JP6621032B2 - 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 problems, a driving support device according to an aspect of the present invention includes an image output unit that outputs an image including a host object representing the host vehicle and a surrounding situation of the host vehicle on the display unit, and the display An operation signal input unit that accepts a gesture operation by a user accompanying movement of the vehicle object in the image displayed on the unit, and a command corresponding to the gesture operation is output to an automatic driving control unit that controls automatic driving A command output unit.

  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. 4 is a flowchart showing an example of command determination processing when a gesture operation is input in step S9 of FIG. It is a figure which shows an example of an automatic driving | operation control command table. It is a flowchart which shows the example of gesture operation which drags and drops the own vehicle icon to another lane. FIGS. 8A and 8B are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. It is a flowchart which shows the example of gesture operation which flicks the own vehicle icon. FIGS. 10A to 10D are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the example of gesture operation rotated by touching two points of the own vehicle icon and an other vehicle icon. 12A to 12C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the example of gesture operation which drags and drops the own vehicle icon on the other vehicle icon. 14A to 14C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the example of gesture operation which touches two points, the own vehicle icon and an other vehicle icon, and pinch-in / pinch-out during the following driving | running | working. FIGS. 16A to 16C are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. It is a flowchart which shows the example of gesture operation which touches and rotates two points, the own vehicle icon and the other vehicle icon, during a follow-up driving | running | working. 18A to 18C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the example of gesture operation which swipes the own vehicle icon. 20A to 20C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. It is a flowchart which shows the example which drags and drops the own vehicle icon to a specific area (road guide sign). 22A to 22B are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. FIG. 6 is a flowchart illustrating an example of a process of drawing a predicted trajectory / route candidate in step S9e of FIG. 6 is a flowchart showing another example of a process for drawing a predicted trajectory / route candidate in step S9e of FIG. FIGS. 25A to 25C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. FIGS. 26A to 26C are diagrams illustrating an example of an error display screen. FIGS. 27A to 27D are diagrams illustrating display examples from when the own vehicle icon is dragged to when it is dropped on the other vehicle icon. FIGS. 28A to 28C are diagrams illustrating another display example from when the own vehicle icon is dragged to when it is dropped on the other vehicle icon. FIGS. 29A to 29C are diagrams illustrating a display example during dragging of the own vehicle icon in a case where there is a drop-impossible area or the like. FIGS. 30A to 30C are diagrams illustrating another display example when the own vehicle icon is being dragged in the case where there is a drop-impossible area or the like. FIGS. 31A to 31B are diagrams illustrating display examples when the drag operation is disabled. FIGS. 32A and 32B are diagrams showing another display example when the drag operation is disabled. FIGS. 33A to 33D are diagrams showing a first display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. FIGS. 34A to 34D are diagrams showing a second display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. FIGS. 35A to 35D are diagrams showing a third display example during control from when the own vehicle icon is dropped until the own vehicle completes overtaking. FIGS. 36A to 36D 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 environment around the host vehicle such as the road condition and the weather in which the host vehicle travels, and the travel position and travel state of other vehicles traveling around the host 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 the vehicle position information, the vehicle traveling road information, and the vehicle surrounding information 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). The HMI controller 10 generates a schematic diagram including the host vehicle and the surrounding situation of the host vehicle based on the information acquired from the automatic driving controller 20 (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 generates a schematic diagram including the situation of the vehicle and the vehicle based on the vehicle position information, the vehicle traveling road information, and the vehicle periphery information input from the automatic operation controller 20. Then, 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.

  FIG. 5 is a flowchart illustrating an example of command determination processing when a gesture operation is input in step S9 of FIG. When contact by the user to the input unit 32 is started (Y in S9a), the generation unit 12 draws a droppable area in the schematic diagram and displays it on the display unit 31 (S9b).

  The determination unit 11 receives the touch event generated at the input unit 32 (S9c), and determines the type of the touch event (S9d). When the type of the touch event is contact start / movement (contact start / movement of S9d), the generation unit 12 draws the predicted trajectory / route candidate of the vehicle 1 in the schematic diagram and displays it on the display unit 31 ( S9e). Thereafter, the process returns to step S9c.

  When the type of touch event is the end of contact (contact end of S9d), the determination unit 11 determines the type of gesture operation. Typical gesture operations include drag and drop, flick, swipe, pinch in / pinch out, and rotation. The determination unit 11 determines the type of gesture operation based on the time series transition of touch events (S9f). Specifically, drag and drop, flick, and swipe are distinguished based on the stay time at the contact start position, the moving speed after the start of movement, and the stay time at the contact end position. If there are two contact points and the distance between the two points changes by a predetermined distance or more, it is determined that the pinch-in / pinch-out. If the distance between the two points does not change by a predetermined distance or more and the position of the two points changes, it is determined that the rotation has occurred.

  The determination unit 11 refers to the automatic operation control table using the number of contact points, the contact start position, the contact end position, and the gesture type as keys (S9g). When there is a control command that matches the four keys in the automatic operation control command table (Y in S9h), the determination unit 11 determines the control command to be issued to the automatic operation controller 20 (S9i). When there is no control command that matches the four keys in the automatic operation control command table (N in S9h), the generation unit 12 displays an error message on the display unit 31 (S9s).

  FIG. 6 is a diagram illustrating an example of the automatic operation control command table 11a. The automatic operation control command table 11a is constructed in the determination unit 11. Hereinafter, in the present embodiment, an example in which the contact start position is the own vehicle mark in the schematic diagram will be described. The automatic operation control command table 11a shown in FIG. 6 defines other vehicle marks, emergency vehicle marks, pedestrian marks, lanes, shoulders, intersections, and specific areas as contact end positions, and drag and drop and flick as gesture operations. / Swipe, pinch in / pinch out, and rotation.

  When the user drags the own vehicle mark and drops it on the other vehicle mark, a command for instructing tracking / training is issued. When the user drags the own vehicle mark and drops it on an emergency vehicle (such as an ambulance) mark, if the position of the emergency vehicle mark is on the right side of the position of the own vehicle mark, a command for instructing a left-justified temporary stop is issued. When the position of the emergency vehicle mark is on the left side of the position of the own vehicle mark, a command for instructing a right-justified temporary stop is issued. When the user drags the vehicle mark and drops it on the pedestrian mark, a command for instructing to stop beside the pedestrian is issued.

  When the user drags the vehicle mark and drops it on another lane, a command for instructing a lane change to the lane is issued if the vehicle is not near the intersection. If the dropped lane is in the vicinity of the intersection and the dropped lane is a right turn lane, a command for issuing a lane change to the right turn lane and a right turn is issued. When the dropped lane is near the intersection and the dropped lane is a left turn lane, a command for instructing a lane change to the left turn lane and a left turn is issued.

  When the user drags the vehicle mark and drops it on the shoulder, a command for instructing parking on the shoulder is issued. When the user drags the vehicle mark and drops it at the entrance of the lane after the right turn in the intersection, a command for instructing a right turn is issued. When the user drags the vehicle mark and drops it at the entrance of the lane after the left turn at the intersection, a command for instructing a left turn is issued.

  When the user drags the vehicle mark and drops it on a specific area other than the lane, intersection, or shoulder, a command corresponding to the specific area is issued. For example, a command for instructing temporary saving to a specific area is issued. When the specific area is an area where a place name or area name in the road information sign is displayed, a command for instructing a route change to the destination corresponding to the place name or area name is issued. In addition, a command for instructing setting of a transit point corresponding to the place name or the area name may be issued. When the specific area is an area in which a road or a road name is displayed in the road information sign, a command for instructing a route change to a route passing through the road is issued. In addition, when the specific area is an area where an exit guide sign for a toll road is displayed, a command instructing to get off from the exit may be issued.

  When the user flicks / swipes the own vehicle mark, a command for instructing a change in the vehicle speed may be issued according to the moving direction and moving distance of the own vehicle mark. For example, the speed may be increased by swiping upward, swiping downward by decreasing speed, and the speed change amount increasing as the moving distance increases. Further, when the user flicks / swipes the own vehicle mark, a command for instructing a change in the inter-vehicle distance from the preceding vehicle may be issued according to the moving direction and moving distance of the own vehicle mark. For example, swipe up to reduce the inter-vehicle distance, swipe down to increase the inter-vehicle distance, and the distance change amount may increase as the moving distance increases.

  When the user flicks / swipes the vehicle mark and there is another lane, a lane change instruction to the lane may be issued. In addition, when the user flicks / swipes the own vehicle mark and the flicked / swipe lane is a right turn lane in the vicinity of the intersection, a command for instructing a lane change to the right turn lane and a right turn is issued. If the lane flicked / swipe in the vicinity of the intersection is a left turn lane, a command for instructing a lane change to the left turn lane and a left turn is issued.

  When the user touches two points in the vehicle mark to pinch in / pinch out, a command for instructing a vehicle speed change is issued in accordance with a distance change between the two points. For example, the speed may be reduced by pinching in, the speed may be increased by pinching out, and the speed change amount may be increased as the distance between the two points increases.

  When the user touches two points of the own vehicle mark and the other vehicle mark and pinches in / out, and the own vehicle and the other vehicle are running following, the distance between the own vehicle and the other vehicle A command is issued to instruct the change. For example, the setting may be such that the distance change amount increases as the distance between the two points increases as the distance between the two points increases as the distance between the vehicles decreases by pinching in, the distance between the vehicles increases by pinching out. When the user touches two points of the own vehicle mark and the other vehicle mark to pinch in / out, and the own vehicle and the other vehicle are not following, the temporary vehicle and the other vehicle A command for instructing a change in the inter-vehicle distance is issued. In this case, even if the distance between the subject vehicle and the other vehicle changes with the passage of time, the control for keeping the distance between the vehicles constant does not work.

  When the user touches and rotates two points in the vehicle mark and is near the intersection, a command for instructing a right turn or a left turn is issued according to the direction of rotation. Further, when the user touches and rotates two points in the own vehicle mark and is in the vicinity of the parking space, a command for instructing the direction change of the own vehicle is issued according to the rotation direction.

  When the user touches and rotates two points of the own vehicle mark and the other vehicle mark and the vehicle is following / partitioning, a command is issued instructing to switch the position of the own vehicle and the other vehicle. The When the user touches and rotates the two points of the own vehicle mark and the other vehicle mark and the vehicle is not following / training, a command for instructing the own vehicle to pass the other vehicle is issued.

  Further, a specific control method related to the command may be changed according to the context. For example, when the user moves the own vehicle mark before the preceding vehicle (other vehicle) mark, the command is also an overtaking command, but a combination in which the method of overtaking changes depending on the context may be used. . 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. 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.

  The automatic operation control command table 11a shown in FIG. 6 described above is a combination in which the content of the command changes depending on the context even if the number of contact points, the contact start position, the contact end position, and the gesture type are the same. Contains. The environment information around the own vehicle is referred to as the context, and for example, the relative position with other vehicles, the presence / absence of lanes, the presence / absence of an intersection, whether the vehicle is following / partitioning, the direction of the own vehicle, and the like are referred to. The design may be such that the command is uniquely determined only by the number of contact points, the contact start position, the contact end position, and the gesture type without referring to the context. For example, when the user flicks / swipes the vehicle mark, a command for instructing a speed change may be issued globally regardless of the surrounding environment of the vehicle.

  Hereinafter, some examples of gesture operations defined in the automatic driving control command table 11a shown in FIG. 6 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. 7 is a flowchart showing an example of a gesture operation for dragging and dropping the own vehicle icon to another lane. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S20). 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 (S21). If it is outside the display area (N in S21), it is determined that it is not a lane change instruction, and the process ends.

  When it is inside the display area (Y in S21), the determination unit 11 receives a touch event (MOVE) from the touch panel (S22). 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 (S23). 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 another lane in the same traveling direction (S24). If it is another lane (Y in S24), the instruction unit 13 issues a lane change instruction command to the automatic driving controller 20 (S25). If it is not another lane (N in S24), it is determined that it is not a lane change instruction, and the process ends.

  FIGS. 8A and 8B are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. In the schematic diagram shown in FIG. 8A, the first lane L1 and the second lane L2 are displayed, and the vehicle icon V1 is displayed on the first lane L1. Various display forms are conceivable as display forms of the surrounding situation including the own vehicle and the road. 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.

  When the driver wants to change the lane from the first lane L1 to the second lane L2, as shown in FIG. 8A, the driver drags the vehicle icon V1 on the first lane L1, and as shown in FIG. 8B. The own vehicle icon V1 is dropped on the second lane L2. Thereby, a lane change instruction command is issued.

  FIG. 9 is a flowchart illustrating an example of a gesture operation for flicking the vehicle icon. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S20). 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 (S21). If it is outside the display area (N in S21), it is determined that it is not a lane change instruction, and the process ends.

  When it is inside the display area (Y in S21), the determination unit 11 determines whether there are a plurality of lanes that can travel in the traveling direction of the host vehicle (S212). When there are a plurality of lanes (Y in S212), the generation unit 12 generates a drop area for instructing lane change to a lane where the vehicle can run on the left and / or right of the vehicle icon and displays the drop area on the touch panel (S213). ). If there are no multiple lanes (N in S212), the process in step S213 is skipped.

  The determination unit 11 determines whether there is an intersection within a certain distance in the traveling direction (S214). When there is an intersection (Y in S214), the generation unit 12 displays a drop area for a route change instruction in a direction in which the route can be changed at the intersection on the left and / or right of the own vehicle icon or the drop area for the lane change instruction. Generate and display on the touch panel (S215). When there is no intersection (N of S214), the process of step S215 is skipped.

  The determination unit 11 receives a touch event (UP) from the touch panel (S216). The determination unit 11 determines whether or not the coordinates where the touch event (UP) is detected are within the drop area (S217). If it is not in the drop area (N in S217), it is determined that it is not a lane change instruction, and the process ends. When the coordinates at which the touch event (UP) is detected are within the lane change instruction drop area (lane change instruction drop area in S217), the instruction unit 13 issues a lane change instruction command to the automatic driving controller 20 ( S218). When the coordinates at which the touch event (UP) is detected are within the route change instruction drop area (the route change instruction drop area in S217), the instruction unit 13 issues a route change instruction command to the automatic operation controller 20 ( S219).

  FIGS. 10A to 10D are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to change the lane from the first lane L1 to the second lane L2, as shown in FIG. 9A, the driver touches the own vehicle icon V1 on the first lane L1. When the vehicle icon V1 is touched, a lane change instruction drop area A1 for the second lane L2 is displayed as shown in FIG. 10 (b). When the user flicks to the drop area A1, a lane change instruction command to the second lane L2 is issued.

  When the user touches the own vehicle icon V1 when there is an intersection ahead as shown in FIG. 10 (c), a lane change instruction drop area A1 to the right lane, left lane as shown in FIG. 10 (d) A lane change instruction drop area A2, a right turn instruction drop area A3, and a left turn instruction drop area A4 are displayed. When the user flicks to one of the drop areas, a corresponding command is issued.

  FIG. 11 is a flowchart illustrating an example of a gesture operation in which two points of the own vehicle icon and the other vehicle icon are touched and rotated. 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.

  12A to 12C 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. 12A, the driver touches the own vehicle icon V1 and the other vehicle icon V2 with two fingers, as shown in FIGS. 12B to 12C. The vehicle icon V1 and the other vehicle icon V2 are replaced before and after and dropped. Thereby, an overtaking instruction command is issued. Note that the gesture operation for issuing the overtaking instruction command may be an operation for changing the relative position of the vehicle icon and the other vehicle icon other than those described above.

  FIG. 13 is a flowchart illustrating an example of a gesture operation for dragging and dropping the own vehicle icon onto the other vehicle icon. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S40). 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 (S41). When it is outside the display area of the own vehicle icon (N of S41), it determines with it not being a following instruction | indication and complete | finishes a process.

  When it is inside the display area of the own vehicle icon (Y in S41), the determination unit 11 receives a touch event (MOVE) from the touch panel (S42). Thereafter, the determination unit 11 receives a touch event (UP) from the touch panel (S43).

  The determination unit 11 determines whether the coordinates at which the touch event (UP) is detected are inside the display area of the other vehicle icon (S44). When it is inside the display area of the other vehicle icon (Y in S44), the instruction unit 13 issues a follow instruction command for following the other vehicle related to the other vehicle icon to the automatic operation controller 20 (S45). . The generation unit 12 displays a tracking icon indicating that the vehicle is following the other vehicle between the vehicle icon and the other vehicle icon in the schematic diagram (S46). If the coordinates at which the touch event (UP) is detected are outside the display area of the other vehicle icon (N in S44), it is determined that the command is not a follow instruction command, and the process ends.

  14A to 14C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to follow the other vehicle, drag the own vehicle icon V1 as shown in FIG. 14A, and drop the own vehicle icon V1 on the other vehicle icon V2 as shown in FIG. 14B. . Accordingly, a follow instruction command is issued, and a follow icon F1 indicating that the own vehicle is following the other vehicle is displayed between the own vehicle icon V1 and the other vehicle icon V2, as shown in FIG. 14 (c). Will come to be. The follow-up icon F1 may be an icon representing the state of association between the own vehicle and another vehicle, such as a spring or a string, an arrow pointing to the two, or a character description such as following. The display position may be other than between the own vehicle icon and the other vehicle icon. The gesture operation for issuing the follow-up instruction command may be an operation of linking the own vehicle icon and the other vehicle icon other than those described above.

  FIG. 15 is a flowchart illustrating an example of a gesture operation for pinching in / pinch out by touching two points of the own vehicle icon and the other vehicle icon during follow-up traveling. The determination unit 11 of the HMI controller 10 receives two touch events (DOWN) from the touch panel (S412). The determination unit 11 determines whether or not the coordinate at which the first touch event (DOWN) is detected is within the display area of the vehicle icon (S413). When it is outside the display area of the own vehicle icon (N in S413), it is determined that it is not an inter-vehicle distance change instruction, and the process is terminated.

  When the coordinates at which the first touch event (DOWN) is detected are inside the display area of the host vehicle icon (Y in S413), the determination unit 11 determines that the coordinates at which the second touch event (DOWN) is detected are It is determined whether it is inside the display area of the other vehicle icon (S414). If it is outside the display area of the other vehicle icon (N in S414), it is determined that it is not an inter-vehicle distance change instruction, and the process ends.

  When the coordinate at which the second touch event (DOWN) is detected is within the display area of the other vehicle icon (Y in S414), the determination unit 11 receives the touch event (MOVE) from the touch panel (S415). Thereafter, the determination unit 11 receives two touch events (UP) from the touch panel (S416). The determination unit 11 includes a distance between the third coordinate and the fourth coordinate where the touch event (UP) is detected, and a distance between the first coordinate and the second coordinate where the touch event (DOWN) is detected. Are compared (S417). When the distance between the two is different (Y in S417), the instruction unit 13 issues a following inter-vehicle distance change instruction command for changing the distance between the own vehicle and the other vehicle that is following the vehicle to the automatic operation controller 20 (S418). . The generation unit 12 changes the inter-vehicle distance between the own vehicle icon and the other vehicle icon in the schematic diagram (S419). When both distance is the same (N of S417), it determines with it not being an inter-vehicle distance change instruction | indication, and complete | finishes a process.

  FIGS. 16A to 16C are diagrams illustrating an example of a gesture operation according to the flowchart of FIG. When the driver wants to change the inter-vehicle distance between the own vehicle and the other vehicle that is following the vehicle, the user touches the own vehicle icon V1 and the other vehicle icon V2 with two fingers as shown in FIG. When pinching in as shown in FIG. 16B from that state, an inter-vehicle distance change instruction command for shortening the inter-vehicle distance between the host vehicle and the other vehicle is issued. The inter-vehicle distance after the change is determined according to the distance between the host vehicle icon V1 and the other vehicle icon V2. FIG. 16C is a schematic diagram after the inter-vehicle distance is changed, and the inter-vehicle distance between the host vehicle icon V1 and the other vehicle icon V2 is shorter than that in FIG. In addition, when pinching out from the state in which the host vehicle icon V1 and the other vehicle icon V2 are touched with two fingers, an inter-vehicle distance change instruction command for increasing the inter-vehicle distance between the host vehicle and the other vehicle is issued. The gesture operation for issuing the inter-vehicle distance change instruction command may be an operation with one finger other than the pinch operation with two fingers, and an operation for changing the distance between the own vehicle icon and the other vehicle icon. If it is.

  FIG. 17 is a flowchart illustrating an example of a gesture operation for rotating by touching two points of the own vehicle icon and the other vehicle icon during the follow-up traveling. The processing from step S412 to step S416 is the same as the flowchart of FIG. The determination unit 11 determines that the center point between the third coordinate and the fourth coordinate where the touch event (UP) is detected is the center between the first coordinate and the second coordinate where the touch event (DOWN) is detected. It is determined whether or not the point is the same (S427). If they are the same (Y in S427), the instruction unit 13 issues a follow-up release instruction command for releasing the follow-up running in which the host vehicle is following another vehicle to the automatic operation controller 20 (S428). At the same time, the instruction unit 13 transmits another vehicle following instruction command for causing the other vehicle to follow the own vehicle to the other vehicle via inter-vehicle communication (S429). Note that another vehicle following instruction command may be transmitted to the other vehicle via the relay device. The generation unit 12 replaces the own vehicle (following vehicle) icon and the other vehicle (followed vehicle) icon in the schematic diagram (S430). If the positions of the two center points are different in step S427 (N in S427), it is determined that the vehicle replacement instruction is not being followed, and the process is terminated.

  18A to 18C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to swap the positions of the own vehicle and the other vehicle that are following the vehicle, the user touches the own vehicle icon V1 and the other vehicle icon V2 with two fingers as shown in FIG. From this state, as shown in FIG. 18B, the two fingers are rotated so that the own vehicle icon V1 and the other vehicle icon V2 are interchanged. As a result, a command for exchanging the positions of the own vehicle and the other vehicle that is following the vehicle is issued. FIG. 18C shows a schematic diagram after the vehicle replacement, and the positions of the own vehicle icon V1 and the other vehicle icon V2 are reversed as compared with FIG. 18A to 18B, the virtual line L10 and the center point C2 of the host vehicle icon V1 and the other vehicle icon V2 are displayed in the schematic diagram, but the virtual line L10 and the center point C2 are not displayed. Examples are also possible. By periodically changing the order of follow-up running, the fuel consumption of the vehicle and other vehicles can be leveled. In addition, in order to issue a follow-up cancellation instruction command, an operation for canceling the association between the vehicle icon and the other vehicle icon other than those described above may be used. Further, the gesture operation for issuing the following relationship change instruction command may be an operation for switching the following relationship between the vehicle icon and the other vehicle icon other than those described above. In addition, the own vehicle icon and the other vehicle icon may be displayed by switching the own vehicle icon or the other vehicle icon or between them, and pressing the replacement button. Furthermore, after it becomes a follow-up relationship, the automatic operation controller 20 may periodically perform control.

  FIG. 19 is a flowchart illustrating an example of a gesture operation for swiping the vehicle icon. The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S431). 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 (S432). When it is outside the display area of the own vehicle icon (N in S432), it is determined that it is not an inter-vehicle distance setting instruction, and the process ends.

  When it is inside the display area of the own vehicle icon (Y in S432), the determination unit 11 receives a touch event (MOVE) from the touch panel (S433). The generation unit 12 displays the inter-vehicle distance between the own vehicle and the other vehicle in the schematic diagram (S434). While the touch event (UP) is not received from the touch panel (N in S435), the process proceeds to step S433, and the reception of the touch event (MOVE) and the display of the inter-vehicle distance information are continued (S433, S434). That is, as the distance between the own vehicle icon and the other vehicle icon is changed, the generation unit 12 updates the inter-vehicle distance information in the schematic diagram in real time.

  When the touch event (UP) is received from the touch panel (Y in S435), the determination unit 11 has the coordinates where the touch event (UP) is detected on the same lane as the own vehicle icon and behind the other vehicle icon. It is determined whether or not (S436). If it is behind the other vehicle icon on the same lane (Y in S436), the instruction unit 13 automatically issues an inter-vehicle distance setting instruction command for setting the inter-vehicle distance according to the distance between the own vehicle icon and the other vehicle icon. It is issued to the operation controller 20 (S437). The generation unit 12 displays the set inter-vehicle distance information in the schematic diagram (S438). If the coordinate at which the touch event (UP) is detected is not behind the other vehicle icon on the same lane (N in S436), it is determined that it is not an inter-vehicle distance setting instruction, and the process ends.

  20A to 20C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to set the inter-vehicle distance between the vehicle and the other vehicle, the vehicle icon V1 is swiped upward or downward as shown in FIG. 20 (b) as shown in FIG. 20 (a). During the swipe, a pop-up window P1 for displaying the inter-vehicle distance is displayed. When the swipe is completed as shown in FIG. 20 (c), an inter-vehicle distance setting instruction command is issued. A message to set the inter-vehicle distance is displayed in the pop-up window P1, and then the pop-up window P1 is deleted.

  FIG. 21 is a flowchart showing an example of dragging and dropping the own vehicle icon onto a specific area (road guide sign). The determination unit 11 of the HMI controller 10 receives a touch event (DOWN) from the touch panel (S50). 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 (S51). When it is outside the display area (N in S51), it is determined that the operation instruction is not in accordance with the content of the road guide sign, and the process is terminated.

  If it is inside the display area (Y in S51), the determination unit 11 receives a touch event (MOVE) from the touch panel (S52). Thereafter, the determination unit 11 receives a touch event (UP) from the touch panel (S53).

  The determination unit 11 determines whether or not the coordinates at which the touch event (UP) is detected are within the display area of the road information sign (S54). If it is inside the display area (Y in S54), the instruction unit 13 issues a command corresponding to the content of the road guide sign to the automatic operation controller 20 (S55). When it is outside the display area (N in S54), it is determined that the operation instruction is not in accordance with the content of the road guide sign, and the process is terminated.

  22A to 22B are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. When the driver wants to change the course to any one of the directions displayed in the intersection destination guide sign S1, the vehicle icon V1 is dragged as shown in FIG. 22 (a), and as shown in FIG. 22 (b). The own vehicle icon V1 is dropped on the place name “Machida” N1 of the desired destination in the destination guide sign S1. As a result, a route change instruction command to a route having the destination as a route or destination is issued.

  Hereinafter, returning to FIG. 5, the details of the process of drawing the predicted trajectory / route candidate in step S9e will be described.

  FIG. 23 is a flowchart illustrating an example of a process of drawing a predicted trajectory / route candidate in step S9e of FIG. The determination unit 11 of the HMI controller 10 determines whether or not a notification of movement of the host vehicle icon is received from the touch panel (S9ea). When receiving (Y of S9ea), the determination part 11 determines whether the moving position of the own vehicle icon is on a lane (S9eb). When it is on the lane (Y in S9eb), the determination unit 11 determines whether or not the movement position of the own vehicle icon is on a lane different from the lane of the movement start position of the own vehicle icon (S9ec). When not on different lanes (when on the same lane) (N in S9ec), the generation unit 12 deletes the movement trajectory in the schematic diagram displayed on the touch panel (S9ed). In step S9eb, even when the movement position of the vehicle icon is not on the lane (N in S9eb), the generation unit 12 deletes the movement trajectory in the schematic diagram displayed on the touch panel (S9ed).

  In step S9ec, when the movement position of the vehicle icon is on a lane different from the lane of the movement start position of the vehicle icon (Y in S9ec), the determination unit 11 can change the lane of the movement position of the vehicle icon. It is determined whether the current lane is over (S9ee). When it is not on the lane where lane change is possible (N of S9ee), the generation unit 12 draws an error notification on the touch panel (S9ef). When the lane can be changed (Y in S9ee), the instruction unit 13 notifies the automatic operation controller 20 of the touch event coordinates of the vehicle icon and requests a predicted trajectory (S9eg). The generation unit 12 draws the predicted lane change trajectory acquired from the automatic driving controller 20 on the touch panel (S9eh). The above processing is continued until no movement notification of the vehicle icon is received from the touch panel (N in S9ea).

  FIG. 24 is a flowchart illustrating another example of the process of drawing the predicted trajectory / route candidate in step S9e of FIG. The processing from step S9ea to step S9ef is the same as the flowchart of FIG. When the vehicle is on a lane where lane change is possible (Y of S9ee), the determination unit 11 determines whether there is another vehicle in the lane of the lane change destination (S9ei). When there is no other vehicle (N in S9ei), the generation unit 12 draws a predicted track of lane change without acceleration / deceleration on the touch panel (S9ej).

  When another vehicle exists in the lane to which the lane is changed (Y in S9ei), the determination unit 11 determines whether the movement position of the own vehicle icon is in front of or behind the other vehicle icon (S9ek). When it is ahead of the other vehicle icon (before S9ek), the production | generation part 12 draws the prediction track | orbit of lane change with acceleration on a touch panel (S9el). When it is behind the other vehicle icon (after S9ek), the generation unit 12 draws the predicted trajectory of the lane change with deceleration on the touch panel (S9em). When the movement position of the own vehicle icon is inside the other vehicle icon (other vehicle of S9ek), the generation unit 12 draws an error notification mode on the touch panel (S9en). The above processing is continued until no movement notification of the vehicle icon is received from the touch panel (N in S9ea).

  FIGS. 25A to 25C are diagrams illustrating an example of the gesture operation according to the flowchart of FIG. FIG. 25A is an example of a predicted lane change for lane change without acceleration / deceleration in step S9ej. FIG. 25B is an example of a predicted trajectory for lane change with acceleration in step S9el. FIG. 25C is an example of a predicted trajectory for changing lanes with deceleration in step S9em.

  FIGS. 26A to 26C are diagrams illustrating an example of an error display screen. When the driver wants to change the lane from the first lane L1 to the second lane L2, as shown in FIG. 26A, the driver drags the vehicle icon V1 on the first lane L1, and as shown in FIG. The own vehicle icon V1 is dropped on the second lane L2. If an approach of another vehicle is detected at the drop position, as shown in FIG. 26 (c), an error message “Cancelled because of following vehicle” is displayed in the pop-up window P1, and the vehicle icon V1 is Returned to 1 lane L1.

  FIGS. 27A to 27D are diagrams showing display examples from when the own vehicle icon V1 is dragged to when it is dropped on the other vehicle icon V2. When the driver wants to follow the other vehicle, drag the vehicle icon V1 as shown in FIG. Between dragging the vehicle icon V1 and dropping it on the other vehicle icon V2, an afterimage (such as a dotted circle) V1a is displayed at the original position of the vehicle icon as shown in FIG. . When the host vehicle icon V1 is dropped on the other vehicle icon V2 as shown in FIG. 27C, the afterimage V1a is deleted. When the follow-up running is established as shown in FIG. 27D, the follow-up icon F1 is displayed between the host vehicle icon V1 and the other vehicle icon V2.

  FIGS. 28A to 28C are diagrams illustrating another display example from when the own vehicle icon V1 is dragged to when it is dropped on the other vehicle icon V2. FIG. 28A is an example in which a drop area is displayed around the road area from when the own vehicle icon V1 is dragged to when it is dropped onto the other vehicle icon V2. In FIG. 28A, a cancellation drop area D1 is displayed at the top, bottom, left, and right of the road area, and a reroute drop area D2, a left turn drop area D3, and a right turn drop area D4 are displayed at home. The driver can perform a corresponding operation by dropping the vehicle icon V1 in any of the drop areas D11 to D14. In the drop area, operations other than those described above may be displayed. For example, reroute to the gas station, reroute to the parking area, reroute to the service area, overtaking, lane change, ACC, and target speed addition. Operation instructions such as deceleration may be displayed.

  In FIG. 28 (b), the background color such as road is changed (inverted, lightened, etc.) from the time when the own vehicle icon V1 is dragged to the time when it is dropped on the other vehicle icon V2, and when the drop is completed, This is an example of returning to color. FIG. 28 (c) displays a moving trajectory (such as a dotted line) T1 being dragged from the drag start position until the drop is completed after the vehicle icon V1 is dragged and dropped onto the other vehicle icon V2. This is an example of deleting the trajectory T1.

  FIGS. 29A to 29C are diagrams showing a display example during dragging of the vehicle icon V1 when there is a drop-impossible area or the like. When the driver wants to follow the other vehicle, the user drags the own vehicle icon V1 as shown in FIG. After dragging the vehicle icon V1, the color of the vehicle icon V1 is changed (inverted, reversed, etc.) when there is an area where the vehicle cannot be dropped (following refusal vehicle, opposite lane, etc.) Thin). In the case where the drop to the other vehicle icon V2 is impossible, if the own vehicle icon V1 is dropped on the other vehicle icon V2 as shown in FIG. 29 (b), the own vehicle icon V1 is displayed as shown in FIG. 29 (c). The original position is restored, and a pop-up window P3 including an error message such as “Following operation impossible area” is displayed.

  FIGS. 30A to 30C are diagrams showing another display example during dragging of the own vehicle icon V1 when there is an area where a drop is impossible. FIG. 30A shows an example in which the background color such as a road is changed when the tracking operation is impossible after dragging the vehicle icon V1. When the following operation is possible, the original color is restored. FIG. 30B shows an example in which the color of the drop-impossible area is changed (inverted, thinned, etc.) after dragging the vehicle icon V1. FIG. 30 (c) notifies an error sound or vibration when there is an area where a drop is impossible or a follow-up operation is impossible after dragging the vehicle icon V1.

  FIGS. 31A to 31B are diagrams illustrating display examples when the drag operation is disabled. When the driver wants to follow the other vehicle, as shown in FIG. 31A, when the operation of the own vehicle icon V1 cannot be started at the start of dragging, the own vehicle icon V1 is displayed as shown in FIG. Change the color so that the drag operation (the movement of the icon) is not possible. Further, a pop-up window P3 including an error message such as “A follow-up operation disabled area” is displayed.

  FIGS. 32A and 32B are diagrams showing another display example when the drag operation is disabled. FIG. 32A shows an example in which the background color such as a road is changed when the operation cannot be started at the start of dragging the vehicle icon V1. When the following operation is possible, the original color is restored. FIG. 32 (c) notifies an error sound or vibration in a state where the drag operation cannot be performed when the operation cannot be started when the own vehicle icon V1 is started to be dragged.

  FIGS. 33A to 33D 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. 33 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 33 (b). . From the time when the vehicle is dropped ahead of the other vehicle icon V2 until 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. 34A to 34D are diagrams showing a second 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. 34 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 34 (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. In FIG. 34 (c), an example in which the vehicle icon V1 is blinked is illustrated, but 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. 35A to 35D 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. 35 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 35 (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. 35 (c)-(d) depict 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. 36A to 36D 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. 36 (a), and drops the host vehicle icon V1 in front of the other vehicle icon V2 as shown in FIG. 36 (b). . Between dropping from the front of the other vehicle icon V2 and completing the overtaking, as shown in FIGS. 36 (c)-(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.).

  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. 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.

  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.

  In the above-described embodiment, several examples of gesture operations using the vehicle icon as the contact start position have been given. Hereinafter, including the above-described examples, examples of gesture operations using the own vehicle icon as a contact start position are listed.

  After touching the vehicle icon, a command is issued to instruct speed up by a gesture operation of swiping forward without an obstacle in the same lane. A command for instructing speed reduction is issued by a gesture operation of swiping backward without an obstacle. In this case, it is not necessary to prepare a separate user interface, and space can be saved. After touching the vehicle icon, a command for instructing right or left alignment in the same lane is issued by a gesture operation of swiping right or left. In this case, operation input and result display can be realized on the same screen, and space can be saved.

  A command for instructing to follow the other vehicle or start ACC (Adaptive Cruise Control) is issued by a gesture operation of dragging the own vehicle icon and dropping it on the other vehicle icon. A command for instructing overtaking is issued by a gesture operation of dragging the own vehicle icon and dropping it in front of the preceding other vehicle icon. In this case, it is not necessary to prepare a separate user interface, and space can be saved.

  When there are multiple lanes, a command for instructing a lane change to another lane is issued by a gesture operation of dragging and dropping the own vehicle icon to the other lane. In this case, operation input and result display can be realized on the same screen, and space can be saved. When there is another car in the other lane, you can specify whether you want to enter in front of or behind the other car depending on whether you drop before the other car icon or behind the other car icon. Also good. When there is a right turn dedicated lane and / or a left turn dedicated lane, a command for instructing a right turn or a left turn after the lane change is issued by a gesture operation of dropping the vehicle icon on the right turn dedicated lane or the left turn dedicated lane. In this case, the step of inputting a right turn or left turn operation can be omitted.

  A command for instructing entry to the toll road is issued by a gesture operation of dragging the vehicle icon and dropping it on the entrance icon of the toll road (for example, a highway). In this case, the step of inputting what to do with respect to the entrance icon of the toll road can be omitted. A command for instructing entry into the toll road is issued by a gesture operation of dragging the vehicle icon and dropping it on the entrance lane of the toll road. In this case, the operation input and the result display can be realized on the same screen.

  A command for instructing to leave the toll road is issued by a gesture operation of dragging the vehicle icon and dropping it on the toll road exit icon. In this case, the step of inputting what to do with respect to the exit icon of the toll road can be omitted. A command for instructing to leave the toll road is issued by a gesture operation of dragging the own vehicle icon and dropping it on the exit lane of the toll road. In this case, the operation input and the result display can be realized on the same screen.

  In the accelerating lane at the junction of the expressway, you can drag the vehicle icon and drop it on the driving lane to enter the front or back of the vehicle according to the speed of the vehicle coming from the driving lane. A command for instructing merging control after the determination is issued. In this case, the operation input and the result display can be realized on the same screen.

  A command to change the course is issued by a gesture operation of dragging the vehicle icon and dropping it on the road in the direction you want to turn. In this case, the operation input and the result display can be realized on the same screen. For example, when dropping on a right turn lane, a command for instructing a right turn is issued. A command for instructing a U-turn is issued by a gesture operation of dragging and dropping the own vehicle icon so as to draw a U-shape. In this case, the operation input and the result display can be realized on the same screen.

  A command for instructing to change the destination or add a waypoint is issued by a gesture operation of dragging the vehicle icon and dragging the icon to the icon indicating the destination or landmark. An icon indicating home may be always displayed on the screen. A command for instructing to travel in the flicked direction without setting the destination is issued by a gesture operation in which the user touches the vehicle icon and flicks in the desired direction.

  In the parking lot, if you drag the vehicle icon and drop it on the block you want to park (specified in a rough area such as near the entrance of the store), a command to instruct you to park in a vacant parking space in the block Is issued.

  When you drag your vehicle icon and drop it on the pedestrian icon, post icon, bus stop icon, or taxi stand icon, a command is issued to instruct you to place it next to the dropped location. In this case, the step of instructing the stop can be reduced.

  A POI (Point of Interest) range may be specified by a drag operation. For example, after designating a search range, a gas station within the range can be searched. A command instructing to search for a parking lot may be issued by a gesture operation of dragging the own vehicle icon and dropping it on the service area icon or the parking area icon.

  A command for instructing to illuminate the pedestrian with the front lamp is issued by a gesture operation of dragging the vehicle icon and dropping it on the pedestrian icon. In this case, it is possible to reduce the number of steps for operating the front lamp. A command for instructing the pedestrian to sound a horn may be issued by a gesture operation of dragging the vehicle icon and dropping it on the pedestrian icon. At that time, the horn may have directivity according to the position of the pedestrian. In this case, it is possible to reduce the step of performing an operation to sound a horn.

  The predicted trajectory is received from the automatic driving controller 20 and is drawn on the display unit 31 while the vehicle icon is being dragged, dropped, or until processing corresponding to the control command is established. Also good. If the process according to the control command is temporarily impossible due to waiting for a signal or a lane change impossible section, the generation unit 12 displays “trying” or the like until the process according to the control command is established. And the predicted trajectory may be drawn at the timing when it becomes executable. While the vehicle icon is being dragged or dropped, until the process corresponding to the control command is established, the generation unit 12 expects the required time and required time from dropping to the process corresponding to the control command being established. The remaining time may be displayed. If processing according to the control command 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.

  In the above description, after dropping the vehicle icon, if there are two or more types of action candidates that can be executed, a selection menu may be displayed after the drop. When the vehicle icon is dragged, guidance for all possible operations may be displayed on the screen. After dragging the vehicle icon, the drag state may be continued even if the vehicle icon is released until the confirmation button is pressed. After dragging the vehicle icon, a correction method and a confirmation method in the case of accidental dropping may be presented on a pop-up screen. After dragging the vehicle icon, design the touch panel so that haptic feedback of vibration is applied differently when the vehicle icon is moved to a position where it can be dropped and when the vehicle icon is moved to a position where it cannot be dropped. Also good. When the own vehicle icon is dropped, the scale of the screen may be automatically adjusted. For example, the scale may be automatically adjusted so that at least another vehicle closest to the host vehicle is included in the screen. As a result, other vehicles can be easily found and an instruction command can be issued earlier. After dragging the vehicle icon, the color of the automatic icon may change depending on whether the vehicle icon is moved to a position where it can be dropped or if the vehicle icon is moved to a position where it cannot be dropped. When the vehicle icon is dragged, different background colors may be used for the droppable area and the non-dragable area. In addition, although the gesture operation corresponding to the control command has been described by drag and drop, touch and touch may be used. The operation may be a predetermined operation, but may be customized by the driver. In addition, on the display unit, an explanation, an icon, an arrow, a guide display, or voice guidance may be displayed so that the correspondence between the gesture operation and the control command can be understood.

  The embodiment may be specified by the following items.

[Item 1]
An image output unit (14a) for outputting an image including the host vehicle object representing the host vehicle and the surrounding situation of the host vehicle to the display unit (31);
An operation signal input unit (14b) for receiving a gesture operation by a user accompanied by movement of the host vehicle object in the image displayed on the display unit (31);
A command output unit (14c) that outputs a command corresponding to the gesture operation to an automatic operation control unit (20) that controls automatic operation;
A driving support device (10) comprising:
Thereby, operation concerning automatic driving can be performed intuitively and simply.
[Item 2]
In the image displayed on the display unit (31), a user's gesture operation for moving the vehicle object to a position of a non-vehicle object representing a predetermined target other than the vehicle is the operation signal input unit (14b). When the command is received, the command output unit (14c) outputs a command for instructing to change the relative positional relationship between the host vehicle and the predetermined target, or a notification from the host vehicle to the predetermined target. The driving support device (10) according to item 1, wherein a command for instructing to be output is output to the automatic driving control unit (20).
The predetermined target other than the own vehicle may be another vehicle, a pedestrian, an obstacle, or a specific area.
Thereby, the operation related to the predetermined target other than the own vehicle can be performed intuitively and simply.
[Item 3]
In the image displayed on the display unit (31), the user's gesture operation for moving the vehicle object to a position where a non-vehicle object representing a predetermined target other than the vehicle does not exist is input to the operation signal input unit ( 14b), the command output unit (14c) outputs to the automatic driving control unit (20) a command instructing to move the vehicle to a place corresponding to the end point position of the gesture operation. The driving support device (10) according to item 1, characterized by:
Thereby, an operation (for example, lane change, course change, etc.) not related to a predetermined target other than the own vehicle can be performed intuitively and simply.
[Item 4]
In the image displayed on the display unit (31), the user's gesture operation for changing the distance between the vehicle object and a non-vehicle object representing a predetermined target other than the vehicle is the operation signal input unit (14b). ) Is received, the command output unit (14c) outputs a command instructing to change the distance between the vehicle and the predetermined object to the automatic driving control unit (20). The driving assistance device (10) according to item 1.
Thereby, operation which changes the distance of the own vehicle and a predetermined object can be performed intuitively and simply.
[Item 5]
A user's gesture operation for switching the vehicle object in the image displayed on the display unit (31) and a non-vehicle object representing a predetermined target other than the vehicle in the image is the operation signal input unit ( 14b), the command output unit (14c) outputs to the automatic operation control unit (20) a command instructing to change the relative positional relationship between the vehicle and the predetermined object. The driving assistance apparatus (10) according to item 1, characterized in that:
Thereby, operation which changes the relative positional relationship of the own vehicle and a predetermined object can be performed intuitively and simply.
[Item 6]
In a state where the subject vehicle and a predetermined target other than the subject vehicle are operating in cooperation, the subject vehicle object in the image displayed on the display unit is changed to the subject vehicle object and a subject other than the subject vehicle. When the operation signal input unit (14b) accepts the user's gesture operation to move outside the virtual line connecting the non-vehicle object representing the object, the command output unit (14c) cancels the cooperation. The driving support device (10) according to item 1, wherein a command to be instructed is output to the automatic driving control unit.
Thereby, operation which cancels | releases cooperation with the own vehicle and a predetermined object can be performed intuitively and simply.
[Item 7]
The command output unit (14c) is a command content to be output to the automatic driving control unit (20) according to the surrounding situation of the own vehicle when the operation signal input unit (14b) receives the gesture operation. The driving support device (10) according to item 1, wherein the driving support device (10) is changed.
Thereby, a command according to the context can be issued.
[Item 8]
In the image output unit (14a), the display mode of the vehicle object is a display mode of a period in which the user's gesture operation can be received in a period in which the operation signal input unit (14b) cannot receive the user's gesture operation. The driving support device (10) according to any one of items 1 to 7, wherein an image different from the above is output to the display unit (31).
Thereby, the user can easily recognize whether the input of the gesture operation is valid or invalid.
[Item 9]
The image output unit (14a) includes the host vehicle object, a non-host vehicle object representing the predetermined target, and an image including a predetermined target other than the host vehicle, and the display unit (31), and 9. The driving assistance device (10) according to any one of items 1 to 8, wherein the size of the situation around the host vehicle is changed.
Thereby, the user can see an image including a non-own vehicle object.
[Item 10]
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 a surrounding situation of the own vehicle to the display device (30);
An operation signal input unit (14b) for receiving a gesture operation by a user accompanied by movement of the host vehicle object in an image displayed on the display device (30);
A command output unit (14c) that outputs a command corresponding to the gesture operation to an automatic operation control unit (20) that controls automatic operation;
A driving support system (10, 30) comprising:
Thereby, operation concerning automatic driving can be performed intuitively and simply.
[Item 11]
Outputting to the display unit (31) an image including an own vehicle object representing the own vehicle and the surrounding situation of the own vehicle;
Receiving a gesture operation by a user accompanied by movement of the vehicle object in the image displayed on the display unit (31);
Outputting a command corresponding to the gesture operation to an automatic operation control unit (20) for controlling automatic operation;
A driving support method comprising:
Thereby, operation concerning automatic driving can be performed intuitively and simply.
[Item 12]
A process of outputting an image including the own vehicle object representing the own vehicle and the surrounding situation of the own vehicle to the display unit (31);
A process of accepting a gesture operation by a user accompanied by movement of the vehicle object in the image displayed on the display unit (31);
A process of outputting a command corresponding to the gesture operation to an automatic driving control unit (20) for controlling automatic driving;
A driving support program for causing a computer to execute.
Thereby, operation concerning automatic driving can be performed intuitively and simply.
[Item 13]
An image output unit (14a) for outputting an image including the host vehicle object representing the host vehicle and the surrounding situation of the host vehicle to the display unit (31);
An operation signal input unit (14b) for receiving a gesture operation by a user accompanied by movement of the host vehicle object in the image displayed on the display unit (31);
A command output unit (14c) for outputting a command corresponding to the gesture operation;
An automatic operation control unit (20) for executing the output command;
An autonomous driving vehicle (1) comprising:
Thereby, operation concerning automatic driving 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)

An image output unit that outputs to the display unit image information including a vehicle object representing the vehicle and a non-vehicle object representing a predetermined target other than the vehicle;
An operation signal input unit for receiving a gesture operation signal for moving the vehicle object in the image displayed on the display unit to the position of the non-vehicle object;
When the operation signal is received, a command output unit that outputs a command for causing the vehicle to be laid on a predetermined target other than the vehicle to an automatic driving control unit that controls automatic driving,
The driving support device is a predetermined object other than the vehicle, such as a pedestrian, a post, a bus stop, or a taxi stand. The non-own vehicle object is a pedestrian object representing the pedestrian,
The operation signal input unit receives a gesture operation signal for moving the vehicle object in the image displayed on the display unit to the position of the pedestrian object,
When the command output unit receives the operation signal, the command output unit outputs a command for causing the pedestrian to lay the host vehicle to the automatic driving control unit.
The driving support device according to claim 1. The image output unit includes image information in which a display mode of the vehicle object is different from a display mode of a period in which the user's gesture operation signal can be received in a period in which the operation signal input unit cannot receive the user's gesture operation signal. driving support apparatus according to claim 1 or 2 outputs to the display unit.   The image output unit includes the vehicle object, a non-vehicle object representing the predetermined object, and a surrounding situation of the vehicle so that an image including a predetermined target other than the vehicle is displayed on the display unit. The driving assistance device according to claim 1 or 2, wherein the size of the vehicle is changed. Outputting image information including an own vehicle object representing the own vehicle and a non-own vehicle object representing a predetermined target other than the own vehicle to the display unit;
Receiving a gesture operation signal for moving the vehicle object in the image displayed on the display unit to the position of the non-vehicle object;
Receiving the operation signal, and outputting a command to lay the vehicle on a predetermined object other than the vehicle to an automatic driving control unit that controls automatic driving, and
The driving support method, wherein the predetermined object other than the own vehicle is a pedestrian, a post, a bus stop, or a taxi stand. A process of outputting image information including a vehicle object representing the vehicle and a non-vehicle object representing a predetermined target other than the vehicle to the display unit;
A process of receiving a gesture operation signal for moving the vehicle object in the image displayed on the display unit to the position of the non-vehicle object;
When receiving the operation signal, a process of outputting a command for causing the vehicle to be placed on a predetermined target other than the vehicle to an automatic driving control unit that controls automatic driving;
To the computer,
A driving support program in which the predetermined object other than the vehicle is a pedestrian, post, bus stop, or taxi stand. 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 to the display device image information including a vehicle object representing the vehicle and a non-vehicle object representing a predetermined target other than the vehicle;
An operation signal input unit for receiving a gesture operation signal for moving the vehicle object in the image displayed on the display device to the position of the non-vehicle object;
When receiving the operation signal, a command output unit that outputs a command for causing the own vehicle to be placed on a predetermined target other than the own vehicle to an automatic driving control unit that controls automatic driving;
Including
The driving support system in which the predetermined object other than the own vehicle is a pedestrian, a post, a bus stop, or a taxi stand. An image output unit that outputs to the display unit image information including a vehicle object representing the vehicle and a non-vehicle object representing a predetermined target other than the vehicle;
An operation signal input unit for receiving a gesture operation signal for moving the vehicle object in the image displayed on the display unit to the position of the non-vehicle object;
When receiving the operation signal, a command output unit that outputs a command to lay the host vehicle on a predetermined target other than the host vehicle, an automatic driving control unit that executes the output command,
With
The predetermined target other than the own vehicle is an autonomous driving vehicle that is a pedestrian, a post, a bus stop, or a taxi stand.