicle in front of the host vehicle object on the display unit. An image output unit for outputting, an operation signal input unit for receiving a user's operation to change a positional relationship between the vehicle object and the other vehicle object in the image displayed on the display unit, and the vehicle object When the positional relationship between the two is changed so as to be positioned in front of the other vehicle object, a command output that outputs a command instructing that the own vehicle overtakes the other vehicle to an automatic driving control unit that controls automatic driving A section.

  Note that any combination of the above components, the expression of the present invention converted between an apparatus, a system, a method, a program, a recording medium on which the program is recorded, a vehicle on which these are mounted, and the like are also aspects of the present invention. It is effective as

  According to the present invention, the driver can instruct the vehicle to perform a specific driving operation intuitively and simply.

It is a block diagram which shows the structure of the vehicle which concerns on embodiment of this invention. It is a figure which shows an example of the basic sequence of the detection part of FIG. 1, an automatic driving controller, an HMI controller, a display part, and an input part. It is a figure which shows an example of the basic flowchart for demonstrating the process of the HMI controller of FIG. It is a flowchart for demonstrating the update process of reception mode. It is a flowchart which shows an example of the determination process in case the gesture operation which instruct | indicates overtaking is input in FIG.3 S9. It is a flowchart which shows the 1st process example which issues an overtaking instruction command by gesture operation. FIGS. 7A to 7C are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. It is a flowchart which shows the 2nd process example which issues an overtaking instruction command by gesture operation. 9A to 9C are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. It is a flowchart which shows the 3rd process example which issues an overtaking instruction command by gesture operation. FIGS. 11A to 11C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the 4th process example which issues an overtaking instruction command by gesture operation. FIGS. 13A to 13D are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the 5th process example which issues an overtaking instruction command by gesture operation. FIGS. 15A to 15C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the 6th process example which issues an overtaking instruction command by gesture operation. 17A to 17F are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the 7th process example which issues a lane change instruction command by gesture operation. FIGS. 19A and 19B are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. It is a flowchart which shows the 8th process example which issues an overtaking instruction command by gesture operation. FIGS. 21A to 21C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the 9th process example which issues an overtaking instruction command by gesture operation. 23A to 23F are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. It is a flowchart which shows the process example which issues a cancellation command after issuing the overtaking instruction command by gesture operation. FIGS. 25A to 25D are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. FIGS. 26A and 26B are diagrams showing another example of the gesture operation according to the flowchart of FIG. FIGS. 27A to 27D are diagrams showing a first display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. FIGS. 28A to 28D are diagrams illustrating a second display example during the control from when the own vehicle icon is dropped until the own vehicle completes overtaking. FIGS. 29A to 29D are diagrams showing a third display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. FIGS. 30A to 30D are diagrams showing a fourth display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a vehicle 1 according to an embodiment of the present invention, which is a configuration related to automatic driving. A vehicle 1 (own vehicle) equipped with an automatic driving mode includes a driving support device 10, an automatic driving control device 20, a display device 30, a detection unit 40, and a driving operation unit 50.

  The display device 30 includes a display unit 31 and an input unit 32. The display device 30 may be a head unit such as a car navigation system or display audio, may be a mobile terminal device such as a smartphone or a tablet, or may be a dedicated console terminal device.

  The display unit 31 is a liquid crystal display, an organic EL display, or a head up display (HUD). The input unit 32 is a user interface that receives user input. The display unit 31 and the input unit 32 may be an integrated touch panel display. In addition, it can accept gesture input at a predetermined distance from the display unit, such as a proximity touch panel that can detect the proximity of the hand on the touch panel or touch pad and the position of the finger by a hover operation. Also good. Furthermore, the input unit 32 may include an input device that assists gesture input, such as a mouse, a stylus pen, or a trackball. A pen that emits visible light or infrared light may be used.

  Note that the display unit 31 and the input unit 32 may be physically separated instead of an integrated touch panel display. For example, the input unit 32 may be a non-contact type input device that includes a sensor such as a camera and is capable of inputting an air gesture operation. For example, an operation method such as pointing with a pointing object, starting dragging with the gesture of closing the thumb and index finger close, and ending dragging with the gesture of releasing the thumb and index finger can be considered.

  The driving support device 10 and the display device 30 may be connected by a wired communication such as a dedicated line or a CAN (Controller Area Network), or may be USB, Ethernet (registered trademark), Wi-Fi (registered trademark). , Bluetooth (registered trademark) or the like may be connected by wired communication or wireless communication.

  The detection unit 40 includes a position information acquisition unit 41, a sensor 42, a speed information acquisition unit 43, and a map information acquisition unit 44. The position information acquisition unit 41 acquires the current position of the vehicle 1 from the GPS receiver. The sensor 42 is a general term for various sensors for detecting the situation outside the vehicle and the state of the vehicle 1. For example, a camera, millimeter wave radar, LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a temperature sensor, an atmospheric pressure sensor, a humidity sensor, an illuminance sensor, and the like are mounted as sensors for detecting a situation outside the vehicle. The situation outside the vehicle is considered to be the road condition where the vehicle travels, the environment including the weather, and the travel position and travel state of other vehicles traveling around the vehicle. Any information outside the vehicle that can be detected by the sensor may be used. For example, an acceleration sensor, a gyro sensor, a geomagnetic sensor, a tilt sensor, and the like are mounted as sensors for detecting the state of the vehicle 1. The speed information acquisition unit 43 acquires the current speed of the vehicle 1 from the vehicle speed sensor. The map information acquisition unit 44 acquires map information around the current position of the vehicle 1 from the map database. The map database may be recorded on a recording medium in the vehicle 1, or may be downloaded from a map server via a network when used.

  The detection unit 40 and the automatic operation control device 20 are connected by wired communication such as a dedicated line, USB, Ethernet (registered trademark), CAN (Controller Area Network) or the like. The data acquired and detected by the detection unit 40 may be directly output from the detection unit 40 to the driving support device 10.

  The driving operation unit 50 includes a steering 51, a brake pedal 52, an accelerator pedal 53, and a winker switch 54. In the automatic driving mode according to the present embodiment, acceleration, deceleration, steering, and blinker blinking are objects of automatic control by the automatic driving control device 20, and FIG. 1 shows an operation unit for performing these controls manually. I'm drawing. In addition, you may output the information which the driver | operator moved the driving operation part 50 a little manually to the driving assistance apparatus 10. FIG.

  The steering 51 is an operation unit for steering the vehicle. When the steering wheel 51 is rotated by the driver, the traveling direction of the vehicle is controlled via the steering actuator. The steering actuator can be electronically controlled by a steering ECU (Electronic Control Unit).

  The brake pedal 52 is an operation unit for decelerating the vehicle 1. When the brake pedal 52 is depressed by the driver, the vehicle is decelerated through the brake actuator. The brake actuator can be electronically controlled by the brake ECU.

  The accelerator pedal 53 is an operation unit for accelerating the vehicle 1. When the accelerator pedal 53 is depressed by the driver, the engine speed and / or the motor speed are controlled via the accelerator actuator. The engine speed is controlled in a pure engine car, the motor speed is controlled in a pure electric car, and both are controlled in a hybrid car. The accelerator actuator can be electronically controlled by the engine ECU and / or the motor ECU.

  The turn signal switch 54 is an operation unit for blinking a turn signal for notifying the outside of the vehicle path. When the turn signal switch 54 is turned on / off by the driver, the turn signal is turned on / off via the turn signal controller. The winker controller includes a drive circuit such as a relay for controlling power feeding to the winker lamp.

  The steering ECU, the brake ECU, the engine ECU, the motor ECU, and the winker controller are connected to the automatic driving control device 20 by wired communication such as a CAN or a dedicated line. The steering ECU, the brake ECU, the engine ECU, the motor ECU, and the winker controller respectively transmit state signals indicating the states of the steering, the brake, the engine, the motor, and the winker lamp to the automatic driving control device 20.

  In the automatic operation mode, the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive each actuator in accordance with a control signal supplied from the automatic operation control device 20. In the manual operation mode, the steering 51, the brake pedal 52, and the accelerator pedal 53 may be mechanically transmitted directly to each actuator, or may be configured to be electronically controlled via each ECU. It may be. The winker controller turns on / off the winker lamp in response to a control signal supplied from the automatic operation control device 20 or an instruction signal from the winker switch 54.

  The automatic operation control device 20 is an automatic operation controller that implements an automatic operation control function, and includes a control unit 21, a storage unit 22, and an input / output unit 23. The configuration of the control unit 21 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources. The storage unit 22 includes a nonvolatile recording medium such as a flash memory. The input / output unit 23 executes various communication controls corresponding to various communication formats.

  The control unit 21 applies various parameter values collected from the detection unit 40 and various ECUs to the automatic driving algorithm, and calculates a control value for controlling an automatic control target such as the traveling direction of the vehicle 1. The control unit 21 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to a steering ECU, a brake ECU, an engine ECU, and a winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.

  The driving support apparatus 10 is an HMI (Human Machine Interface) controller for executing an interface function between the vehicle 1 and the driver, and includes a determination unit 11, a generation unit 12, an instruction unit 13, and an input / output unit 14. . The determination unit 11, the generation unit 12, and the instruction unit 13 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources. The input / output unit 14 executes various communication controls according to various communication formats. The input / output unit 14 includes an image output unit 14a, an operation signal input unit 14b, a command output unit 14c, and a vehicle information input unit 14d. The image output unit 14 a outputs the image generated by the generation unit 12 to the display unit 31. The operation signal input unit 14 b receives an operation signal generated by the driver, an occupant, or a user outside the vehicle made to the input unit 32 and outputs the operation signal to the determination unit 11. The command output unit 14 c outputs the command instructed by the instruction unit 13 to the automatic operation controller 20. The vehicle information input unit 14 d receives detection data acquired by the detection unit 40 and vehicle-side information generated by the automatic driving controller 20 and outputs the information to the generation unit 12.

  The automatic operation controller 20 and the HMI controller 10 are directly connected by a signal line. In addition, the structure connected via CAN may be sufficient. Further, a configuration is possible in which the automatic operation controller 20 and the HMI controller 10 are integrated into one controller.

  FIG. 2 is a diagram illustrating an example of a basic sequence of the detection unit 40, the automatic operation controller 20, the HMI controller 10, the display unit 31, and the input unit 32 of FIG. The detection unit 40 detects own vehicle position information, own vehicle traveling road information, and own vehicle surrounding information including other vehicles traveling around the own vehicle, and outputs the detected information to the automatic driving controller 20 (P1). The automatic driving controller 20 outputs the vehicle position information, the vehicle traveling road information, and the vehicle surrounding information acquired from the detection unit 40 to the HMI controller 10 (P2). Based on the information acquired from the automatic operation controller 20, the HMI controller 10 generates a schematic diagram including the own vehicle, other vehicles, and the surrounding conditions of the own vehicle (P3). The HMI controller 10 outputs the generated schematic diagram to the display device 30 and displays it on the display unit 31 (P4).

  The user who sees the schematic diagram displayed on the display unit 31 contacts the input unit 32 (P5). The display unit 31 outputs the coordinate data in which contact is detected to the HMI controller 10 (P6). The HMI controller 10 determines the type of command based on the coordinate data acquired from the display device 30 (P7). The HMI controller 10 accepts additional inputs until a predetermined time has elapsed (P8 to P12). After determining the command, the HMI controller 10 regenerates a schematic diagram indicating that the command is being instructed (P8). The HMI controller 10 outputs the regenerated schematic diagram to the display device 30 and displays it on the display unit 31 (P9). When there is no command corresponding to the gesture operation by the user's contact, a schematic diagram including an error message is generated and output to the display device 30 and displayed on the display unit 31.

  When the user who sees the schematic diagram showing that the command is being instructed touches the input unit 32 (P10), the display unit 31 outputs the coordinate data in which the contact is detected to the HMI controller 10 (P11). The HMI controller 10 executes additional command processing based on the coordinate data acquired from the display device 30 (P12). If there is no new command input in the additional command processing (P12), the HMI controller 10 issues the command determined in P7 to the automatic operation controller 20 (P13, P14). When a new command is input in the additional command process (P12), the new command is issued to the automatic operation controller 20. If the newly input command is a cancel command, cancel the command issue. The overwriting / cancellation processing of the original command by a new command may be performed by the automatic operation controller 20, and in that case, the HMI controller 10 transmits the command to the automatic operation controller 20 after the command determination processing in P7 and P12. The overwriting / cancellation process is performed according to the state of the automatic operation controller 20.

  The detection unit 40 periodically detects the vehicle position information, the vehicle traveling road information, and the vehicle periphery information and outputs the detected information to the automatic driving controller 20 (P15). Based on the information, the automatic operation controller 20 determines whether or not the control instructed by the command issued from the HMI controller 10 can be executed (P16). If it can be executed, the automatic operation controller 20 outputs a control start notification to the HMI controller 10 (P17). Upon receiving the control start notification, the HMI controller 10 regenerates a schematic diagram including a message indicating that control is being performed (P18). The HMI controller 10 outputs the regenerated schematic diagram to the display device 30 and displays it on the display unit 31 (P19). Although not shown, the automatic operation controller 20 applies various parameter values collected from the detection unit 40 and various ECUs to the automatic operation algorithm, and performs automatic control such as the traveling direction of the vehicle 1 for executing the issued command. A specific control value for controlling the driving operation unit 50 is calculated and transmitted to each ECU or controller to be controlled. The driving operation unit 50 operates based on specific control values. The driving operation unit 50 determines that the command execution is complete when the predetermined control value or the detection data of the detection unit 40 reaches a predetermined value (range) and the automatic operation controller 20 determines that the condition of the issued command is satisfied. .

  When receiving the control completion notification from the automatic operation controller 20, the HMI controller 10 generates a schematic diagram including a message indicating that the control is completed and outputs the schematic diagram to the display device 30. During a period in which no operation is accepted from the user, a schematic diagram including a message indicating that no operation is accepted is generated and output to the display device 30.

  FIG. 3 is a diagram showing an example of a basic flowchart for explaining the processing of the HMI controller 10 of FIG. The determination unit 11 of the HMI controller 10 checks whether the operation mode is the automatic operation mode or the manual operation mode (S1). In the case of the manual operation mode (N in S2), the process is terminated. In the case of the automatic operation mode (Y in S2), the following process is performed.

  The sensor information input from the detection unit 40 to the automatic operation controller 20 is updated as needed (S3). The generation unit 12 of the HMI controller 10 is based on the own vehicle position information, the own vehicle traveling road information, and the own vehicle surrounding information including other vehicles that travel around the own vehicle. A schematic diagram including the surrounding situation of the vehicle and the host vehicle is generated, and the generated schematic diagram is drawn on the display unit 31 (S4). The determination unit 11 checks whether the reception mode is an acceptable mode in which an operation from the user can be accepted or an unacceptable mode in which an operation from the user cannot be accepted (S5). If it is in the unacceptable mode (N in S6), the process ends. When it is in the acceptable mode (Y in S6), the determination unit 11 determines whether or not there is a user's contact with the input unit 32 (S7). When there is no contact (N of S8), the fixed time passage determination process (S12) described later is executed. When there is contact (Y in S8), the determination unit 11 determines a control command in accordance with a gesture operation input by the user (S9). Details of this determination process will be described later.

  When the control command determined in step S9 is not a cancel command (N in S10), the generation unit 12 displays a command instruction on the display unit 31 (S11). When a certain time has elapsed after the control command is determined (Y in S12), if there is a control command determined in step S9 (Y in S13), the display unit 31 displays that the operation cannot be accepted (S14), and the determination unit 11 updates the acceptance mode from the acceptable mode to the unacceptable mode (S15), and the instruction unit 13 outputs the determined control command to the automatic operation controller 20 (S16). Until a predetermined time elapses (N in S12), the process proceeds to step S3.

  In step S10, when the determined control command is a cancel command (Y in S10), cancel is displayed (S110), and the process ends. In step S13, if there is no control command determined in step S9, an input error is displayed (S111), and the process ends. The automatic operation controller 20 periodically detects the vehicle position information, the vehicle traveling road information, and the vehicle surrounding information from the detection unit 40. Since the surrounding situation changes from moment to moment, it may be determined that the control command cannot be executed after the control command is output to the automatic operation controller 20. For example, there is a case where another vehicle has interrupted between the own vehicle and another vehicle after the follow-up instruction. When the automatic operation controller 20 determines that the control command can be executed (Y in S17), the generation unit 12 displays on the display unit 31 that the control is being performed (S18), activates a timer, and starts counting. (S19). When the automatic operation controller 20 determines that control is impossible (N in S17), the generation unit 12 displays an uncontrollable error on the display unit 31 (S112).

  FIG. 4 is a flowchart for explaining the reception mode update process. When the timer count value reaches a set value (for example, 10 seconds) (Y in S113), the determination unit 11 of the HMI controller 10 updates the reception mode from the unacceptable mode to the acceptable mode (S114). The count value of the timer may be changed according to the surrounding situation of the own vehicle. When the determination unit 11 receives a notification indicating the completion of control from the automatic driving controller 20 or determines from the behavior of the vehicle 1 that the control according to the control command is completed, the reception mode can be received from the unacceptable mode. You may update to mode.

  Hereinafter, in the present embodiment, an example in which a control command instructing overtaking is issued as a control command will be described. The user inputs a gesture operation for instructing overtaking to the input unit 32. A specific example of the gesture operation will be described later.

  FIG. 5 is a flowchart illustrating an example of a determination process when a gesture operation instructing overtaking is input in step S9 of FIG. The determination unit 11 of the HMI controller 10 determines whether or not the vehicle mark is present at the contact start position (S9a). If the vehicle mark does not exist (N in S9a), the determination unit 11 determines that the control command is other than the overtaking instruction (S9b). When the vehicle mark is present (Y in S9a), the generation unit 12 draws a droppable area in the schematic diagram and displays it on the display unit 31 (S9c). A specific example of the droppable area will be described later.

  The determination unit 11 receives the touch event generated at the input unit 32 (S9d), and determines the type of the touch event (S9e). When the touch event type is movement (movement of S9e), the generation unit 12 draws the predicted trajectory / route candidate of the vehicle 1 in the schematic diagram and causes the display unit 31 to display the candidate (S9f).

  When the type of the touch event is contact end (contact end in S9e), the determination unit 11 determines whether or not the contact end position is in front of the other vehicle mark (S9g). If it is not in front of the other vehicle mark (N in S9g), the determination unit 11 determines that the control command is other than the overtaking instruction (S9h). When it is ahead of the other vehicle mark (Y of S9g), the determination unit 11 determines whether or not the other vehicle mark is located on the same lane as the lane where the own vehicle mark is located (S9i). When the other vehicle mark is not located on the same lane (N in S9i), the determination unit 11 determines whether the traveling direction of the own vehicle and the traveling direction of the other vehicle are the same traveling direction (S9j). When it is the same traveling direction (Y of S9j), the determination part 11 determines with the lane change instruction command to the lane where the other vehicle mark is located (S9k). When the traveling directions are not the same (N in S9j), the generation unit 12 displays an error message on the display unit 31 (S91).

  In step S9i, when the other vehicle mark is located on the same lane (Y in S9i), the determination unit 11 determines whether the track of the contact point has passed the left side or the right side of the other vehicle mark (S9m). When the vehicle passes the left side (left of S9m), the determination unit 11 determines whether or not at least one other vehicle mark exists between the own vehicle mark and the other vehicle mark (S9n). When there is no other vehicle mark (N in S9n), the determination unit 11 determines that the vehicle is an overtaking instruction command for one vehicle from the left side (S9o). If there is at least one other vehicle mark (Y in S9n), the determination unit 11 determines that it is an overtaking instruction command for a plurality of vehicles from the left side (S9p).

  In step S9m, when the vehicle passes the right side (right of S9m), the determination unit 11 determines whether or not at least one other vehicle mark exists between the own vehicle mark and the other vehicle mark (S9q). When there is no other vehicle mark (N in S9q), the determination unit 11 determines that the vehicle is an overtaking instruction command for one vehicle from the right side (S9r). When at least one other vehicle mark is present (Y in S9q), the determination unit 11 determines that it is an overtaking instruction command for a plurality of vehicles from the right side (S9s).

  Hereinafter, a specific example of the gesture operation used at the time of overtaking will be described. In the following example, it is assumed that a touch panel display in which the display unit 31 and the input unit 32 are integrated is used.

  FIG. 6 is a flowchart illustrating a first processing example in which an overtaking instruction command is issued by a gesture operation. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S30). The touch event (DOWN) is an event indicating a change from a non-contact state to a contact state with a finger or a pen on the touch panel. The determination unit 11 determines whether or not the coordinate at which the touch event (DOWN) is detected is within the display area of the vehicle icon (S31). If it is outside the display area of the own vehicle icon (N in S31), it is determined that it is not an overtaking instruction, and the process is terminated.

  When it is inside the display area of the own vehicle icon (Y in S31), the determination unit 11 receives a touch event (MOVE) from the touch panel (S32). A touch event (MOVE) is an event that represents a change from a contact state of a point on the touch panel with a finger or a pen to a contact state of another point. Thereafter, the determination unit 11 receives a touch event (UP) from the touch panel (S33). The touch event (UP) is an event representing a change from a contact state with a finger or a pen to the touch panel to a non-contact state.

  The determination unit 11 determines whether or not the coordinate where the touch event (UP) is detected is a front area of the other vehicle icon (S34). When it is the front area of the other vehicle icon (Y in S34), the instruction unit 13 issues an overtaking instruction command for overtaking the other vehicle related to the other vehicle icon to the automatic operation controller 20 (S35). If it is not the front area of the other vehicle icon (N in S34), it is determined that it is not an overtaking instruction command, and the process ends.

  FIGS. 7A to 7C are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. In the schematic diagram shown in FIG. 7A, the host vehicle icon V1 and the other vehicle icon V2 are displayed on the same lane. Various display forms are conceivable as display forms of surrounding situations including the own vehicle, other vehicles, and roads. A live-action image may be used, or a precise CG image or animation image may be used. The display of the own vehicle is not limited to icons, and may be displayed with simpler marks and characters, or may be displayed with a live-action image. That is, the object may be displayed on the screen in some display form. The same applies to the display of other vehicles.

  When the driver wants to pass another vehicle, the vehicle icon V1 is dragged as shown in FIG. 7 (a), and the vehicle icon is displayed ahead of the other vehicle icon V2 as shown in FIGS. 7 (b)-(c). Drop V1. Thereby, an overtaking instruction command is issued.

  FIG. 8 is a flowchart illustrating a second processing example in which an overtaking instruction command is issued by a gesture operation. The second processing example is an example of dragging and dropping another vehicle icon. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S30). The determination unit 11 determines whether or not the coordinate where the touch event (DOWN) is detected is inside the display area of the other vehicle (preceding vehicle) icon (S36). When it is outside the display area of the other vehicle (preceding vehicle) icon (N in S36), it is determined that it is not an overtaking instruction, and the process is terminated.

  When it is inside the display area of the other vehicle (preceding vehicle) icon (Y in S36), the determination unit 11 receives a touch event (MOVE) from the touch panel (S32). Thereafter, the determination unit 11 receives a touch event (UP) from the touch panel (S33). The determination unit 11 determines whether or not the coordinate where the touch event (UP) is detected is the rear region of the vehicle icon (S37). When it is the rear area of the own vehicle icon (Y in S37), the instruction unit 13 issues an overtaking instruction command for overtaking the other vehicle related to the other vehicle (preceding vehicle) icon to the automatic operation controller 20 (S35). . When it is not the rear area of the own vehicle icon (N of S37), it determines with it not being an overtaking instruction, and complete | finishes a process.

  9A to 9C are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. When the driver wants to pass another vehicle, the other vehicle icon V2 is dragged as shown in FIG. 9A, and the other vehicle icon is displayed behind the own vehicle icon V1 as shown in FIGS. 9B to 9C. Drop V2. Thereby, an overtaking instruction command is issued.

  FIG. 10 is a flowchart illustrating a third processing example in which an overtaking instruction command is issued by a gesture operation. The third processing example is an example in which the own vehicle icon and the other vehicle icon are exchanged (rotation gesture). The determination unit 11 of the HMI controller 10 receives two touch events (DOWN) from the touch panel (S38). The determination unit 11 determines whether the coordinate of one point where the touch event (DOWN) is detected is within the display area of the vehicle icon (S39). If it is outside the display area of the own vehicle icon (N in S39), it is determined that it is not an overtaking instruction, and the process is terminated.

  If it is inside the display area of the own vehicle icon (Y in S39), the determination unit 11 determines that the coordinate of the other one point where the touch event (DOWN) is detected is inside the display area of the other vehicle (preceding car) icon. It is determined whether or not (S310). If it is outside the display area of the other vehicle (preceding vehicle) icon (N in S310), it is determined that it is not an overtaking instruction, and the process is terminated.

  When it is inside the display area of the other vehicle (preceding vehicle) icon (Y in S310), the determination unit 11 receives a touch event (MOVE) from the touch panel (S311). Thereafter, the determination unit 11 receives two touch events (UP) from the touch panel (S312). The determination unit 11 determines whether or not the coordinate where the touch event (UP) of the own vehicle icon is detected is a front area of the coordinate where the touch event (UP) of the other vehicle icon is detected (S313). When the own vehicle icon is ahead of the other vehicle icon (Y in S313), the instruction unit 13 issues an overtaking instruction command for overtaking the other vehicle related to the other vehicle (preceding vehicle) icon to the automatic driving controller 20. (S314). When the own vehicle icon is not in front of the other vehicle icon (N in S313), it is determined that it is not an overtaking instruction, and the process ends.

  FIGS. 11A to 11C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to pass another vehicle, as shown in FIG. 11 (a), the user touches the own vehicle icon V1 and the other vehicle icon V2 with two fingers, as shown in FIGS. 11 (b)-(c). The vehicle icon V1 and the other vehicle icon V2 are replaced before and after and dropped. Thereby, an overtaking instruction command is issued.

  FIG. 12 is a flowchart illustrating a fourth processing example in which an overtaking instruction command is issued by a gesture operation. The fourth processing example is an example in which the scale of the schematic diagram is changed after touching the own vehicle icon. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S30). The determination unit 11 determines whether or not the coordinate at which the touch event (DOWN) is detected is within the display area of the vehicle icon (S31). If it is outside the display area of the own vehicle icon (N in S31), it is determined that it is not an overtaking instruction, and the process is terminated.

  When it is inside the display area of the own vehicle icon (Y of S31), the determination part 11 determines whether the other vehicle (preceding vehicle) icon is contained in the schematic diagram in the screen currently displayed on the touch panel ( S315). When the schematic diagram in the screen does not include the other vehicle (preceding vehicle) icon (N in S315), the generation unit 12 changes the scale of the schematic diagram so that the schematic diagram includes the other vehicle (preceding vehicle) icon. (Smaller) and display on the screen (S316). When the other vehicle (preceding vehicle) icon is included in the schematic diagram in the screen (Y of S315), the process of step S316 is skipped. The determination unit 11 receives a touch event (MOVE) from the touch panel (S32). Hereinafter, the processing from step S33 to step S35 of FIG. 12 is the same as the flowchart of FIG.

  FIGS. 13A to 13D are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver touches the host vehicle icon V1 as shown in FIG. 13 (a), if there is no other vehicle icon in the schematic diagram displayed on the screen, the other vehicle icon as shown in FIG. 13 (b). The scale of the schematic diagram is reduced until V2 is included in the schematic diagram. As shown in FIGS. 13C to 13D, the driver drops the own vehicle icon V1 in front of the other vehicle icon V2 that is displayed. Thereby, an overtaking instruction command is issued. As a result, other vehicles can be easily found and the overtaking instruction command can be issued earlier.

  FIG. 14 is a flowchart illustrating a fifth processing example in which an overtaking instruction command is issued by a gesture operation. The fifth processing example is an example in which a plurality of vehicles are collectively overtaken. The processing from step S30 to step S33 is the same as the flowchart of FIG.

  The determination unit 11 determines whether or not the coordinate at which the touch event (UP) is detected is a front area of a plurality of other vehicle icons (S317). When it is the front area of a plurality of other vehicle icons (Y in S317), the instruction unit 13 issues a continuous overtaking instruction command for continuously overtaking the plurality of other vehicles related to the plurality of other vehicle icons. 20 (S318). If it is not the front area of a plurality of other vehicle icons (N in S317), it is determined that the command is not a continuous overtaking instruction command, and the process is terminated.

  FIGS. 15A to 15C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to overtake the other two cars in front of each other, drag the vehicle icon V1 as shown in FIG. 15 (a) and two other cars as shown in FIGS. 15 (b)-(c). The own vehicle icon V1 is dropped in front of the car icons V2a and V2b. As a result, a continuous overtaking instruction command is issued.

  FIG. 16 is a flowchart illustrating a sixth processing example in which an overtaking instruction command is issued by a gesture operation. The sixth processing example is an example of designating a passing course when overtaking another vehicle. The processing from step S30 to step S34 is the same as the flowchart of FIG.

  The determination unit 11 determines whether the intersection of the trajectory of the touch event (MOVE) and the horizontal line passing on the other vehicle icon is on the right side or the left side of the coordinates of the other vehicle icon (S319). If it is on the right side (right side of S319), the instruction unit 13 issues an overtaking instruction command for overtaking the other vehicle related to the other vehicle icon from the right side to the automatic operation controller 20 (S320). If it is on the left side (left side of S319), the instruction unit 13 issues an overtaking instruction command for overtaking the other vehicle related to the other vehicle icon from the left side to the automatic operation controller 20 (S321).

  17A to 17F are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to pass the preceding vehicle from the right side, the driver drags the host vehicle icon V1 as shown in FIG. 17 (a) and then turns around the right side of the other vehicle icon V2 as shown in FIG. 17 (b). The own vehicle icon V1 is moved, and as shown in FIG. 17C, the own vehicle icon V1 is dropped in front of the other vehicle icon V2. Thereby, an overtaking instruction command is issued from the right side.

  On the other hand, when the driver wants to pass the preceding vehicle from the left side, the driver drags the host vehicle icon V1 as shown in FIG. 17D, and then turns around the left side of the other vehicle icon V2 as shown in FIG. The host vehicle icon V1 is moved as described above, and the host vehicle icon V1 is dropped in front of the other vehicle icon V2 as shown in FIG. Thereby, an overtaking instruction command is issued from the left side.

  Note that the user does not instruct a specific control method related to overtaking. For example, the user moves the vehicle mark in front of the preceding vehicle (other vehicle) mark and instructs overtaking. You may change the specific control method regarding a command. For example, it is normal to overtake from the right lane due to Japanese traffic rules, but if there are no other vehicles traveling in the left lane, it may be overtaken from the left lane. Further, it may be overtaken by a route that matches the driver's preference with reference to personal preference data. A specific control method related to the command may be, for example, a route, an execution timing, a speed, and the like. After the determination unit 11 of the HMI controller 10 determines, a command including the specific control method is sent to the automatic operation controller 20. The automatic operation controller 20 may determine a specific control method after receiving the command. Further, specific control method options determined by the HMI controller 10 or the automatic operation controller 20 are displayed on the display unit 31, or the driver is audibly / tactively notified by a notifying unit including a speaker and vibration means (not shown). The driver may be notified or the driver may select.

  FIG. 18 is a flowchart illustrating a seventh processing example in which a lane change instruction command is issued by a gesture operation. The seventh processing example is an example in which the track of the vehicle icon is displayed in the schematic diagram. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S30). The determination unit 11 determines whether or not the coordinate at which the touch event (DOWN) is detected is within the display area of the vehicle icon (S31). If it is outside the display area (N in S31), it is determined that it is not an overtaking instruction, and the process is terminated.

  When it is inside the display area of the own vehicle icon (Y in S31), the determination unit 11 receives a touch event (MOVE / UP) from the touch panel (S322). The determination unit 11 determines the type of touch event (S323). When the type of the touch event is “MOVE” (MOVE in S323), the determination unit 11 determines whether or not the coordinate where the touch event (MOVE) is detected is a front area of the other vehicle (preceding vehicle) icon. (S324). When it is the front area of the other car (preceding car) icon (Y of S324), the production | generation part 12 produces | generates the prediction route at the time of implementing overtaking, and displays it on a touch panel (S325). If it is not the front area of the other car (preceding car) icon (N in S324), the process of step S325 is skipped. Thereafter, the process proceeds to operation S322. In this flowchart, attention is paid to the display of the predicted route, and therefore the processing after step S323 when the touch event type is “UP” (UP in S323) is omitted.

  FIGS. 19A and 19B are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. When the driver wants to pass another vehicle, drag the own vehicle icon V1 as shown in FIG. 19A, and drag the own vehicle icon V1 ahead of the other vehicle icon V2 as shown in FIG. 19B. The predicted trajectory T1 that is passed when overtaking another vehicle is displayed.

  FIG. 20 is a flowchart illustrating an eighth processing example in which an overtaking instruction command is issued by a gesture operation. The eighth processing example is an example for obtaining a confirmation operation. The processing from step S30 to step S34 is the same as the flowchart of FIG.

  When the coordinate at which the touch event (UP) is detected is the front area of the other vehicle (preceding vehicle) icon (Y in S34), when the determination unit 11 receives an input of a confirmed gesture (Y in S326), the instruction unit 13 issues an overtaking instruction command for overtaking the other vehicle related to the other vehicle icon to the automatic operation controller 20 (S35). While there is no input of the confirmation gesture (N in S326), the issue of the command is suspended. Thereby, it is possible to further prevent erroneous operation.

  FIGS. 21A to 21C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to pass the preceding vehicle, the driver drags the host vehicle icon V1 as shown in FIG. 21 (a) and moves the host vehicle icon V1 ahead of the other vehicle icon V2 as shown in FIG. 21 (b). . When the host vehicle icon V1 is moved, a confirmation button C1 is displayed. As shown in FIG. 21 (c), after the own vehicle icon V1 is dropped in front of the other vehicle icon V2, when the confirmation button C1 is pressed, an overtaking instruction command is issued.

  FIG. 22 is a flowchart illustrating a ninth processing example in which an overtaking instruction command is issued by a gesture operation. The ninth processing example is an example in which a display during control is added. The term “in control” refers to the period until the vehicle completes overtaking after the overtaking instruction command is issued. The processing from step S30 to step S35 is the same as the flowchart of FIG.

  After the instructing unit 13 issues an overtaking instruction command to the automatic operation controller 20 (S35), the generating unit 12 generates the own vehicle icon in the coordinates before moving and the coordinates after moving, and A predicted trajectory is generated and displayed on the touch panel (S327).

  23A to 23F are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. When the driver wants to pass the preceding vehicle, drag the vehicle icon V1 as shown in FIGS. 23 (a) and 23 (d), and move forward of the other vehicle icon V2 as shown in FIGS. 23 (b) and 23 (e). Drop your car icon V1 on Thereby, an overtaking instruction command is issued. During execution of the overtaking instruction command, as shown in FIGS. 23C and 23F, the own vehicle icon V1a is displayed at the original position before the overtaking starts, and the own vehicle icon V1b is displayed at the target position after the overtaking is completed. Is displayed. Further, as shown in FIG. 23 (f), a predicted trajectory T1 of the own vehicle may be displayed.

  FIG. 24 is a flowchart illustrating a processing example in which a cancel command is issued after an overtaking instruction command is issued by a gesture operation. After the overtaking instruction command is issued to the automatic operation controller 20, the determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S328). Thereafter, the determination unit 11 of the HMI controller 10 receives a touch event (MOVE) from the touch panel (S329). Thereafter, the determination unit 11 of the HMI controller 10 receives a touch event (UP) from the touch panel (S330). The determination unit 11 determines whether or not there is an intersection between the moving trajectory and the passing trajectory of the touch event (S331). When the intersection exists (Y in S331), the instruction unit 13 issues a command for canceling the overtaking instruction command issued previously to the automatic operation controller 20 (S332). If there is no intersection (N in S331), no cancel command is issued.

  FIGS. 25A to 25D are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. FIG. 25A shows an example in which a cancel command for an overtaking instruction command is issued when swiping S1 across the predicted trajectory T1. FIG. 25B shows an example in which a cancel command for an overtaking instruction command is issued when swiping S2 across the vehicle icon V1b after movement. FIG. 25C shows an example in which a cancel command for an overtaking instruction command is issued when a flick F1 is started from the own vehicle icon V1b after movement. FIG. 25D shows an example in which a cancel command for an overtaking instruction command is issued when a flick F1 starts from the predicted trajectory T1.

  FIGS. 26A and 26B are diagrams showing another example of the gesture operation according to the flowchart of FIG. When the vehicle icon V1b after movement is dragged as shown in FIG. 26 (a) and the vehicle icon V1c is dropped at the position before movement as shown in FIG. 26 (b), a cancel command of the overtaking instruction command is issued. publish.

  The generation unit 12 may leave the original image (the vehicle icon before movement) in the schematic diagram until the original image is dropped after being dragged until the original image is dropped. In addition, from dragging the vehicle icon to dropping it, the generation unit 12 may draw the trajectory of the vehicle icon dragged with a dotted line in the schematic diagram. Moreover, the generation unit 12 may invert the color of the road until the vehicle icon is dropped after being dragged, and return it to the original color when the icon is dropped.

  In addition, when the vehicle icon is dragged and dropped, the generation unit 12 changes the color of the vehicle icon when there is a non-dropable area (such as an opposite lane) or when an operation (such as overtaking) is not possible ( Inversion, thinning, etc.). At the time of dropping, the vehicle icon may be returned to the original vehicle position, and an error message such as “operation not possible” may be displayed. Examples of cases where the operation is impossible include approach of a following vehicle, overtaking prohibited area, overspeed limit, and the like.

  Also, during the period from dragging the vehicle icon to dropping it, the generation unit 12 may change the color of the background such as a road (inverted, lightened, etc.) when the operation is impossible. When the operation becomes possible, the original color is restored. In addition, the generation unit 12 changes (inverts, lightens, etc.) the color of the non-dropable area until the vehicle icon is dragged and dropped. In addition, when the vehicle icon is dragged and dropped, the generation unit 12 notifies an error sound or vibration when there is a drop-impossible area or when an operation is not possible.

  If the operation cannot be started when dragging the own vehicle icon is started, the generation unit 12 may change the color of the own vehicle icon. Alternatively, the drag operation (movement of the own vehicle icon) may be disabled. Also, an error message such as “operation not possible” may be displayed. If the operation cannot be started when dragging of the vehicle icon is started, the generation unit 12 may change the background color such as a road. When the operation becomes possible, the original color is restored. If the operation cannot be started when the drag of the own vehicle icon is started, the generation unit 12 notifies an error sound or vibration in a state where the drag operation (moving of the own vehicle icon) is not possible.

  FIGS. 27A to 27D are diagrams showing a first display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. When the driver wants to pass the preceding vehicle, the driver drags the host vehicle icon V1 as shown in FIG. 27 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 27 (b). . Between the time when the vehicle is dropped ahead of the other vehicle icon V2 and the overtaking is completed, the state (current position) of the host vehicle is displayed as a ghost icon V1g as shown in FIG. The moving trajectory T1 is also displayed. When the overtaking is completed, the ghost icon V1g and the track T1 of the own vehicle are deleted as shown in FIG.

  FIGS. 28A to 28D are diagrams illustrating a second display example during the control from when the own vehicle icon is dropped until the own vehicle completes overtaking. When the driver wants to pass the preceding vehicle, the driver drags the host vehicle icon V1 as shown in FIG. 28 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 28 (b). . From the time when the vehicle is dropped ahead of the other vehicle icon V2 until the overtaking is completed, the display state of the destination vehicle icon V1 is changed as shown in FIG. Although FIG. 28C illustrates an example in which the own vehicle icon V1 is blinked, color change, size change, position change, and the like may be performed. When the overtaking is completed, the display state of the own vehicle icon V1 is restored as shown in FIG.

  FIGS. 29A to 29D are diagrams showing a third display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. When the driver wants to pass the preceding vehicle, the driver drags the host vehicle icon V1 as shown in FIG. 29 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 29 (b). . From the time when the vehicle is dropped ahead of the other vehicle icon V2 until the overtaking is completed, the next instruction is queued by an additional operation (reservation of control performed after the current control is completed). FIGS. 29 (c)-(d) illustrate an example in which an additional instruction to change lanes is given during overtaking control. In this case, lane change to overtaking lane → overtaking other vehicles → lane change to original lane → lane change to overtaking lane, but canceling the last two controls, changing lane to overtaking lane → overtaking And

  FIGS. 30A to 30D are diagrams showing a fourth display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. When the driver wants to pass the preceding vehicle, the driver drags the host vehicle icon V1 as shown in FIG. 30 (a) and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 30 (b). . During the period from dropping to the front of the other vehicle icon V2 until the overtaking is completed, as shown in FIGS. 30 (c) to 30 (d), the own vehicle icon V1 is again dragged and dropped to the original position. If so, proceed as follows: If the lane change to the overtaking lane is being completed or the lane change has been completed at the time of dropping to the original position, a lane change instruction command to the original lane is transmitted. When dropping to the original position, if you are overtaking other vehicles, after overtaking, or changing lanes to the original lane, an error message (for example, “The operation cannot be performed because it is under control”, “Please wait for a while” Etc.). The predicted trajectory may be received from the automatic driving controller 20 and drawn on the display unit 31 while the own vehicle icon is being dragged, dropped, or after the dropping is completed. If it is temporarily impossible to overtake due to a signal waiting or lane change impossible section, the generation unit 12 displays “trying” or the like until the overtaking control is established, and the predicted trajectory is displayed at the timing when it can be executed. You may make it draw. While the vehicle icon is being dragged or during the period from when it is dropped to when overtaking is completed, the generation unit 12 displays the estimated required time and the remaining time required to reach the target position after dropping. It may be. If the overtaking control is temporarily impossible, it may be possible to set in advance whether the control is continued until it becomes possible, or the control is given up and stopped. A drop area for canceling may be provided in case the user starts dragging by mistake or wants to cancel after dragging. You can cancel issuing commands by dragging your vehicle and dropping it in the drop area for cancellation. After the overtaking control, a mode for repeatedly overtaking control may be provided when another vehicle is ahead.

  As described above, according to the present embodiment, various operation details can be transmitted to the automatic operation controller 20 by moving the icon displayed on the touch panel with a gesture. The icon gesture operation is a simple operation, and is released from conventional driving operations such as the driver turning the steering wheel 51 and depressing the accelerator pedal 53. For example, by displaying a schematic diagram including a lane, a vehicle icon, and an other vehicle icon, and changing the positional relationship between the vehicle icon and the other vehicle icon, an overtaking instruction can be easily performed. The driver can check the surrounding situation and perform an operation instruction on the touch panel at the same time, so that the line of sight does not move. Therefore, the possibility of erroneous operation is reduced, and safer driving can be realized. In addition, in order to issue an overtaking or overtaking instruction command, an operation for changing the relative position between the own vehicle icon and the other vehicle other than the above operation may be used. In addition, although the gesture operation corresponding to the control command has been described by drag and drop, touch and touch may be used. A predetermined gesture or operation may be used, but the driver may be able to customize it. In addition, an explanation, an icon, or an arrow may be displayed on the display unit, a guide may be displayed, or voice guidance may be given so that the correspondence between the gesture operation and the control command can be understood.

  The present invention has been described based on the embodiments. It is understood by those skilled in the art that these embodiments are exemplifications, and that various modifications can be made to combinations of the respective constituent elements and processing processes, and such modifications are also within the scope of the present invention. By the way.

  For example, the HMI controller 10 is assumed to be mounted by a dedicated LSI, but the function of the HMI controller 10 may be realized using a CPU in a mobile device such as a smartphone or a tablet used as the display device 30. In this case, the portable device used as the display device 30 and the automatic operation controller 20 are directly connected. Further, the function of the HMI controller 10 may be realized by a CPU in a head unit such as a car navigation device or display audio. In addition, a configuration in which a dedicated LSI on which the HMI controller 10 is mounted may be included in the head unit.

  The embodiment may be specified by the following items.

[Item 1]
An image output unit (14a) for outputting an image including an own vehicle object representing the own vehicle and an other vehicle object representing the other vehicle in front of the own vehicle object on the display unit (31);
An operation signal input unit (14b) for receiving a user operation to change a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit (31);
When the positional relationship between the two is changed so that the own vehicle object is positioned in front of the other vehicle object, an automatic driving control that controls the automatic operation with a command that instructs the own vehicle to pass the other vehicle A command output unit (14c) for outputting to the unit (20);
A driving support device (10) comprising:
Thereby, the operation which a user instruct | indicates overtaking can be performed intuitively and simply.
[Item 2]
A user operation for moving the host vehicle object in the image displayed on the display unit (31) in front of the other vehicle object, a user operation for moving the other vehicle object behind the host vehicle object, or When the operation signal input unit (14b) receives a user's operation for switching the host vehicle object and the other vehicle object, the command output unit (14c) instructs the host vehicle to pass the other vehicle. Is output to the said automatic driving | operation control part (20), The driving assistance apparatus (10) of the item 1 characterized by the above-mentioned.
Thereby, the operation which a user instruct | indicates overtaking can be performed intuitively and simply.
[Item 3]
The image output unit (14a) outputs an image including the host vehicle object and a plurality of other vehicle objects representing a plurality of other vehicles in front of the host vehicle object,
The operation signal input unit (14b) performs a user operation to change the positional relationship between the vehicle object in the image displayed on the display unit (31) so that the vehicle object is positioned in front of the plurality of other vehicle objects. Upon receipt, the command output unit (14c) outputs a command instructing that the host vehicle overtakes a plurality of other vehicles to the automatic driving control unit (20). Support device (10).
Thereby, the operation of overtaking a plurality of vehicles can be performed intuitively and simply.
[Item 4]
A display device (30) for displaying an image;
A driving support device (10) for outputting an image to the display device (30),
The driving assistance device (10)
An image output unit (14a) for outputting an image including an own vehicle object representing the own vehicle and an other vehicle object representing another vehicle in front of the own vehicle object to the display device (30);
An operation signal input unit (14b) for receiving a user operation to change a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display device (30);
When the positional relationship between the two is changed so that the own vehicle object is positioned in front of the other vehicle object, an automatic driving control that controls the automatic operation with a command that instructs the own vehicle to pass the other vehicle A command output unit (14c) for outputting to the unit (20);
A driving support system (10, 30) comprising:
Thereby, the operation which a user instruct | indicates overtaking can be performed intuitively and simply.
[Item 5]
Outputting to the display unit (31) an image including an own vehicle object representing the own vehicle and an other vehicle object representing the other vehicle in front of the own vehicle object;
Receiving a user operation to change a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit (31);
When the positional relationship between the two is changed so that the own vehicle object is positioned in front of the other vehicle object, an automatic driving control that controls the automatic operation with a command that instructs the own vehicle to pass the other vehicle Outputting to the unit (20);
A driving support method comprising:
Thereby, the operation which a user instruct | indicates overtaking can be performed intuitively and simply.
[Item 6]
A process of outputting an image including an own vehicle object representing the own vehicle and an other vehicle object representing the other vehicle in front of the own vehicle object on the display unit (31);
A process of accepting a user operation to change a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit (31);
When the positional relationship between the two is changed so that the own vehicle object is positioned in front of the other vehicle object, an automatic driving control that controls the automatic operation with a command that instructs the own vehicle to pass the other vehicle Processing to output to the section (20);
A driving support program for causing a computer to execute.
Thereby, the operation which a user instruct | indicates overtaking can be performed intuitively and simply.
[Item 7]
An image output unit (14a) for outputting an image including an own vehicle object representing the own vehicle and an other vehicle object representing the other vehicle in front of the own vehicle object on the display unit (31);
An operation signal input unit (14b) for receiving a user operation to change a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit (31);
A command output unit (14c) that outputs a command instructing that the host vehicle overtakes the other vehicle when the positional relationship between them is changed so that the host vehicle object is positioned in front of the other vehicle object;
An automatic operation control unit (20) for executing the output command;
An autonomous driving vehicle (1) comprising:
Thereby, the operation which a user instruct | indicates overtaking can be performed intuitively and simply.

  DESCRIPTION OF SYMBOLS 1 vehicle, 10 HMI controller, 11 determination part, 12 production | generation part, 13 instruction | indication part, 14 input / output part, 20 automatic operation controller, 21 control part, 22 memory | storage part, 23 input / output part, 30 display apparatus, 31 display part, 32 input unit, 40 detection unit, 41 position information acquisition unit, 42 sensor, 43 speed information acquisition unit, 44 map information acquisition unit, 50 driving operation unit, 51 steering, 52 brake pedal, 53 accelerator pedal, 54 winker switch.

  The present invention is applicable to a vehicle equipped with an automatic driving mode.

Claims (8)

On the display unit, and the vehicle object representing the vehicle, an image output unit for outputting image information including the other vehicle object representing the other vehicle,
An operation signal input unit that receives an operation signal of a user that changes a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit;
A command output unit that outputs a control command corresponding to the received operation signal to an automatic operation control unit that controls automatic operation ;
The command output unit outputs a first control command corresponding to a first operation signal to the automatic operation control unit and then executes a second control before the control related to the first control command is completed. A second control command corresponding to the operation signal is output to the automatic operation control unit, and the control related to the second control command is reserved in the automatic operation control unit;
OPERATION support device. When the first control command and the second control command include common control, common control is executed and the vehicle is moved to the final position of the second control command.
The driving support device according to claim 1. The first operation signal is a user operation signal that changes a positional relationship between the host vehicle object and the other vehicle object so as to be positioned in front of the other vehicle object,
The first control command is a control command for instructing the vehicle to pass the other vehicle,
The second operation signal is a user operation signal for moving the vehicle object from the first lane to the second lane,
The second control command is a control command that instructs to change the traveling lane of the host vehicle from the first lane to the second lane.
The driving support apparatus according to claim 1 or 2. Control to change the lane to the overtaking lane according to the first control command, control to change the lane to the overtaking lane, overtake another vehicle, change the lane to the original lane, and control to change the lane to the overtaking lane according to the second control command,
Change the lane to the overtaking lane and change to control to overtake the other vehicle,
The driving support device according to claim 3. A display device for displaying an image;
A driving support device that outputs image information to the display device,
The driving support device includes:
An image output unit that outputs image information including a host vehicle object representing the host vehicle and another vehicle object representing the other vehicle to the display device;
An operation signal input unit that receives an operation signal of a user that changes a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display device;
A control command corresponding to the operation signal accepted, saw including a command output section that outputs to the automatic driving control unit for controlling the automatic operation, the,
The command output unit outputs a first control command corresponding to a first operation signal to the automatic operation control unit and then executes a second control before the control related to the first control command is completed. A second control command corresponding to the operation signal is output to the automatic operation control unit, and the control related to the second control command is reserved in the automatic operation control unit;
OPERATION support system. On the display unit, and outputting the image information including the vehicle object representing the vehicle, the other vehicle object representing the other vehicle,
Receiving a user operation signal for changing a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit;
Outputting a control command corresponding to the received operation signal to an automatic operation control unit that performs control of automatic operation , and
The step of outputting the control command includes outputting the first control command corresponding to the first operation signal to the automatic operation control unit and before executing the control related to the first control command. Outputting a second control command corresponding to a second operation signal to the automatic operation control unit, and reserving control related to the second control command in the automatic operation control unit;
OPERATION support method. A process of outputting image information including the own vehicle object representing the own vehicle and the other vehicle object representing the other vehicle to the display unit;
A process of accepting a user operation signal for changing a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit;
A process of outputting a control command according to the received operation signal to an automatic operation control unit that controls automatic operation;
To the computer ,
In the process of outputting the control command, after the first control command corresponding to the first operation signal is output to the automatic operation control unit, before the control related to the first control command is completed, Outputting a second control command corresponding to a second operation signal to the automatic operation control unit, and reserving control related to the second control command in the automatic operation control unit;
OPERATION support program. On the display unit, and the vehicle object representing the vehicle, an image output unit for outputting image information including the other vehicle object representing the other vehicle,
An operation signal input unit that receives an operation signal of a user that changes a positional relationship between the host vehicle object and the other vehicle object in the image displayed on the display unit;
A command output unit for outputting a control command according to the received operation signal ;
An automatic operation control unit for executing the output control command;
Equipped with a,
The command output unit outputs a first control command corresponding to a first operation signal to the automatic operation control unit and then executes a second control before the control related to the first control command is completed. A second control command corresponding to the operation signal is output to the automatic operation control unit, and the control related to the second control command is reserved in the automatic operation control unit;
Automatic driving vehicle.

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