JP6720939B2 - Information presentation control device and information presentation control program - Google Patents

Description

The present disclosure relates to information presentation control technology for presenting information to a vehicle user.

BACKGROUND ART Conventionally, for example, Patent Document 1 discloses a footrest that moves a footrest, a seat that moves a backrest, and the like as a configuration for presenting information to a user through a somatic sensation. The footrest and the seat can notify the user of the future behavior change of the autonomously traveling vehicle by the movement of the footrest and the backrest before the behavior change occurs. As an example, in Patent Document 1, actual deceleration of the vehicle is started after the footrest is tilted backward as a notice of deceleration.

JP, 2016-107968, A

However, the mechanism for moving the footrest of the footrest, the seat back, and the like tends to increase in size. Therefore, it may be difficult to secure mountability on the vehicle.

An object of the present disclosure is to provide an information presentation control device capable of notifying a user through a somatic sensation while ensuring mountability of a configuration for presenting information in a vehicle.

In order to achieve the above object, one disclosed aspect is a plurality of presentation surface portions (81a to 83a) provided so as to present information to a user who rides in a vehicle capable of autonomous driving, through the feeling of the sole of the user. Is an information presentation control device that presents information to the user by controlling to vibrate, and an information acquisition unit (51) that acquires behavior information indicating future behavior of an autonomously traveling vehicle, and a user based on the behavior information. The behavior determination unit (52) that determines whether or not the behavior change to be presented to the vehicle occurs, and the vibrations of the plurality of presentation surface units before the occurrence of the presentation behavior change that the behavior determination unit determines to present. A presentation control unit (53) that individually controls and notifies the user of the details of the presentation behavior change in advance; and, of the two presentation surface units lined up in the direction of the acceleration generated in the vehicle by the presentation behavior change, If one of the first presentation surface portions located in the direction is the first presentation surface portion and the other is the second presentation surface portion, the presentation control unit makes the first off from the stop of the vibration of the second presentation surface portion to the start of the vibration of the first presentation surface portion. The time (T1f, T1b, T1r, T1l) and the second off time (T2f, T2b, T2r, T2l) from the stop of the vibration of the first presentation surface portion to the start of the vibration of the second presentation surface portion are defined. is an information presentation control unit you shorter than the first off-time second off-time.
Further, one aspect disclosed is a control that vibrates a plurality of presentation surface portions (81a to 83a) provided to present information to the user through the sensation of the sole of the user who rides in a vehicle capable of autonomous driving, An information presentation control device that presents information to the user, and an information acquisition unit (51) that acquires behavior information indicating future behavior of an autonomously traveling vehicle, and a behavior change presented to the user based on the behavior information. A behavior determination unit (52) that determines whether or not the vehicle is generated, and individually controls the vibration of the plurality of presentation surface units before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. A presentation control unit (53) for notifying the user of the content of the behavior change in advance, and one of the two presentation surface units arranged along the direction of the acceleration caused in the vehicle by the presentation behavior change, which is located in the acceleration direction. If the first presentation surface portion and the other is the second presentation surface portion, the presentation control unit starts the vibration of both the first presentation surface portion and the second presentation surface portion, and then the vibration of the second presentation surface portion is changed to the first presentation surface portion. The information presentation control device is configured to stop earlier than this.

One embodiment also disclosed by the control to oscillate the plurality of presentation faces provided so that to present information to the user via the sense of the sole of the user boarding an automatic operable vehicle (81a~83a) An information presentation control program for presenting information to the user, the at least one processing unit (41) having an information acquisition unit (51) for acquiring behavior information indicating a future behavior of a vehicle traveling autonomously; Based on the information, a behavior determination unit (52) that determines whether or not a behavior change to be presented to the user occurs in the vehicle, and a plurality of presentation behavior changes before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. Vibration of the presentation surface section is individually controlled to function as a presentation control section (53) for notifying the user of the content of the presentation behavior change in advance, and two presentation surface sections lined up along the direction of the acceleration generated in the vehicle by the presentation behavior change. Of these, one positioned in the direction of acceleration is the first presentation surface portion, and the other is the second presentation surface portion, and the presentation control unit is from when the vibration of the second presentation surface portion is stopped until the vibration of the first presentation surface portion is started. First off time (T1f, T1b, T1r, T1l) and the second off time (T2f, T2b, T2r, T2l) from the stop of the vibration of the first presentation surface part to the start of the vibration of the second presentation surface part defining the door, it is an information presentation control program that shorter than the first off-time second off-time.
Further, one aspect disclosed is a control that vibrates a plurality of presentation surface portions (81a to 83a) provided to present information to the user through the sensation of the sole of the user who rides in a vehicle capable of autonomous driving, An information presentation control program for presenting information to the user, which includes at least one processing unit (41), an information acquisition unit (51) for acquiring behavior information indicating a future behavior of a vehicle that autonomously travels, and behavior information. Based on the above, a behavior determination unit (52) that determines whether or not a behavior change to be presented to the user occurs in the vehicle, and a plurality of presentations before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. Of the two presentation surface portions that are arranged along the direction of the acceleration that occurs in the vehicle due to the presentation behavior change, the vibration is controlled individually to function as a presentation control unit (53) that notifies the user of the content of the presentation behavior change in advance. , The one present in the direction of acceleration is the first presentation surface portion, and the other is the second presentation surface portion, the presentation control unit, after starting the vibration of both the first presentation surface portion and the second presentation surface portion, the second The program is an information presentation control program for stopping the vibration of the presentation surface portion earlier than the first presentation surface portion.

By individually controlling the vibrations of the plurality of presentation surface portions as in these modes, it becomes possible to notify the user of the content of the behavior change that will occur in the vehicle that autonomously travels in the future. If the behavior can be notified by vibration in the future, the mechanism for moving the footrest, the seat and the like can be omitted. Therefore, it becomes possible to notify the user of the behavior change through the somatosensory while ensuring the mountability of the structure for presenting information in the vehicle.

It should be noted that the reference numerals in the above parentheses merely show an example of a correspondence relationship with a specific configuration in the embodiment described later, and do not limit the technical scope at all.

It is a figure which shows the layout around a driver's seat in a vehicle, and is a figure which shows the footrest apparatus of the vehicle mounted state. It is a block diagram showing a vibration presentation system including a footrest device together with a vehicle system and the like. It is a perspective view which shows the structure of a footrest apparatus. It is a top view of a footrest device, and is a figure showing arrangement of a presentation surface part in a mounting surface. It is the VV sectional view taken on the line of FIG. It is a figure which shows the relationship of the point of the sole of foot and those distances required in order to define arrangement|positioning of each presentation surface part. It is a figure which shows the structure of a vibration speaker, and the principle of operation|movement. It is a state transition diagram showing an overview of the transition of the operation mode of the footrest device. It is a flow chart which shows the details of the demand degree presentation processing which changes the vibration interval in the demand degree presentation mode according to the driving participation demand degree. It is a time chart which shows control of a vibration speaker in case a driving participation request degree is "low". It is a time chart which shows control of a vibration speaker when a degree of request for driving participation is "high". It is a time chart which shows the detail of control of each vibration speaker in a driving action induction mode. It is a flow chart which shows the details of the transition control processing which controls switching of the operation mode between the demand presentation mode and the preceding presentation mode. It is a flowchart which shows the detail of the prior presentation process which switches control of each vibration speaker in a prior presentation mode according to the content of the behavior change planned in the driving plan. It is a time chart which shows control of each vibrating speaker in acceleration operation presentation. It is a time chart which shows control of each vibrating speaker in deceleration operation presentation. It is a time chart which shows control of each vibrating speaker in right turning operation presentation. It is a time chart which shows control of each vibration speaker in presentation of a left turn operation. 9 is a time chart showing control of a vibration speaker in a request degree presentation mode according to a second embodiment. 9 is a time chart showing the control of each vibration speaker in the right turning motion presentation according to the second embodiment. 9 is a time chart showing the control of each vibration speaker in the left turning motion presentation according to the second embodiment. 9 is a time chart showing control of each vibration speaker in presenting a right turn motion according to the third embodiment. It is a time chart which shows control of each vibrating speaker in presentation of a left turn operation by a third embodiment. It is a time chart which shows control of each vibrating speaker in compound operation presentation.

Hereinafter, a plurality of embodiments of the present disclosure will be described with reference to the drawings. In addition, in each embodiment, the corresponding components may be denoted by the same reference numerals, and redundant description may be omitted. When only a part of the configuration is described in each embodiment, the configuration of the other embodiments described above can be applied to the other part of the configuration. Further, not only the combination of the configurations explicitly described in the description of each embodiment, but the configuration of a plurality of embodiments can be partially combined even if they are not explicitly described, unless the combination causes any trouble. Then, a combination in which the configurations described in the plurality of embodiments and the modifications are not explicitly disclosed is also disclosed by the following description.

(First embodiment)
In the first embodiment of the present disclosure shown in FIGS. 1 and 2, the function of the information presentation control device is realized by an HCU (HMI (Human Machine Interface) Control Unit) 40. The HCU 40 constitutes a vibration presentation system together with the footrest device 100, the drive device 60, and the like. The vibration presentation system is mounted on a vehicle capable of autonomous driving and presents information to a user (hereinafter, “driver”) seated in a driver's seat 11 of the vehicle by vibration.

The footrest device 100 is one of a plurality of HMI devices mounted on a vehicle. The footrest device 100 has a plurality of presentation surface portions 81a to 83a on a mounting surface 73 which is supposed to be mounted on the sole of a driver who rides in a vehicle. The footrest device 100 presents information mainly related to the automatic driving of the vehicle through the feeling of the sole of the driver, specifically, the sense of vibration, by the vibration of the presentation surface portions 81a to 83a.

As shown in FIGS. 1 and 3, the footrest device 100 is formed in the shape of a long thick plate as a whole. The footrest device 100 is attached to the mounting portion 16 provided in the vehicle with the mounting surface 73 on which the driver's left foot is placed facing the driver's seat 11 side. The longitudinal direction LD of the mounting surface 73 is along a vertical cross section perpendicular to the front-rear direction and the vertical direction of the vehicle. The width direction (short side direction) CD of the mounting surface 73 is along the left-right direction of the vehicle. The mounting surface 73 is in a posture inclined upward as it goes from the rear to the front of the vehicle. As shown in FIGS. 3 to 5, the footrest device 100 includes a footrest base 70, a plurality (three) of vibration speakers 81 to 83, and the like.

The footrest base 70 is fixed to the mounting portion 16 of the vehicle by a fastening member such as a bolt. The footrest base 70 is composed of an upper cover member 71, a lower base plate 76, a base cushioning material 78, a speaker cushioning material 79, and the like.

The upper cover member 71 is formed by attaching a thin plate-shaped decorative plate 72 to the bottom surface of a base material that is a shallow container with a bottom. The upper cover member 71 is formed of a metal material as a whole. The upper cover member 71 has a support wall portion 71a and a bottom wall portion 71b. The support wall portion 71a is provided on the outer edge of the bottom wall portion 71b, and is erected substantially vertically to the bottom wall portion 71b. The support wall portion 71a defines a space between the bottom wall portion 71b and the lower base plate 76. The bottom wall portion 71b forms a mounting surface 73 that is long and flat. An insertion opening 74 is provided in the bottom wall portion 71b. The insertion opening 74 is a perfect circular opening that penetrates the bottom wall portion 71b including the decorative plate 72 in the plate thickness direction. Three insertion openings 74 are opened in the bottom wall portion 71b in a spaced arrangement.

The lower base plate 76 is formed of a metal material in a flat plate shape. The outer shape of the lower base plate 76 is substantially the same as the bottom wall portion 71b of the upper cover member 71. The lower base plate 76 is located on the opposite side of the mounting surface 73 with respect to the upper cover member 71. The top of the support wall 71a is in contact with the outer edge of the lower base plate 76. The lower base plate 76 individually holds the three vibration speakers 81 to 83.

The base cushioning material 78 is formed in a sheet shape thicker than the lower base plate 76 by, for example, urethane. The base cushioning material 78 is arranged between the lower base plate 76 and the mounting portion 16 in a state of being compressed in the thickness direction. The footrest base 70 is firmly fixed to the mounting portion 16 via the base cushioning material 78. With such mounting, it is considered that the vibration of the lower base plate 76 caused by the operation of each of the vibration speakers 81 to 83 is reflected at the fixed end at the boundary between the lower base plate 76 and the base cushioning material 78. As a result, the vibration of the footrest base 70 is reduced due to the substantial cancellation of the incident wave and the reflected wave that have opposite phases.

The speaker cushioning material 79 is formed in a columnar shape with excellent flexibility such as sponge. The speaker cushioning material 79 is externally fitted to a member (for example, a screw, a bolt, a pin, or the like) that fixes the vibration speakers 81 to 83 to the lower base plate 76. The speaker cushioning member 79 functions as an elastic body between the vibration speakers 81 to 83 and the lower base plate 76, and reflects the vibration generated in each of the vibration speakers 81 to 83 at its free end. As a result, the amplitude of the combined wave (standing wave) of the incident wave and the reflected wave, which have the same phase, increases.

The vibration speakers 81 to 83 are held by the lower base plate 76 in a spaced apart arrangement. The vibration speakers 81 to 83 are fixed in a state of floating from the lower base plate 76 by interposing a speaker cushioning material 79. The vibration speakers 81 to 83 have presentation surface portions 81a to 83a, respectively.

The presentation surface portions 81 a to 83 a vibrate in a direction substantially perpendicular to the mounting surface 73, and vibrate the soles of the driver mounted on the mounting surface 73. The vibrations of the presentation surface portions 81a to 83a are push-up vibrations that push up the bottom surface of the footwear of the driver, and can propagate to the soles of the driver through the footwear of the driver. The vibration of each of the presentation surface portions 81a to 83a is individually controlled.

The presentation surface portions 81 a to 83 a are exposed through the insertion openings 74 at different positions on the mounting surface 73. The presentation surface portions 81a to 83a project more than the upper cover member 71 in the direction toward the placement surface 73. The presentation surface portions 81a to 83a are exposed on the mounting surface 73 in a dislocated arrangement with respect to each of the longitudinal direction LD and the width direction CD. Specifically, the two presentation surface portions 81a, 82a are arranged along the longitudinal direction LD of the mounting surface 73, and the two presentation surface portions 81a, 83a are arranged along the width direction CD of the mounting surface 73. There is. The presentation surface portion 83a is located between the presentation surface portion 81a and the presentation surface portion 82a in the longitudinal direction LD, and the presentation surface portion 82a is located between the presentation surface portion 81a and the presentation surface portion 83a in the width direction CD. doing.

More specifically, the presentation surface portions 81a to 83a are respectively the center of the heel C2, the base of the thumb (hereinafter, "ball center C1") and the base of the little finger (when the driver places his left foot on the mounting surface 73). Hereinafter, it is arranged at a position where it naturally touches the "pinkie ball center C3"). Described individually, the presentation surface portion 81a is provided on the placement surface 73 in a range where the placement of the driver's ball center C1 and its surroundings (ball segment) is assumed. The presentation surface portion 82a is provided on the mounting surface 73 in a range in which the mounting of the center C2 of the heel and the periphery thereof (the heel portion) is assumed. The presentation surface portion 83a is provided in the placement surface 73 in a range where the placement of the little finger ball center C3 and its periphery (the little finger ball portion) is assumed. First, each position of the center C2 of the heel, the center C1 of the ball of the foot and the center C3 of the little finger will be described with reference to FIG.

The foot length FL, heel point HP, second finger tip FT, shin side midfoot point SFP, and calf side midfoot point CFP can be defined on the sole of the foot. An imaginary line connecting the heel point HP and the second finger tip FT is the foot axis Af. Further, the distance between the heel point HP and the shin side midfoot point SFP is the inner stepless length IL, and the distance between the heel point HP and the calf side middle footpoint CFP is the outer stepless length FIL. Further, the distance between the tibial metatarsal point SFP and the foot axis Af is the half-foot width HWi, and the distance between the calf side metatarsal point CFP and the foot axis Af is the half-foot width HWo.

The heel center C2 is defined at a position on the foot axis Af that is “foot length FL×0.18 (see L0)” in the toe direction from the heel point HP. The center C1 of the ball of the foot is a position of "internal undepressed length IL" in the toe direction from the heel point HP, and a position of "in the half-foot width HWi×0.5" in the inward direction of the foot. The center C3 of the little finger is a position of "outer stepless length FIL" in the toe direction from the heel point HP, and a position of "outer half leg width×0.5" in the outward direction of the foot.

Then, as shown in FIGS. 4 and 6, in the footrest device 100, it is assumed that the left foot is naturally placed on the placement surface 73 and the tip of the foot is slightly inclined outward with respect to the heel point HP. ing. As an example, in the first embodiment, it is assumed that the foot axis Af is inclined outward by 8° with respect to the longitudinal direction LD of the mounting surface 73.

The presenting surface portion 82a is supposed to vibrate the heel center C2, and is arranged at a position closer to the rear end than the front end of both ends of the mounting surface 73 in the longitudinal direction LD. The positions of the presentation surface portions 81a and 83a are defined with reference to the state where the center C2 of the heel overlaps the center of the presentation surface portion 82a.

The center of the presentation surface portion 81a, which is supposed to vibrate the ball center C1, is located at a position L1 in the direction of the toes from the center of the presentation surface portion 82a, and a position L2 in the inward direction of the foot from the foot axis Af. Has been done. L1 is a value obtained by subtracting L0 (see FIG. 6) from the inner stepless length IL, and is defined to be about 136.8 m, for example. L2 is a half value of HWi within the half leg width as described above, and is defined to be, for example, about 23.1 mm.

The center of the presentation surface portion 83a, which is supposed to vibrate the little finger ball center C3, is located at the position L3 in the toe direction from the center of the presentation surface portion 82a, and the position L4 in the outward direction of the foot from the foot axis Af. ing. L3 is a value obtained by subtracting L0 (see FIG. 6) from the outer non-stepping length FIL, and is defined to be about 112.9 m, for example. As described above, L4 is a half value of HWo outside the half leg width, and is defined to be, for example, about 26.9 mm. The above dimensions L1 to L4 are examples of values based on the data in the foot size measurement business report published by the Japan Leather Industry Federation.

As shown in FIG. 5, the protrusion amounts of the presentation surface portions 81a to 83a from the insertion opening 74 are different from each other. The protrusion amount of the presentation surface portion 83a in the vibration speaker 83 far from the center line DCL (see FIG. 1) of the driver's seat 11 along the front-rear direction of the vehicle is larger than the protrusion amount of the presentation surface portion 81a in the vibration speaker 81 near the center line DCL. Has been done. In other words, the amount of protrusion of the presentation surface portion 83a provided in the outer range of the placement surface 73 on which the placement of the outer portion of the sole is assumed is the placement surface on which the placement of the inner portion of the sole is assumed. It is made larger than the protrusion amount of the presentation surface portion 81a provided in the inner range of 73. In addition, the amount of protrusion of the presentation surface portion 82a of the vibration speaker 82 is set to be larger than the amount of protrusion of the presentation surface portions 81a and 83a of the other vibration speakers 81 and 83.

As shown in FIGS. 5 and 7, the vibration speakers 81 to 83 include a housing 84, a yoke 85, a vibrating body 87, an attachment 89 and the like. The housing 84 is formed of a resin material or the like into a container shape. The housing 84 has a flat rectangular column shape. The housing 84 houses the yoke 85 and the vibrating body 87.

The yoke 85 is made of a magnetic metal material and has a bottomed container shape. A bottom wall 85a, an outer peripheral wall 85b, and a center wall 85c are formed on the yoke 85. A magnet 86 is provided on the inner peripheral side of the outer peripheral wall 85b. The magnet 86 forms a magnetic field MF that surrounds the outer peripheral wall 85b, the center wall 85c, and the bottom wall 85a.

The vibrating body 87 is formed in a bottomed cylindrical shape. A coil 88 is provided on the outer peripheral surface of the cylindrical wall 87a of the vibrating body 87. The coil 88 is arranged in the magnetic field MF formed by the yoke 85 and the magnet 86. A drive signal is applied to the coil 88 by any of the amplifiers 62 a to 62 c (described later) of the drive device 60. By applying the drive signal to the coil 88, an electromagnetic force in the axial direction acts on the vibrating body 87. The vibrating body 87 is displaced relative to the yoke 85 in the axial direction and exerts a stress on the attachment 89.

The attachment 89 is formed of a flexible material such as a rubber material. The attachment 89 is attached to the housing 84 and closes the opening of the housing 84. The attachment 89 forms the presentation surface portions 81a to 83a that are curved in a convex shape. The curvature of the cross section of the attachment 89 gradually decreases from the outer edge toward the center in the radial direction. With such a configuration, each of the presentation surface portions 81a to 83a brings the central portion into surface contact with the bottom surface (sole) of the footwear. The height of the attachment 89 is different for each of the vibration speakers 81 to 83. Since the height of each attachment 89 is different, the amount of protrusion of each presentation surface 81a to 83a from the insertion opening 74 is adjusted.

As shown in FIG. 2, the drive device 60 operates the footrest device 100 based on the control signal input from the HCU 40. The drive device 60 is configured to drive each of the vibration speakers 81 to 83 of the footrest device 100, and includes a plurality of (three) digital-analog converters (hereinafter referred to as “D/A converters”) 61 a to 61 c and a plurality of (three). Two) amplifiers 62a to 62c. The number of the D/A converters 61a to 61c and the amplifiers 62a to 62c is equal to the number of the vibration speakers 81 to 83 so that the vibrations of the presentation surface portions 81a to 83a of the vibration speakers 81 to 83 can be individually controlled. I am doing it.

The D/A converters 61a to 61c are electric circuits that convert a digital electric signal into an analog electric signal. The D/A converters 61a to 61c are electrically connected to the HCU 40 and the amplifiers 62a to 62c. The D/A converters 61a to 61c convert the control signals input from the HCU 40 into analog signals and output the analog signals to the amplifiers 62a to 62c.

The amplifiers 62a to 62c are electric circuits that output a voltage or a current that is proportional to the input signal. The amplifiers 62a to 62c are electrically connected to the D/A converters 61a to 61c and the vibration speakers 81 to 83, respectively. The amplifiers 62a to 62c generate drive signals by amplifying the analog signals input from the D/A converters 61a to 61c. The amplifiers 62a to 62c drive the vibration speakers 81 to 83 by applying the generated drive signal to the vibration speakers 81 to 83.

As shown in FIGS. 1 and 2, the HCU 40 is one of a plurality of electronic control units mounted on the vehicle. The HCU 40 is electrically connected to the drive device 60, and controls the operation of the footrest device 100 together with the drive device 60. The HCU 40 is communicatively connected to the in-vehicle network 30. The HCU 40 acquires information from the vehicle system 20 via the vehicle-mounted network 30. The vehicle system 20 includes an electronic control unit that enables autonomous traveling of the vehicle, various in-vehicle sensors that detect the state of the vehicle, communication devices that communicate with the outside of the vehicle, and the like.

The control circuit of the HCU 40 is mainly composed of a computer having a processing unit 41, a storage unit 42, a RAM 43 and the like. The processing unit 41 is configured to include at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an FPGA (Field-Programmable Gate Array), and the like. The processing unit 41 executes various arithmetic processes. The storage unit 42 is configured to include a non-volatile storage medium. Various programs including the information presentation control program are stored in the storage unit 42 so that they can be read by the processing unit 41. A RAM (Random Access Memory) 43 is a volatile semiconductor memory. The RAM 43 functions as a work area for arithmetic processing by the processing unit 41.

The HCU 40 builds a plurality of functional blocks by executing the information presentation program stored in the storage unit 42 by the processing unit 41. Specifically, in the HCU 40, an information acquisition unit 51, a mode transition control unit 52, a signal output unit 53, and the like are constructed as functional blocks that control the footrest device 100.

The information acquisition unit 51 acquires various information related to the vehicle from the vehicle system 20, such as map data around the vehicle, current vehicle speed data and steering angle data. In addition, the information acquisition unit 51 can acquire various information of a system related to automatic driving of a vehicle (hereinafter, “automatic driving system”). Specifically, the information acquisition unit 51 acquires status information indicating start and stop of the automatic driving function, a travel plan for realizing autonomous driving by the automatic driving function, and the like. Furthermore, information acquisition unit 51 includes status information of the autonomous driving system, for example, information indicating the reception sensitivity of the positioning signal transmitted from the positioning satellite of GNSS, status information indicating the detection status of external sensors such as cameras and lidars, and the like. Obtained by.

The mode transition control unit 52 switches the operation of the footrest device 100 based on the information acquired by the information acquisition unit 51. Specifically, the mode transition control unit 52 starts the information presentation using the footrest device 100 in accordance with the switching from the manual operation to the automatic operation (automatic operation ON) based on the status information of the automatic operation. Then, when the automatic operation is switched to the manual operation (automatic operation OFF), the information presentation using the footrest device 100 is stopped.

In addition, the mode transition control unit 52 switches the operation mode of the footrest device 100. Specifically, in the mode transition control unit 52, two request degree presentation modes, a driving action induction mode and a preceding presentation mode are preset as a plurality of operation modes (see FIG. 8). The mode transition control unit 52 transitions the operation mode of the footrest device 100 based on the information acquired by the information acquisition unit 51. When the manual operation is switched to the automatic operation, the mode transition control unit 52 first selects the request degree presentation mode.

The request level presentation mode is an operation mode in which the level of the request level for the driver to participate in the driving from the automatic driving function is presented, and a pseudo heartbeat of the automatic driving system is generated and reproduced by the vibration of the presentation surface portion 82a. This is an operation mode in which the heartbeat is biofeedbacked to the driver. The degree of request for driving participation of the driver is determined by the mode transition control unit 52 based on the state information of the automatic driving system.

For example, based on the sensitivity information of the GNSS and the status information of the external sensor, when automatic driving is being performed in a state in which the automatic driving system has a margin, the mode transition control unit 52 sets the degree of request for driving participation to “low”. Is determined. On the other hand, based on the sensitivity information of the GNSS and the status information of the external sensor, when the difficulty level of the automatic driving is increased, the mode transition control unit 52 determines that the degree of request for driving participation is “high”. The mode transition control unit 52 switches between a request degree presenting mode in which the request degree of driving participation is “low” and a request degree presenting mode in which the request degree of driving participation is “high” based on whether the request degree of driving participation is high or low. ..

The driving behavior induction mode is an operation mode that prompts the driver, who is away from the driving behavior during automatic driving, to start the driving behavior. The mode transition control unit 52 transitions the operation mode from the request degree presenting mode to the driving action inducing mode when the automatic driving system is in the specific state. The specific state is a state in which a driving change request (Take-Over Request) to the driver is generated from the automatic driving function in the travel plan. As an example, when the end point of the automatic driving permission section approaches, a driving change request is generated. Furthermore, even if it becomes difficult to continue the automatic driving due to deterioration of the reception sensitivity of the positioning signal or the detection state of the external sensor, a driving change request is generated. In the driving behavior inducing mode, the operation mode is transited from the driving behavior inducing mode to the request degree presenting mode when the pre-specified inducing operation is completed.

The preceding presentation mode is an operation mode in which the driver is notified in advance of the details of the behavior change that will occur before the behavior change occurs in the autonomously traveling vehicle. The mode transition control unit 52 determines that a behavior change (hereinafter referred to as “presentation behavior change”) to be presented to the driver is, for example, several seconds later (about 1 to 3 seconds) based on the travel plan showing the future behavior of the autonomously traveling vehicle. ) Determines whether or not it occurs in the vehicle. The scene in which the presentation behavior changes (hereinafter, “preceding presentation scene”) is, for example, a scene in which acceleration/deceleration that makes the driver feel uneasy, and turning left/right and changing lanes. The mode transition control unit 52 transitions the operation mode from the request degree presentation mode to the advance presentation mode when the advance presentation scene is scheduled in the travel plan. Then, in the preceding presentation mode, the announcement of the content of the presentation behavior change using the plurality of presentation surface portions 81a to 83a is performed, and the announcement is finished before the behavior change occurs in the vehicle. When the presentation operation of the future behavior corresponding to the change of the presentation behavior ends, the mode transition control unit 52 transitions the operation mode from the preceding presentation mode to the request degree presentation mode.

The signal output unit 53 generates a control signal for controlling the operation of the footrest device 100. A control signal corresponding to each operation mode is defined in the signal output unit 53 in advance. The signal output unit 53 generates a control signal corresponding to the operation mode selected by the mode transition control unit 52 and the information acquired by the information acquisition unit 51, and directs the generated control signal to the drive device 60. Output.

Details of the information presentation performed by the HCU 40 described above using the footrest device 100 will be described below based on FIGS. 9 to 18 and with reference to FIG. 2.

The request degree presenting process shown in FIG. 9 is started by the signal output unit 53 by the transition of the operation mode to the request degree presenting mode accompanying the start of the automatic driving. The request degree presentation process is repeated by the signal output unit 53 until the automatic driving is stopped. However, during the transition period to the driving action induction mode or the preceding presentation mode, the signal output unit 53 operates the vibration speakers 81 to 83 in the vibration pattern defined in the driving action induction mode or the preceding presentation mode. Prioritize.

In S101, as an initial setting, the setting of the interval Tin1 (see FIG. 10) when the driving participation request degree is “low” is acquired from the storage unit 42, and the process proceeds to S102. The interval Tin1 may be a value preset at the time of designing the system or a value set by the user of the vehicle.

In S102, based on the status information of the automatic driving acquired by the information acquisition unit 51, it is determined whether the automatic driving is in the ON state. When it is determined that the automatic driving is in the off state in S102, the process proceeds to S108, and the operations of the vibration speakers 81 to 83 are stopped. On the other hand, when it is determined in S102 that the ON state of the automatic driving is continued, the process proceeds to S103.

In S103, the operation of the vibration speaker 82 is started with the setting of the acquired latest interval (see FIGS. 10 and 11), and the process proceeds to S104. In S104, the latest driving participation request degree determined by the mode transition control unit 52 is acquired, and the process proceeds to S105. In S105, it is determined whether the driving participation request degree acquired in S104 is "high". When the driving participation request degree acquired in S104 is “high”, the process proceeds from S105 to S106. On the other hand, when the driving participation request degree acquired in S104 is “low”, the process proceeds from S105 to S107.

In S106, the setting of the interval Tin2 (see FIG. 11) when the driving participation request degree is “high” is acquired from the storage unit 42, and the process returns to S102. The interval Tin2 in this case may also be a value preset at the time of designing the system or a value set by the user of the vehicle, as in the case where the driving participation request degree is “low”. .. On the other hand, in S107, similarly to S101, the setting of the interval Tin1 (see FIG. 10) when the driving participation request degree is “low” is acquired from the storage unit 42, and the process proceeds to S102.

By the above request degree presentation processing, the risk occurrence and disappearance of the request degree presentation mode when the driving participation request degree is “low” and the request degree presentation mode when the driving participation request degree is “high” It is switched according to the change in the state of the automatic driving system caused by. Details of specific control of the vibration speaker 82 in the request degree presentation mode will be described with reference to FIGS. 10 and 11.

In each request degree presentation mode, only the vibration speaker 82 provided so as to come into contact with the heel portion operates, and the two vibration speakers 81 and 83 on the foot side maintain the stopped state. The signal output unit 53 causes the vibration speaker 82 to pulsate by the control of repeatedly turning on and off the vibration of the vibration speaker 82, and presents the driver with the state of the automatic driving system. Pulsations are vibrations that mimic the human heartbeat. The vibration on-time Ton of the vibration speaker 82 is substantially the same regardless of whether the participation request level is high or low. At the on time Ton, one rectangular wave is input as a drive signal from the drive device 60 to the vibration speaker 82. The push-up vibration of the vibration speaker 82 due to the input of the rectangular wave may remind the driver of a sensation close to that of a human heartbeat.

On the other hand, the vibration intervals Tin1 and Tin2 are changed depending on the level of the driving participation request degree as described above. The interval Tin2 when the driving participation request degree is “high” is defined to be shorter than the interval Tin1 when the driving participation request degree is “low”. That is, the off time of the vibration when the driving participation request degree is “high” is shorter than the off time when the driving participation request degree is “low”. As described above, the signal output unit 53 discretely changes the intervals Tin1 and Tin2 such that the off time is defined to be shorter as the request level is higher, based on the level of the drive participation request level as the system state information. , The cycle of pulsating the presentation surface portion 82a is changed.

As an example, the vibration due to the interval Tin1 when the driving participation request degree is “low” is set based on the heart rate of the human at rest (for example, about 60 beats per minute), and specifically, about 1 hertz. Is repeated. On the other hand, the vibration due to the interval Tin2 when the driving participation request degree is “high” is set based on the heart rate (for example, about 160 times per minute) when the person is rising, and specifically, 2.6 Hz. Repeated in degree.

Next, details of specific control of the vibration speakers 81 to 83 in the driving action induction mode will be described with reference to FIG. As described above, the transition from the request degree presenting mode to the driving action inducing mode is mainly performed based on the driving change request from the automatic driving system.

In the driving action inducing mode, the number of vibrating presentation surface portions 81a to 83a is increased as compared with the request degree presenting mode. Specifically, in the driving action inducing mode, the three vibration speakers 81 to 83 are synchronously controlled, and the vibration on and off timings of the three presentation surface portions 81a to 83a are synchronized. The signal output unit 59 causes all the vibration speakers 81 to 83 to repeatedly turn the vibration on and off. The time ratio (on-duty ratio) occupied by the on-time Ton in the drive signal is set to, for example, about 15%. At the on time Ton in the driving action inducing mode, the signal wave input to each of the vibration speakers 81 to 83 is a continuous triangular wave whose fall time is shorter than its rise time.

Next, details of the preceding presentation mode will be described. The transition control process shown in FIG. 13 is started by the HCU 40 along with the start of the automatic driving similarly to the request degree presenting process (see FIG. 9), and the operation mode is changed between the request degree presenting mode and the preceding presenting mode. .. The transition control process is repeated by the HCU 40 until the automatic operation is stopped.

In S111, the travel plan created by the automatic driving function is acquired, and the process proceeds to S112. In S112, the necessity of prior presentation is determined based on the travel plan acquired in S111. When the preceding presentation scene in which the presentation behavior change occurs is scheduled after a few seconds in the travel plan, the process proceeds from S112 to S113. In S113, the footrest device 100 starts prior presentation by switching from the request degree presentation mode to the prior presentation mode, and the process returns to S111. On the other hand, if it is determined in S112 that the preceding presentation scene is not scheduled, the process proceeds from S112 to S114. In S114, the preceding presentation is stopped by switching from the preceding presentation mode to the request degree presentation mode, and the process returns to S111.

Based on the switching to the preceding presentation mode in S113 described above, the preceding presentation processing shown in FIG. 14 is started. In the preceding presentation process, the next expected preceding scene is determined, and the actuation corresponding to the next vehicle behavior is set.

In S121, the necessity of presenting the acceleration operation is determined based on whether or not the acceleration exceeding the acceleration threshold value is planned to occur in the front direction of the vehicle. When the acceleration in the forward direction in the assumed preceding presentation scene is equal to or less than the acceleration threshold and it is determined that the presentation of the acceleration operation is unnecessary, the process proceeds from S121 to S123. On the other hand, when it is determined that the acceleration of the vehicle in the forward direction exceeds the acceleration threshold, the process proceeds from S121 to S122. In S122, the footrest device 100 is caused to start a preceding presentation operation (hereinafter, “acceleration operation presentation”, refer to FIG. 15) that gives advance notice of the acceleration operation of the vehicle, and the preceding presentation processing is ended.

In S123, the necessity of presenting the deceleration operation is determined based on whether or not the acceleration exceeding the deceleration threshold is scheduled to occur in the rearward direction of the vehicle. If the backward acceleration in the assumed preceding presentation scene is equal to or less than the deceleration threshold and it is determined that the deceleration operation is not required to be presented, the process proceeds from S123 to S125. On the other hand, when it is determined that the rearward acceleration of the vehicle exceeds the deceleration threshold value, the process proceeds from S123 to S124. In S124, the footrest device 100 is caused to start a preceding presentation operation (hereinafter referred to as “deceleration operation presentation”, refer to FIG. 16) that gives advance notice of the deceleration operation of the vehicle, and the preceding presentation processing is ended.

In S125, it is determined whether or not it is necessary to present the turning motion to the right based on whether or not the acceleration exceeding the turning threshold is to be generated in the right direction of the vehicle. If the acceleration in the right direction in the assumed preceding presentation scene is equal to or less than the turning threshold value and it is determined that the turning operation in the right direction needs to be presented, the process proceeds from S125 to S126. In S126, the footrest device 100 is caused to start a preceding presentation operation (hereinafter, “presenting a right turning operation”, refer to FIG. 17) that gives advance notice of the vehicle right turning operation, and the preceding presentation processing is ended.

On the other hand, if it is determined in S125 that the presentation of the turning motion to the right is unnecessary, the process proceeds from S125 to S127. In S127, the footrest device 100 is caused to start the preceding presentation operation (hereinafter, “presenting the left turning operation”, refer to FIG. 18) that gives advance notice of the vehicle left turning operation, and the preceding presentation processing is ended.

Details of control of each of the vibration speakers 81 to 83 in the preceding presentation mode will be described with reference to FIGS. 15 to 18. In the preceding presentation mode, at least two of the three presentation surface units 81a to 83a that are lined up in the direction of the acceleration generated in the vehicle due to the change in the presentation behavior are controlled to alternately vibrate.

The acceleration operation presentation shown in FIG. 15 is performed when it is determined that acceleration in the forward direction occurs in the vehicle. In the acceleration operation presentation, the vibration speakers 81 and 83 (hereinafter, front speaker group 80f) arranged on the driver's foot side in the front direction of the vehicle are synchronously controlled integrally. The signal output unit 59 alternately vibrates the vibration speaker 82 arranged on the heel side of the driver in the rear direction of the vehicle and the above-described front speaker group 80f at predetermined time intervals.

More specifically, the time interval from the stop of the vibration of the vibration speaker 82 to the start of the vibration of the front speaker group 80f is the first off time T1f. On the other hand, the time interval from the stop of the vibration of the front speaker group 80f to the start of the vibration of the vibrating speaker 82 is the second off time T2f. The signal output unit 59 sets the first off time T1f to be shorter than the second off time T2f. By setting the off times T1f and T2f, the series of vibrations of the vibration speakers 81 to 83 reminds the driver of an image of being pushed forward.

The deceleration operation presentation shown in FIG. 16 is performed when it is determined that the rearward acceleration is generated in the vehicle. Even when the deceleration operation is presented, the front speaker group 80f is integrally and synchronously controlled. The signal output unit 59 alternately vibrates the front speaker group 80f and the vibrating speaker 82 at a time interval different from the acceleration operation presentation.

More specifically, in the deceleration operation presentation, the time interval from the stop of the vibration of the front speaker group 80f to the start of the vibration of the vibrating speaker 82 is the first off time T1b. On the other hand, the time interval from the stop of the vibration of the vibration speaker 82 to the start of the vibration of the front speaker group 80f is the second off time T2b. The signal output unit 59 sets the first off time T1b shorter than the second off time T2b. By setting the off times T1b and T2b as described above, the driver reminds the driver that the series of vibrations of the vibration speakers 81 to 83 is pulled back.

In the acceleration operation presentation and the deceleration operation presentation, the vibration on time of the front speaker group 80f and the vibration on time of the vibration speaker 82 are substantially the same. In addition, the vibration intensity (amplitude) of the front speaker group 80f and the vibration intensity (amplitude) of the vibration speaker 82 are substantially the same.

The right turn motion presentation shown in FIG. 17 is performed when it is determined that the vehicle will be accelerated to the right. In the right turning motion presentation, only the two vibration speakers 81 and 82 arranged in the width direction CD are activated, and the heel side vibration speaker 82 maintains the stopped state. The signal output unit 59 alternately vibrates the two vibrating speakers 81 and 82 at predetermined time intervals.

In detail, in the right turning motion presentation, the time interval from the stop of the vibration of the vibration speaker 83 located on the left side to the start of the vibration of the vibration speaker 83 located on the right side is the first off time T1r. On the other hand, the time interval from the stop of the vibration of the vibration speaker 81 located on the right side to the start of the vibration of the vibration speaker 83 located on the left side is the second off time T2r. The signal output unit 59 sets the first off time T1r shorter than the second off time T2r. By setting the off times T1r and T2r as described above, a series of vibrations of the vibration speakers 81 and 82 reminds the driver of an image of moving to the right.

The left turning motion presentation shown in FIG. 18 is performed when it is determined that the vehicle is to be accelerated to the left. Even when the left turning motion is presented, the signal output unit 53 maintains the stopped state of the vibration speaker 82 on the heel side, while alternately vibrating the two vibration speakers 81 and 82 at a predetermined time interval.

Specifically, in the left turning motion presentation, the time interval from the stop of the vibration of the vibration speaker 81 located on the right side of the two to the start of the vibration of the vibration speaker 83 located on the left side of the two is the first. The off time is T1l. On the other hand, the time interval from the stop of the vibration of the vibration speaker 83 located on the left side to the start of the vibration of the vibration speaker 81 located on the right side is the second off time T2l. The signal output unit 59 sets the first off time T11 to be shorter than the second off time T2l. By setting the off times T1l and T2l as described above, a series of vibrations of the vibration speakers 81 and 82 reminds the driver of an image of moving to the left.

In the right turning motion presentation and the left turning motion presentation, the on time and the strength (amplitude) of the vibrations of the two vibration speakers 81 and 83 are substantially the same. Furthermore, the signal wave input to each of the vibration speakers 81 to 83 in each of the above-described presentation operations is a continuous triangular wave whose fall time is shorter than its rise time. With such a waveform of the drive signal, vibration that pushes up the sole propagates from each of the presentation surface portions 81a to 83a to each position of the sole.

If the vibrations of the plurality of presentation surface portions 81a to 83a are individually controlled as in the first embodiment described so far, it becomes possible to notify the driver of the behavior change that will occur in the future in the autonomously traveling vehicle. .. If the behavior can be notified by vibration in this way, the mechanism for moving the footrest or the like can be omitted. Therefore, it becomes possible to notify the user of the behavior change through the somatosensory while ensuring the mountability of the structure for presenting information in the vehicle.

In addition, if the information is presented by vibration as in the first embodiment, even if the posture of the driver sitting in the driver's seat 11 changes and a large shift occurs in the driver's core, the posture of the footrest can be changed. The ease of transmitting the information presentation to the driver can be maintained as compared with the case of changing the form. That is, the information presentation based on the vibration is more likely to secure the tolerance to the core shift than the information presentation based on the change in the posture of the footrest.

Further, in the first embodiment, when acceleration occurs in the vehicle due to future behavior change, the signal output unit 53 selects at least two of the plurality of presentation surface units 81a to 83a that are arranged along the direction of the acceleration that is scheduled to occur. Alternately vibrate. According to such control, even if the footrest device 100 has a simple configuration, the driver can be easily notified of the direction of acceleration that will occur in the vehicle due to future behavior changes.

Further, in the acceleration operation presentation of the first embodiment, the first off time T1f from the stop of the vibration of the vibration speaker 82 to the start of the vibration of the front speaker group 80f is the vibration of the vibration speaker 82 after the stop of the vibration of the front speaker group 80f. It is defined to be shorter than the second off time T2f until the start. In addition, in each of the deceleration operation presentation, the right turning operation presentation, and the left turning operation presentation, each first off time T1b, T1r, T1l is set shorter than each second off time T2b, T2r, T2l. .. As described above, according to the control in which the length of each off time is changed according to the direction of the acceleration while alternately vibrating each of the vibration speakers 81 to 83, the front-rear direction and the left-right direction of the acceleration expected to occur in the vehicle are driven. The person can be notified in a more understandable manner.

In addition, in the first embodiment, the advance notice of the content of the behavior change due to the vibration of each of the presentation surface portions 81a to 83a is ended before the behavior change occurs in the vehicle. In this way, if the advance notice due to the vibration of the vibration speakers 81 to 83 is completed before the behavior change occurs, the driver can easily perceive the timing from the advance notice to the start of the behavior change. Therefore, the notification of the behavior change to the driver through the somatic sensation can be information presentation that is easy for the driver to understand.

In the first embodiment, the HCU 40 corresponds to the “information presentation control device”, the mode transition control unit 52 (S112) corresponds to the “behavior determination unit”, and the signal output unit 53 corresponds to the “presentation control unit”. However, the travel plan corresponds to “behavior information”. In the acceleration motion presentation, the presentation surface parts 81a and 83a correspond to the "first presentation surface part", and the other (remaining) presentation surface part 82a corresponds to the "second presentation surface part". On the other hand, in the deceleration operation presentation, the presentation surface portion 82a corresponds to the "first presentation surface portion", and the presentation surface portions 81a and 83a correspond to the "second presentation surface portion". Similarly, in the right turning motion presentation, the presentation surface portion 81a corresponds to the “first presentation surface portion” and the presentation surface portion 83a corresponds to the “second presentation surface portion”, while in the left turning movement presentation, the presentation surface portion 83a corresponds to the presentation surface portion 83a. The presentation surface portion 81a corresponds to the "first presentation surface portion", and the presentation surface portion 81a corresponds to the "second presentation surface portion".

(Second embodiment)
The second embodiment of the present disclosure shown in FIGS. 19 to 21 is a modified example of the first embodiment. In the request degree presentation mode and the preceding presentation mode of the second embodiment, the vibration patterns of the vibration speakers 81 to 83 are different from those of the first embodiment.

In the request level presentation mode, the magnitude of the amplitude is changed in addition to the intervals Tin1 and Tin2 of the vibration speaker 82 according to the request level for driving participation. As shown in FIG. 19, the amplitude when the request for driving participation is “high” (see the solid line) is made larger than the amplitude when the request for driving participation is “low” (see the chain line). It By such control, when the degree of request for driving participation increases, the fact can be more clearly communicated to the driver.

In the preceding presentation mode, the vibrations of the three vibrating speakers 81 to 83 are simultaneously started. Specifically, in the clockwise turning presentation shown in FIG. 20, the on-time Tonr for continuing the vibration of the vibrating speaker 81 is set to about twice the on-time Tonl for continuing the vibration of the vibrating speakers 82, 83. .. That is, the signal output unit 53 (see FIG. 2) starts the vibrations of the vibration speakers 81 to 83, and then stops the vibrations of the vibration speakers 82 and 83 earlier than the vibration speaker 81. By setting the ON times Tonl and Tonr, the series of vibrations of the vibration speakers 81 to 83 utilize the afterglow of the vibrations of the vibration speakers 82 and 83 that are stopped first, and the driver can see the image moving rightward. Reminds me. The vibration patterns of the vibration speakers 81 to 83 may be repeated a plurality of times with a predetermined time interval as the right turn operation presentation.

In the left turning motion presentation shown in FIG. 21, the on-time Tonl for continuing the vibration of the vibrating speaker 83 is set to about twice the on-time Tonr for continuing the vibration of the vibrating speakers 81, 82. That is, the signal output unit 53 (see FIG. 2) starts the vibrations of the vibration speakers 81 to 83, and then stops the vibrations of the vibration speakers 81 and 82 earlier than the vibration speaker 83. By setting the respective on times Tonr and Tonl, the series of vibrations of the vibration speakers 81 to 83 utilizes the afterglow of the vibrations of the vibration speakers 81 and 82 that are stopped first, and the driver can see an image of moving to the left. Reminds me. The vibration pattern of the vibration speakers 81 to 83 may be repeated a plurality of times with a predetermined time interval as the left turning motion presentation.

Further, in the acceleration operation presentation, after the vibrations of the vibration speakers 81 to 83 are simultaneously started, the vibration of the vibration speaker 82 is stopped earlier than the front speaker group 80f. Similarly, in the deceleration operation presentation, after the vibrations of the vibration speakers 81 to 83 are simultaneously started, the vibration of the front speaker group 80f is stopped earlier than the vibration speaker 82. Even with such control, the driver can recall an image of moving in the forward direction or the backward direction by utilizing the afterglow of the vibrations of the vibration speakers 81 to 83 that are stopped first.

Even in the presentation method using the afterglow of the vibration speakers 81 to 83 in which the vibration is stopped, as in the preceding presentation mode of the second embodiment described up to this point, similarly to the first embodiment, the presentation method to the driver. The content of behavior change can be notified with high certainty.

(Third embodiment)
The third embodiment of the present disclosure shown in FIGS. 22 and 23 is a modification of the second embodiment. In the right turning motion presentation and the left turning motion presentation of the third embodiment, only the vibrating speakers 81 and 83 vibrate, and the vibrating speaker 82 maintains the stopped state. Specifically, in the right turn motion presentation shown in FIG. 22, the on-time Tonr for continuing the vibration of the vibration speaker 81 is set to about twice the on-time Tonl for continuing the vibration of the vibration speaker 83. That is, the signal output unit 53 (see FIG. 2) starts the vibration of both the presentation surface portion 81a and the presentation surface portion 83a at the same time, and then stops the vibration of the presentation surface portion 83a earlier than the presentation surface portion 81a. As described above, the driver can think of an image of moving to the right from the comparison between the afterglow of the vibration of the presentation surface portion 83a that has been stopped first and the continued vibration of the presentation surface portion 81a.

On the other hand, in the left turning motion presentation shown in FIG. 23, the on-time Tonl for continuing the vibration of the vibrating speaker 83 is set to about twice the on-time Tonr for continuing the vibration of the vibrating speaker 81. That is, the signal output unit 53 (see FIG. 2) starts the vibration of both the presentation surface portion 83a and the presentation surface portion 81a at the same time, and then stops the vibration of the presentation surface portion 81a earlier than the presentation surface portion 83a. As described above, the driver can think of an image of moving to the left from the comparison between the afterglow of the vibration of the presentation surface portion 81a that has been stopped first and the continuous vibration of the presentation surface portion 83a.

Also in the preceding presentation mode of the third embodiment described above, similar to the second embodiment, by utilizing the afterglow of the vibration speakers 81 to 83 whose vibrations are stopped, the contents of the behavior change to the user through the somatic sensation. Can be notified. The vibration patterns of the vibration speakers 81 and 83 may be repeated a plurality of times with a predetermined time interval as the right turning motion presentation and the left turning motion presentation. The acceleration motion presentation and the deceleration motion presentation in the third embodiment may be substantially the same as those in the second embodiment.

(Other embodiments)
Although a plurality of embodiments of the present disclosure have been described above, the present disclosure should not be construed as being limited to the above embodiments and applied to various embodiments and combinations without departing from the scope of the present disclosure. can do.

The footrest device according to the modified example 1 of the above-described embodiment is provided with an adjusting mechanism capable of adjusting the relative position of each vibration speaker with respect to the lower base plate for each vibration speaker. The adjustment mechanism is provided between the lower base plate and the housing of each vibration speaker, and moves the position of the presentation surface portion by expanding and contracting in the direction perpendicular to the mounting surface. The adjusting function adjusts the protrusion amount of the presentation surface portion with respect to the upper cover member. With such a function of the adjusting mechanism, the presentation surface portion that is prioritized to the driver can be appropriately changed according to the information to be presented to the driver, for example. The adjustment mechanism may be built in each vibration speaker.

In the above-described embodiment, each presentation surface portion is exposed to the placing surface so as to contact the sole through the insertion opening provided in the upper cover member. However, each vibration speaker, which is a vibration presenter, may not have the presentation surface portion exposed on the mounting surface. Each vibration speaker can individually vibrate different parts on the mounting surface while being housed between the upper cover member and the lower base plate. In other words, the structure for propagating the vibration of the vibration speaker to the sole on the mounting surface may be provided integrally with the upper cover member forming the mounting surface.

The attachment according to the above-described embodiment is formed in a flat convex spherical surface shape that forms a presentation surface portion that is curved in a convex shape. However, the shape of the attachment can be changed as appropriate. The attachment may have, for example, a flat conical shape or a quadrangular pyramid shape, or a flat cylindrical shape that forms a flat presentation surface portion. In addition, the surface of the presentation surface part may be in a smooth state. Alternatively, a concavo-convex pattern or a convex pattern that functions as a slip stopper may be formed on the presentation surface section.

Furthermore, if each presentation surface cannot be placed at the target position due to factors such as the size or shape of each vibration speaker, the vibration point can be adjusted by adjusting the shape such that the top of the attachment is eccentric to the center of the vibration speaker. May be optimized.

Further, a gap may be secured between the inner peripheral wall of the insertion opening and the outer peripheral wall of the attachment to prevent vibration from propagating from the attachment to the upper cover member. Alternatively, a flexible material that hardly propagates vibration may be provided between the attachment and the inner peripheral wall of the insertion opening. Further, a collar-shaped portion that closes the insertion opening from the mounting surface side or the lower base surface side may be provided on the outer periphery of the attachment.

In the above-mentioned embodiment, all the presentation surface parts were projected from the upper cover member. However, at least a part of the presentation surface portion may be flush with the outer surface of the bottom wall portion of the upper cover member. Further, the amount of protrusion of each presentation surface portion may be changed as appropriate, and the ball portion of the thumb or the ball portion of the little finger may be larger than the heel portion. Further, the protrusion amounts of the presentation surface portions may be substantially the same as each other.

In the above embodiment, the mounting surface is provided with three presentation surface portions. The positions of these three presentation surface portions may be changed appropriately. For example, an area closer to the lower end than the upper end on the placing surface is set as a range in which the user's heel portion is supposed to be placed, and the position of the presentation surface portion 82a (see FIG. 4) is appropriately changed within this range. Good. Similarly, a region of the placement surface that is closer to the upper end than the lower end and closer to the inner end than the outer end is the range in which the placement of the ball of the ball of the user is assumed, and the presentation surface portion 81a (see FIG. 4). May be appropriately changed in position within this range. Further, a region of the placement surface that is closer to the upper end than the lower end and closer to the outer end than the inner end is a range where the placement of the ball of the ball of the user is assumed, and the presentation surface portion 83a (see FIG. 4) is The position may be appropriately changed within this range. Further, the presentation surface portion 83a provided in the outer range of the placement surface may be provided not at the little finger ball portion of the sole but at a position where the foot blade portion outside the arch can be vibrated.

Further, the number of presentation surface portions provided on the placement surface is not limited to three. For example, only two presentation surface portions may be provided on the mounting surface in an arrangement that is aligned along the longitudinal direction or the width direction. Alternatively, four or more presentation surface portions may be provided on the placement surface. As an example, in addition to two presentation surface portions that vibrate the ball center C1 and little finger ball center C3, two presentation surface portions that vibrate the heel portion on both sides sandwiching the heel center C2 in the width direction CD are provided. It may be.

In the above-described embodiment, the shape of the mounting surface, which has been formed into a long flat plate shape, may be appropriately changed. For example, the placement surface may be curved in a convex shape, and specifically, may be a partially cylindrical surface shape having a slight curvature in the longitudinal direction LD. Furthermore, the outer shape of the mounting surface may be a square shape, an elliptical shape, a trapezoidal shape, or the like.

The footrest device according to the above-described embodiment is attached to the attachment portion in a posture inclined only in the front-rear direction of the vehicle. In other words, the width direction CD of the mounting surface 73 was along the horizontal direction of the vehicle. However, the mounting posture of the footrest device may be changed as appropriate. For example, the mounting surface 73 may be directed to the outside (center tunnel side) by mounting the width direction CD slightly inclined with respect to the horizontal direction of the vehicle. With such a mounting posture, the amount of protrusion of the presentation surface portion 83a (see FIG. 4) provided in the outer range of the placement surface and the amount of protrusion of the presentation surface portion 81a (see FIG. 4) provided in the inner range of the placement surface are substantially the same. May be

In the above-described embodiment, the details of the footrest device provided in the position adjacent to the center tunnel in the vehicle with the right-hand drive have been described. Good. That is, the footrest device having substantially the same configuration can be applied to both the right-hand drive vehicle and the left-hand drive vehicle.

In the above-described embodiment, the placement surface of the footrest device is provided with the presentation surface portion that vibrates the sole of the foot. However, the configuration in which the presentation surface portion is provided is not limited to the footrest device. For example, the tread surface of the accelerator pedal 12 (see FIG. 1), the brake pedal 13 (see FIG. 1), the clutch pedal, or the like may be a “mounting surface”, and the presentation surface portion may be provided on the tread surface of these pedals. Further, the floor surface 14 (see FIG. 1) in front of the driver's seat 11 may be used as a mounting surface, and the floor surface 14 may be provided with a presentation surface portion. The accelerator pedal 12 may be locked at a specific position so that the driver does not make a stroke by applying a pedaling force while the vehicle is autonomously traveling.

Further, the presentation surface section controlled by the HCU is not limited to the configuration that vibrates the sole of the driver. The presentation surface portion may be provided at any position in the vehicle compartment as long as it can contact the user of the vehicle. For example, the HCU notifies the driver of future behavior of the vehicle by individually controlling vibrations of a plurality of presentation surface portions provided on the seat seat surface of the driver's seat 11 (see FIG. 1), the backrest, the armrest, and the like. You may.

In the above embodiment, the vibration speaker is used as the vibration presenter. The waveform of the drive signal input to such a vibration speaker may be changed appropriately. Further, the vibration presenter is not limited to the vibration speaker. For example, a vibration motor or the like that generates vibration by rotation of a mass body whose center of gravity is eccentric from the center of rotation may be used as the vibration presenter. Alternatively, a part of the plurality of presentation surface portions may be formed by the vibration speaker and the other part may be formed by the vibration motor.

It should be noted that the rising and falling times of vibration in the vibration speaker can be shorter than those in the vibration motor. In addition, controlling the frequency and amplitude of vibration is also easier with a vibrating speaker than a vibrating motor. In addition, the vibrating speaker generates vibration in a direction perpendicular to the mounting surface. Therefore, the vibration speaker can locally vibrate a part of the sole of the foot, and the driver can easily identify the vibrating portion. For the above reasons, the vibration speaker has a suitable configuration as the vibration presenter.

The determination result of the degree of request for driving participation by the mode transition control unit 52 (see FIG. 2) of Modification 2 of the first embodiment is not a discrete value such as “high” and “low” but continuous. It is output as a value. Then, the signal output unit 53 (see FIG. 2) continuously changes the off time based on the value of the degree of request for driving participation. More specifically, the signal output unit 53 gradually reduces the vibration interval as the request for driving participation increases, and gradually increases the vibration interval as the request for driving participation decreases. As described above, it is not necessary to discretely increase or decrease the interval in the request degree presentation mode.

In the request degree presentation mode of the first embodiment, only the vibration speaker 82 (see FIG. 10) arranged on the heel portion vibrates the sole of the driver. However, the vibration speaker that reproduces the heartbeat in the request degree presentation mode is not limited to the vibration speaker 82 arranged at the heel portion. The other vibrating speakers 81 and 83 (see FIG. 10) may vibrate to reproduce a pseudo heartbeat. Furthermore, pseudo biofeedback may be implemented by synchronous control of a plurality of vibration speakers.

The degree of request for participation in driving in the above-described embodiment is increased due to deterioration of the reception sensitivity of the positioning signal and the detection state of the external sensor. Such an increase in the degree of request for participation in driving occurs due to deterioration of meteorological conditions such as rainfall, snowfall, and thick fog, entry into urban building shadows, tunnels, underground and facilities. Further, the demand for driving participation may increase even in a scene in which the lane markings that divide the lane are faint, a scene in which a sharp curve is entered, and the like.

In the driving action induction mode (see FIG. 12) of the first embodiment, the three vibration speakers 81 to 83 are synchronously controlled. However, if it is possible to give the driver a strong sense of discomfort, for example, control may be performed to randomly generate vibrations of the three vibration speakers 81 to 83. Further, the duty ratio, which is set to about 15% in the first embodiment, may be changed as appropriate. For example, the duty ratio occupied by the on time Ton in the drive signal may be set to about 50%. Further, the duty ratio of the on time Ton may be gradually increased with the passage of time.

The signal output unit 53 (see FIG. 2) of the modified examples 3 and 4 of the first embodiment is configured to alternately vibrate in the preceding presentation mode in order to make it easier to distinguish the front-rear direction and the left-right direction of acceleration. The vibration intensities (amplitudes) of 81a to 83a are set to different values. Specifically, in the acceleration motion presentation of the modified example 3, the vibration intensity of the presentation surface portions 81a and 83a is made stronger than the vibration intensity of the presentation surface portion 82a, and in the deceleration operation presentation, the vibration intensity of the presentation surface portion 82a is It is made stronger than the vibration intensity of the presentation surface portions 81a and 83a. Similarly, in the right turning motion presentation of the modification 3, the vibration intensity of the presentation surface portion 81a is made stronger than the vibration intensity of the presentation surface portion 83a, and in the left turning speed motion presentation, the vibration intensity of the presentation surface portion 83a is increased. The strength of the vibration of the presentation surface portion 81a is made stronger.

On the other hand, in the acceleration motion presentation of the modification 4, the vibration intensity of the presentation surface portion 82a is made stronger than the vibration intensity of the presentation surface portions 81a and 83a, and in the deceleration operation presentation, the vibration intensity of the presentation surface portions 81a and 83a is increased. The strength of the vibration of the presentation surface portion 82a is made stronger. Similarly, in the right turning motion presentation of the modified example 4, the vibration intensity of the presentation surface part 83a is made stronger than the vibration intensity of the presentation surface part 81a, and in the left turning speed motion presentation, the vibration intensity of the presentation surface part 81a is changed. The strength of the vibration of the presentation surface portion 83a is made stronger.

The advance notice of the content of the presentation behavior change in the first embodiment is completed before the behavior change occurs in the vehicle. However, the anteroposterior relationship between the completion timing of each action presentation and the generation start timing of the acceleration accompanying the behavior change may be appropriately adjusted. For example, the behavior change of the vehicle may be started while the motion presentation is continued. In this case, the completion timing of the action presentation is later than the generation start timing of the acceleration accompanying the behavior change. Further, the action presentation completion timing may be set to be substantially the same as the generation start timing of the acceleration accompanying the behavior change.

Each motion presentation described in the first embodiment is a motion presentation when any one of acceleration, deceleration, and turning is performed as the next behavior of the vehicle. However, it may be possible that a complex behavior is planned as the next behavior of the vehicle, such as turning to the right while decelerating. In such a case, for example, the composite action presentation as shown in FIG. 24 is performed. More specifically, the signal output unit first vibrates the front speaker group 80f and the vibrating speaker 81 alternately (for example, twice each) as in the deceleration operation presentation (see FIG. 10). After that, the signal output unit alternately vibrates the vibrating speaker 81 and the vibrating speaker 83 (for example, twice each) as in the clockwise turning presentation (see FIG. 17 ). In the combined motion presentation, the deceleration motion presentation and the right turn motion presentation may be repeated multiple times.

The acceleration threshold value, the deceleration threshold value, and the left and right turning threshold values used in the above embodiment can be set to different values. A user of the vehicle is more likely to feel anxiety about the acceleration in the front (acceleration) direction and the lateral direction than the acceleration in the rear (deceleration) direction. Therefore, the acceleration threshold and the turning threshold may be set to values lower than the deceleration threshold. Further, when the next vehicle behavior is positively presented in advance, each threshold may be set to a low value as a whole. Moreover, when giving priority to the reduction of the user's annoyance, each threshold may be set to a high value as a whole. Each of these thresholds may be adjustable by the user of the vehicle.

In the above embodiment, the HCU, the drive device, and the footrest device are provided as separate components. However, the drive device may be integrated with the HCU or the footrest device. Further, the calculation processing of the HCU for controlling the footrest device may be executed by another control device different from the HCU, or may be executed by a control circuit provided in the footrest device 100.

Furthermore, various non-transitory tangible storage media can be adopted as the storage unit that stores the information presentation control program executed by the processing unit. Such non-transitional tangible storage media may be various non-volatile storage media such as flash memory, hard disks and optical disks, or volatile storage media such as RAM. Further, the storage medium is not limited to the storage unit provided in the control device such as the HCU, and may be an optical disk or a hard disk drive of a general-purpose computer which is a copy source to the storage unit.

40 HCU (information presentation control unit), 41 processing unit, 51 information acquisition unit, 52 mode transition control unit (behavior determination unit), 53 signal output unit (presentation control unit), 81a to 83a presentation surface unit, T1f, T1b, T1r , T1l first off time, T2f, T2b, T2r, T2l second off time

Claims (8)

Information presentation that presents information to the user by controlling to vibrate a plurality of presentation surface portions (81a to 83a) provided to present information to the user through the feeling of the soles of the user who rides in a vehicle capable of autonomous driving A control device,
An information acquisition unit (51) for acquiring behavior information indicating future behavior of the vehicle that is autonomously traveling;
A behavior determination unit (52) for determining whether or not a behavior change presented to the user occurs in the vehicle based on the behavior information,
A presentation control unit that individually controls vibrations of the plurality of presentation surface units and notifies the user of the content of the presentation behavior change in advance before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. (53) and ,
Of the two presentation surface portions lined up in the direction of acceleration generated in the vehicle by the change in the presentation behavior, one positioned in the direction of acceleration is the first presentation surface portion, and the other is the second presentation surface portion.
The presentation control unit,
The first off time (T1f, T1b, T1r, T1l) from the stop of the vibration of the second presentation surface portion to the start of the vibration of the first presentation surface portion, and the time after the stop of the vibration of the first presentation surface portion The second off time (T2f, T2b, T2r, T2l) until the vibration of the second presentation surface portion is started is defined,
Information presentation controller the first off-time you shorter than the second off-time. Information presentation that presents information to the user by controlling to vibrate a plurality of presentation surface portions (81a to 83a) provided to present information to the user through the feeling of the soles of the user who rides in a vehicle capable of autonomous driving A control device,
An information acquisition unit (51) for acquiring behavior information indicating future behavior of the vehicle that is autonomously traveling;
A behavior determination unit (52) for determining whether or not a behavior change presented to the user occurs in the vehicle based on the behavior information,
A presentation control unit that individually controls vibrations of the plurality of presentation surface units and notifies the user of the content of the presentation behavior change in advance before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. (53) and ,
Of the two presentation surface portions lined up in the direction of acceleration generated in the vehicle by the change in the presentation behavior, one positioned in the direction of acceleration is the first presentation surface portion, and the other is the second presentation surface portion.
The presentation control unit, after starting the oscillation of both the first presentation surface and said second presentation surface, said second presentation surface vibrate the first presentation surface stopped so Ru information presentation control unit faster than the .. The presentation controller, the information presentation control unit according to claim 1 or 2 vibrate alternately at least two said presentation face arranged along the direction of the acceleration generated in the vehicle by the present behavioral changes. The presentation controller, the information presentation control unit according to any one of claims 1 to 3 for vibrating stronger than said first presentation surface said second presentation surface. The information presentation control device according to claim 1, wherein the presentation control unit vibrates the second presentation surface section more strongly than the first presentation surface section . The presentation control unit, before the behavior change occurs in the vehicle, information of any one of claim 1 to 5 to end the preview of the contents of the presentation behavior change using a plurality of the presentation surface Presentation control device. The control for vibrating the plurality of presentation faces provided so that to present information to the user via the sense of the sole of the user (81a~83a) boarding an automatic driving-vehicle, information for presenting information to the user A presentation control program,
At least one processing unit (41),
An information acquisition unit (51) for acquiring behavior information indicating future behavior of the vehicle that is autonomously traveling;
A behavior determination unit (52) for determining whether or not a behavior change presented to the user occurs in the vehicle based on the behavior information,
A presentation control unit that individually controls vibrations of the plurality of presentation surface units and notifies the user of the content of the presentation behavior change in advance before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. Function as (53) ,
Of the two presentation surface portions lined up in the direction of acceleration generated in the vehicle by the change in the presentation behavior, one positioned in the direction of acceleration is the first presentation surface portion, and the other is the second presentation surface portion.
The presentation control unit,
The first off-time (T1f, T1b, T1r, T1l) from the stop of the vibration of the second presentation surface part to the start of the vibration of the first presentation surface part, and from the stop of the vibration of the first presentation surface part The second off time (T2f, T2b, T2r, T2l) until the vibration of the second presentation surface portion is started is defined,
Wherein the first off-time the second off information presentation control program that shorter than the time. The control for vibrating the plurality of presentation faces provided so that to present information to the user via the sense of the sole of the user (81a~83a) boarding an automatic driving-vehicle, information for presenting information to the user A presentation control program,
At least one processing unit (41),
An information acquisition unit (51) for acquiring behavior information indicating future behavior of the vehicle that is autonomously traveling;
A behavior determination unit (52) for determining whether or not a behavior change presented to the user occurs in the vehicle based on the behavior information,
A presentation control unit that individually controls vibrations of the plurality of presentation surface units and notifies the user of the content of the presentation behavior change in advance before the occurrence of the presentation behavior change that is determined to be presented by the behavior determination unit. Function as (53),
Of the two presentation surface portions lined up in the direction of acceleration generated in the vehicle by the change in the presentation behavior, one positioned in the direction of acceleration is the first presentation surface portion, and the other is the second presentation surface portion.
The presentation control unit is configured after the first presentation surface and to start the vibration of both of said second presentation surface, said second presentation surface vibrate the first presentation information presentation control program Ru quickly quenched than surface of ..

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