JP6856086B2 - Notification management device and notification management program - Google Patents

Description

The present invention relates to a notification management device and a notification management program that control a notification device that notifies a passenger of a vehicle.

Conventionally, for example, Patent Document 1 discloses a navigation device that gives an instruction to change lanes to a driver by controlling a speaker of a vehicle. This navigation device can change the timing of instructing a lane change, for example, according to the traveling speed of the vehicle and the degree of traffic congestion in the surroundings.

Japanese Unexamined Patent Publication No. 2009-47491

By the way, in recent years, the installation of a vehicle control device having a support function for supporting a lane change in a vehicle has been promoted. This vehicle control device can automatically start a lane change by, for example, sensing the surrounding conditions of the own vehicle. As a result, while the driving load related to the steering of the driver is reduced, it becomes difficult for the occupant of the vehicle to grasp when the lane change is started.

Here, the navigation device disclosed in Patent Document 1 is not considered to be applied to a vehicle equipped with the vehicle control device as described above. Therefore, even if the vehicle is equipped with this navigation device, it is difficult for the passengers of the vehicle to grasp the start time of the lane change. Therefore, the support function of the vehicle control device may cause the vehicle to start moving laterally at an unintended timing, which may cause anxiety for the passengers of the vehicle.

The present invention has been made in view of such a problem, and an object of the present invention is to provide a technique capable of reducing anxiety of a occupant in a vehicle that changes lanes by a support function of a vehicle control device. That is.

In order to achieve the above object, one disclosed invention is mounted on a vehicle (A) together with a vehicle control device (60) that realizes a lane change support function (63) that generates a steering force toward an adjacent lane. It is a notification management device that controls a notification device (40) that notifies the passengers of the vehicle, and has control information related to steering control for lane change started by the lane change support function and exists in the vicinity of the adjacent lane. Based on the start time acquisition unit (31) that acquires peripheral information regarding the presence or absence of other vehicles (A2) and the control information acquired by the start time acquisition unit, the lane change support function starts the lane change movement. The approach is continuously notified by the notification device using at least one of a decrease in the number that counts down to the start of the movement, a progress bar, and a change in sound, and the peripheral information acquired by the start time acquisition unit is used. Based on this, a notification control unit (35) that changes the timing of notification start by the notification device is provided, and the start time acquisition unit determines whether or not the lane change support function suspends the lane change due to the presence of another vehicle. After further acquiring the information, the notification control unit notifies the lane change support function to indicate that the lane change is suspended when the lane change is suspended, and the lane change support function cancels the lane change suspension. you start the countdown to the case was, to a broadcast management device.

According to the invention, controlled broadcast equipment by the notification control unit is continually notified to the lane change of the vehicle is started by the vehicle control device. Therefore, the passenger of the vehicle can easily grasp the timing when the vehicle starts to move laterally. Therefore, the notification management device can reduce the anxiety of the occupant in the vehicle that changes lanes by the support function of the vehicle control device.

In addition, another disclosed invention realizes a notification device (40) that notifies the passengers of the vehicle (A) and a lane change support function (63) that generates a steering force toward an adjacent lane. A lane change management program that manages notifications by notification devices in a vehicle equipped with a vehicle control device (60), which is started by a lane change support function on at least one processor (21, 22). The start time acquisition step (S101) for acquiring the control information related to the steering control for the vehicle and the peripheral information regarding the presence / absence of another vehicle (A2) existing in the vicinity of the adjacent lane, and the control information acquired by the start time acquisition step. Based on, the approach of the start of the lane change movement performed by the lane change support function is continued by the notification device using at least one of the reduction of the number that counts down to the start of the movement, the progress bar, and the change of the sound. In the start time acquisition step, a process including a notification control step (S135) for changing the notification start timing by the notification device based on the peripheral information acquired by the start time acquisition step is performed. Further information on whether the lane change support function is holding the lane change due to the presence of another vehicle is acquired, and in the notification control step, if the lane change is held by the lane change support function, the lane change is changed. make a notification to indicate the hold, start the countdown in the case of pending lane change in the lane change assist function has been canceled, and alarm management program.

Also with this invention, the passenger of the vehicle can easily grasp the timing when the vehicle starts to move laterally. Therefore, in a vehicle that changes lanes by the support function of the vehicle control device, the anxiety of the passenger can be reduced.

The reference numbers in parentheses are merely examples of the correspondence with the specific configuration in the embodiment described later in order to facilitate the understanding of the present invention, and limit the scope of the present invention. It's not a thing.

It is a figure which shows the layout around the driver's seat in own vehicle. It is a block diagram which shows the whole structure of an in-vehicle network. It is a figure which shows the functional block constructed in the control circuit of a vehicle control ECU. It is a figure which shows the functional block constructed in the control circuit of HCU. It is a figure which shows the display of the countdown by the HUD apparatus. It is a figure which shows the display of the countdown after 1 second of FIG. It is a figure which shows the display of the countdown one second after FIG. 6 and just before the lane change is started. It is a figure which shows in order from (A) to (D) an example of the situation which notifies the lane change of own vehicle by the countdown. It is a figure which shows in order from (A) to (D) an example of the situation which notifies each lane change which is carried out a plurality of times by a countdown. It is a figure which shows in order from (A) to (D) another example of the situation which notifies each lane change which is carried out a plurality of times by a countdown. It is a figure which shows the situation which the lane change was canceled by the time-out in order from (A) to (C). It is a flowchart which shows the notification setting process performed by the notification control unit. It is a flowchart which shows the notification execution processing which is performed by the notification control unit. It is a figure which shows the display of the countdown by the HUD apparatus of the 2nd Embodiment. It is a figure which shows the display of the countdown after 1 second of FIG. It is a figure which shows the display of the countdown one second after FIG. 15 and just before the lane change is started. It is a figure which shows the display of the countdown which is displayed toward a passenger by the CID of the 2nd Embodiment. It is a figure which shows the display of the countdown by the HUD apparatus of the 3rd Embodiment.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. By assigning the same reference numerals to the corresponding components in each embodiment, duplicate description may be omitted. When only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Further, not only the combination of the configurations specified in the description of each embodiment but also the configurations of a plurality of embodiments can be partially combined even if the combination is not specified. Further, it is assumed that the unspecified combination of the configurations described in the plurality of embodiments and modifications is also disclosed by the following description.

(First Embodiment)
As shown in FIGS. 1 and 2, the HCU 20 of the first embodiment to which the present invention is applied is an electronic device mounted on the own vehicle A. The HCU 20 is one of a plurality of nodes provided in the vehicle-mounted network 1 mounted on the own vehicle A. The in-vehicle network 1 is composed of an ADAS locator 96, an outside world recognition system 90, a vehicle control system 60, an HMI system 10, and the like. These configurations are connected to the communication bus 99, and information can be exchanged with each other by communication.

The ADAS (Advanced Driver Assistance Systems) locator 96 includes an inertial sensor such as a GNSS receiver and a gyro sensor, and a memory for storing map data. The GNSS (Global Navigation Satellite System) receiver receives positioning signals from a plurality of artificial satellites. The ADAS locator 96 positions the position of the own vehicle A by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor. The ADAS locator 96 reads the map data in front of the own vehicle from the memory and extracts road information such as the radius of curvature of the curve, the angle of rotation, and the start position. The ADAS locator 96 outputs the position information of the own vehicle A and the road information ahead to the communication bus 99.

The outside world recognition system 90 includes outside world sensors such as a front camera unit 92 and radar units 93 and 94, and a peripheral monitoring ECU 91. The outside world recognition system 90 includes moving objects such as pedestrians, non-human animals, bicycles, motorcycles, and other vehicles, as well as falling objects on the road, traffic signals, guardrails, curbs, road signs, road markings, lane markings, etc. And detect stationary objects such as trees. The external world recognition system 90 can include external world sensors such as a rider and sonar in addition to the units 92 to 94.

The front camera unit 92 is, for example, a monocular or compound eye camera installed near the rearview mirror of the own vehicle A. The front camera unit 92 is directed in the traveling direction of the own vehicle A, and can photograph a range of about 80 meters from the own vehicle A at a horizontal viewing angle of about 45 degrees, for example. The front camera unit 92 sequentially outputs the data of the captured image in which the moving object and the stationary object are captured to the peripheral monitoring ECU 91.

The radar unit 93 is installed, for example, in the front portion of the own vehicle A. The radar unit 93 emits a millimeter wave in the 77 GHz band from the transmitting antenna in the traveling direction of the own vehicle A. The radar unit 93 receives millimeter waves reflected by a moving object, a stationary object, or the like in the traveling direction by a receiving antenna. The radar unit 93 can scan a range of about 60 meters from the own vehicle A at a horizontal scanning angle of, for example, about 55 degrees. The radar unit 93 sequentially outputs scanning results based on the received signal to the peripheral monitoring ECU 91.

The radar units 94 are installed on the left and right sides of the rear portion of the own vehicle A, for example. The radar unit 94 emits a quasi-millimeter wave in the 24 GHz band from the transmitting antenna toward the rear side of the own vehicle A. The radar unit 94 receives the quasi-millimeter wave reflected by a moving object, a stationary object, or the like on the rear side by the receiving antenna. The radar unit 94 can scan a range of about 30 meters from the own vehicle A at a horizontal scanning angle of, for example, about 120 degrees. The radar unit 94 sequentially outputs scanning results based on the received signal to the peripheral monitoring ECU 91.

The peripheral monitoring ECU 91 is mainly composed of a processor, RAM, and a microcomputer or microcontroller having a memory. The peripheral monitoring ECU 91 is communicably connected to the front camera unit 92, the radar units 93 and 94, and the communication bus 99. The peripheral monitoring ECU 91 detects the relative positions of moving and stationary objects in the traveling direction by integrating the information acquired from the units 92 and 93. In addition, the peripheral monitoring ECU 91 detects the relative positions of moving and stationary objects in the rear and rear sides based on the information acquired from the radar unit 94.

The peripheral monitoring ECU 91 provides relative position information of the preceding vehicle A1 (see FIG. 8A) and the parallel vehicle A2 (see FIG. 8B) traveling around the own vehicle A, information indicating the degree of congestion around the own vehicle, and the own vehicle. The shape information of the lane marking in the traveling direction of A is output to the communication bus 99 as monitoring information. In addition, the peripheral monitoring ECU 91 determines whether or not it is possible to change lanes to the adjacent lane based on the detection of the parallel traveling vehicle A2 traveling in the adjacent lane, and uses the determination result as monitoring information to the communication bus 99. Output.

The vehicle control system 60 includes a detection sensor that detects driving operations such as an accelerator position sensor 61, a brake pedal force sensor 62, and a steering angle sensor 63, and a vehicle speed sensor 64 that detects the running state of the own vehicle A. .. In addition, the vehicle control system 60 includes a traveling control device such as an electronically controlled throttle 66, a brake actuator 67, and an EPS (Electric Power Steering) motor 68, and a vehicle control ECU 70. The vehicle control system 60 controls the traveling of the own vehicle A based on the driving operation by the driver, the monitoring information by the outside world recognition system 90, and the like.

The accelerator position sensor 61 detects the amount of depression of the accelerator pedal 123 by the driver and outputs it to the vehicle control ECU 70. The brake pedal force sensor 62 detects the pedal effort of the brake pedal 124 by the driver and outputs it to the vehicle control ECU 70. The steering angle sensor 63 detects the steering angle of the steering wheel (hereinafter, steering) 16 by the driver and outputs it to the vehicle control ECU 70. The vehicle speed sensor 64 detects the current traveling speed of the own vehicle A by measuring the output shaft of the transmission or the rotation speed of the axle, and outputs the current traveling speed to the vehicle control ECU 70.

The electronically controlled throttle 66 controls the opening degree of the throttle based on the control signal output from the vehicle control ECU 70. The brake actuator 67 controls the braking force generated on each wheel by generating the brake pressure based on the control signal output from the vehicle control ECU 70. The EPS motor 68 controls the steering force and the steering holding force applied to the steering mechanism based on the control signal output from the vehicle control ECU 70.

The vehicle control ECU 70 is one or a plurality of types including at least an integrated control ECU among the power unit control ECU, the brake control ECU, the integrated control ECU, and the like. The control circuit 70a of the vehicle control ECU 70 includes a processor 71, a rewritable non-volatile memory 73, an input / output interface 74 for inputting / outputting information, a bus connecting these, and the like. The vehicle control ECU 70 is connected to each of the sensors 61 to 64 and each travel control device. The vehicle control ECU 70 acquires the detection signals output from the sensors 61 to 64 and outputs the control signals to the travel control devices. Further, the vehicle control ECU 70 is connected to the communication bus 99 and can communicate with the HCU 20 and the peripheral monitoring ECU 91. The vehicle control ECU 70 can output the detection signals of the sensors 61 to 64 to the communication bus 99.

The vehicle control ECU 70 has a plurality of driving support functions that support or act as a driving operation by the driver by controlling the driving force, braking force, steering force, and the like of the own vehicle A. The vehicle control ECU 70 executes the program stored in the memory 73 by the processor 71 to block the ACC function unit 81, the LKA function unit 82, the LCA function unit 83, and the travel plan setting unit 84 shown in FIG. Build as. The operation information of each driving support function by these function blocks is output to the communication bus 99 by the vehicle control ECU 70 shown in FIGS. 3 and 2.

The ACC (Adaptive Cruise Control) function unit 81 adjusts the driving force and braking force based on the monitoring information of the preceding vehicle A1 (see FIG. 8A) acquired from the peripheral monitoring ECU 91 to adjust the traveling speed of the own vehicle A. Realize the function of ACC to control. When the preceding vehicle A1 is not detected, the ACC function unit 81 cruises the own vehicle A at the target traveling speed set by the driver. On the other hand, when the preceding vehicle A1 is detected, the ACC function unit 81 sets the speed of the preceding vehicle A1 as the target traveling speed, thereby maintaining the inter-vehicle distance to the preceding vehicle A1 and itself. The vehicle A is made to follow the preceding vehicle A1.

The LKA (Lane Keeping Assist) function unit 82 realizes the LKA function of controlling the steering angle of the steering wheel of the own vehicle A (see FIG. 1) by adjusting the steering force. The LKA function unit 82 maintains the own vehicle A in the traveling lane by generating a steering force in a direction that prevents the approach to the lane marking, and causes the own vehicle A to travel along the lane.

The LCA (Lane Change Assist) function unit 83 realizes a lane change support function for moving the own vehicle A (see FIG. 1) from the currently traveling lane to an adjacent lane. The lane change support function can be activated when both the ACC function and the LKA function are operating. When the lane can be changed, the LCA function unit 83 moves the own vehicle A to the adjacent lane by generating a steering force in the direction toward the adjacent lane.

The travel plan setting unit 84 generates a travel plan of the own vehicle A corresponding to the monitoring information acquired from the peripheral monitoring ECU 91. The driving plan includes, for example, a short-term driving plan for instructing a lane change to an adjacent lane (see FIG. 8) and a medium-term driving plan for overtaking the preceding vehicle A1 with multiple lane changes (see FIG. 8). (See FIG. 10). Each travel plan includes information indicating a target steering direction, a target steering amount, and the like, information indicating a steering start time when a lane change is started, information indicating a target speed until the lane change is started, and the like. The traveling plan is appropriately adjusted based on the current traveling speed of the own vehicle, the height of the driving load calculated from the situation around the own vehicle, and the like. The travel plan setting unit 84 can output the generated travel plan to the communication bus 99.

The travel plan setting unit 84 calculates the planned travel locus of the own vehicle A according to the drafted travel plan. The travel plan setting unit 84 calculates a target steering direction and a target steering amount for realizing the travel of the own vehicle A along the planned travel locus. Based on the target steering direction and the target steering amount calculated by the travel plan setting unit 84, the LCA function unit 83 and the like execute acceleration / deceleration and steering control.

In addition to the HCU 20 described above, the HMI system 10 includes a plurality of display devices such as a combination meter 12, a CID 13, and a HUD device 14. Further, the HMI system 10 includes an audio speaker 15, a steering switch 16a, a footrest control device 110, a steering vibration device 115, and a DSM 11. The HMI system 10 presents information to the driver of the own vehicle A seated in the driver's seat 17d and other passengers of the own vehicle A using each configuration.

The combination meter 12 is arranged in front of the driver's seat 17d. The combination meter 12 displays various images for information notification on the display screen of the liquid crystal display based on the image data acquired from the HCU 20. The CID (Center Information Display) 13 is arranged above the center cluster in the vehicle interior of the own vehicle A. The liquid crystal display of the CID 13 is visible not only to the driver but also to the passengers of the vehicle other than the driver, for example, the occupant seated in the passenger seat 17p. The CID 13 displays various images for information notification on the display screen of the liquid crystal display based on the image data acquired from the HCU 20.

The HUD (Head-Up Display) device 14 projects the light of the image based on the image data acquired from the HCU 20 onto the projection area 14a (see also FIG. 5 and the like) defined by the windshield 18. The light of the image reflected on the vehicle interior side by the windshield 18 is perceived by the driver seated in the driver's seat 17d. The driver can visually recognize the virtual image of the image projected by the HUD device 14 by superimposing it on the outside scenery in front of the own vehicle A.

The audio speaker 15 is arranged in the lining of the door of the own vehicle A. The audio speaker 15 is located on each side of the driver's seat 17d and the passenger seat 17p. The audio speaker 15 reproduces audio that can be heard by all passengers of the own vehicle A. The audio speaker 15 can notify all passengers of information by the voice to be reproduced.

The steering switch 16a is arranged on the spokes of the steering 16 of the own vehicle A. An operation for changing the settings of the HMI system 10, the vehicle control system 60, and the like is input to the steering switch 16a by the driver. For example, when the HMI system 10 proposes to activate each driving support function, the driver can approve the activation of the proposed driving support function by inputting an operation to the steering switch 16a.

The footrest control device 110 can change the posture of the footrest 113 on which the driver's left foot is placed. The footrest control device 110 includes an actuator 112, a footrest drive unit 111, and the like in addition to the footrest 113. The actuator 112 can change the posture of the footrest 113 from the normal reference posture. The footrest drive unit 111 tilts the footrest 113 back and forth and left and right by driving the actuator 112. The footrest drive unit 111 sets the direction in which the footrest 113 is displaced based on the control signal acquired from the HCU 20. The footrest control device 110 can present information through the sense of touch of the driver.

The steering vibration device 115 is embedded in the rim portion of the steering 16. The steering vibration device 115 generates vibration in the rim portion of the steering 16 that the driver is touching. The steering vibration device 115 can present information through the tactile sensation of the driver by the vibration generated in the rim portion. The steering vibration device 115, the frequency of vibration felt by the driver can be changed.

The DSM (Driver Status Monitor) 11 is composed of a near-infrared light source, a near-infrared camera, a control unit for controlling them, and the like. The DSM 11 is arranged on the upper surface of the instrument panel 19 with the near-infrared camera facing the driver's seat 17d. The DSM 11 photographs the driver's face irradiated with near-infrared light by a near-infrared light source with a near-infrared camera. The image captured by the near-infrared camera is image-analyzed by the control unit. The control unit extracts, for example, the direction of the driver's face, the line-of-sight direction of both eyes, the degree of opening, and the like from the captured image. When the driver detects a state in which the driver is not facing the front, a state in which the driver's eyes are closed, or the like by analysis by the control unit, the DSM 11 outputs a detection signal indicating an abnormality of the driver to the HCU 20.

The HCU 20 includes a control circuit 20a having a main processor 21, a drawing processor 22, a rewritable non-volatile memory 23, an input / output interface 24 for inputting / outputting information, a bus connecting these, and the like. The HCU 20 is connected to each display device, an audio speaker 15, a footrest control device 110, a steering vibration device 115, and the like. By controlling each display device, the audio speaker 15, and the footrest control device 110, the HCU 20 can notify a passenger such as a driver of a change in the behavior of the own vehicle A by the driving support function in advance.

In order to realize such a notice notification, the control circuit 20a of the HCU 20 executes the notification management program stored in the memory 23 by each processor 21 and 22, so that the plurality of acquisition units 31 to 34 and the notification control unit 35 are combined. Build as a functional block. Hereinafter, the details of these functional blocks related to information presentation will be described with reference to FIGS. 1 and 4 based on FIG.

The travel plan acquisition unit 31 acquires the short-term and medium-term travel plans generated by the travel plan setting unit 84. The travel plan includes information indicating the steering start time at which the lane change of the own vehicle A is started by the vehicle control ECU 70, information indicating the transition of the traveling speed of the own vehicle A adjusted until the lane change, and the like. .. The vehicle speed information acquisition unit 32 acquires information indicating the current traveling speed of the own vehicle A, which is detected by the vehicle speed sensor 64 and output to the communication bus 99 by the vehicle control ECU 70.

The load information acquisition unit 33 acquires information indicating the height of the load for monitoring the vicinity of the own vehicle A, among the driving loads of the driver. Specifically, the load information acquisition unit 33 acquires the shape information of the road ahead output from the ADAS locator 96 and the monitoring information indicating the degree of congestion around the own vehicle output from the outside world recognition system 90. The load information acquisition unit 33 calculates the current driving load high when the road in the traveling direction has a curved shape and when it is estimated that the vehicle is traveling in a traffic jam.

The awakening information acquisition unit 34 acquires information indicating the degree of arousal in the driver, such as whether or not the driver is in a drowsy state or a dozing state. The awakening information acquisition unit 34 acquires a detection signal of a state such as the degree of opening of the driver's eyes from the DSM 11. The awakening information acquisition unit 34 estimates that the driver's arousal level is low when the state of low eye opening or the like continues.

Information acquired by each acquisition unit 31 to 34 is input to the notification control unit 35. The notification control unit 35 continuously notifies the reduction of the remaining time until the steering start time under the control of the LCA function unit 83 by the HUD device 14, the audio speaker 15, the footrest control device 110, and the steering vibration device 115. The notification control unit 35 mainly controls the HUD device 14, the audio speaker 15, and the steering vibration device 115 as the notification device 40 to notify the passenger of the remaining time until the lane change by display, voice, and vibration. To do. Specifically, the notification control unit 35 performs a countdown that reduces the number as the remaining time until the steering start time decreases.

The notification control unit 35 can adjust the notification start time for starting the notification of the remaining time with respect to the steering start time. When the driver needs time to recognize the notification of the lane change, the notification control unit 35 makes an adjustment to advance the notification start time. The notification control unit 35 advances the notification start time to the steering start time as the future planned running speed acquired by the traveling plan acquisition unit 31 and the current traveling speed acquired by the vehicle speed information acquisition unit 32 become faster. be able to. In addition, the notification control unit 35 can advance the notification start time to the steering start time as the driving load of the driver increases. Further, the notification control unit 35 can advance the notification start time to the steering start time as the driver's arousal level becomes lower. The notification control unit 35 advances the notification start time to the steering start time by increasing the initial numerical value when starting the countdown. That is, the countdown that was started from "3" in the normal time is started from, for example, "5" in a situation where the driver takes time.

The notification control unit 35 adjusts the length of the period for continuing the notification of the remaining time between the first time and the second time and thereafter when the lane change by the LCA function unit 83 is repeated at a frequency equal to or higher than a predetermined threshold value. .. Specifically, the notification control unit 35 sets the period for continuing the notification of the remaining time in the second and subsequent lane changes to be shorter than the continuation period for the first notification.

Here, the details of the countdown display by the HUD device 14 will be described with reference to FIGS. 5 to 7. In the projection area 14a, a countdown display unit 51, a speed display unit 52, an ACC / LKA indicator 53, an LCA indicator 54, and the like are displayed as virtual images.

The countdown display unit 51 is displayed at the center of the projection area 14a and near the upper edge. The countdown display unit 51 is a combination of a numerical image 51a and a ring image 51b having an annular shape surrounding the numerical image 51a. The numerical image 51a is located inside the ring image 51b. The numerical image 51a displays the remaining time until the lateral movement due to the lane change is started by Arabic numerals. The value of the numerical image 51a decreases by 1 per second. The numerical value first displayed in the numerical image 51a is adjusted by the notification control unit 35.

The speed display unit 52, the ACC / LKA indicator 53, and the LCA indicator 54 are arranged side by side in the horizontal direction near the lower edge of the projection area 14a. The speed display unit 52 displays the current traveling speed of the own vehicle A. The ACC / LKA indicator 53 is located below the countdown display unit 51. The ACC / LKA indicator 53 displays the operating state of the ACC function unit 81 by means of a front-running vehicle icon that imitates a front-running vehicle and an inter-vehicle distance icon that extends in a band shape toward the front-running vehicle icon. In addition, the ACC / LKA indicator 53 displays the operating state of the LKA functional unit 82 by the lane icons displayed linearly on the left and right sides of the inter-vehicle distance icon. The LCA indicator 54 notifies by display that the lane change support by the LCA function unit 83 is effectively functioning.

Next, a situation in which the start of the lane change is guided by the voices of the countdown display unit 51 and the audio speaker 15 will be described with reference to FIGS. 8 to 11.

In the situation shown in FIG. 8, the driver was proposed to activate the LCA function unit 83 because the own vehicle A cruising was clogged with the preceding vehicle A1 by the driving support functions of the ACC function unit 81 and the LKA function unit 82. It is a scene. The travel plan setting unit 84 moves the own vehicle A traveling in the traveling lane located on the left side of the three lanes to the central traveling lane adjacent to the right side in order to avoid the preceding vehicle A1. Generate a driving plan to be made.

When the driver's operation of the steering switch 16a approves the lane change based on the driving plan, both the blinking of the turn signal and the voice guidance are started (see FIG. 8A). At this time, for example, a voice such as "Start lane change support" is played in the vehicle as guidance.

When there is a parallel vehicle A2 in the destination lane, the start of the lane change is suspended based on the negative determination of the peripheral monitoring ECU 91. In order to inform you of the pending state of the lane change, for example, a voice such as "There is a car in the adjacent lane, so the lane change is suspended" is reproduced in the vehicle as guidance (see FIG. 8B).

When the hold for changing lanes is released, the countdown to the start of steering is started (see FIG. 8C). The countdown is as fast as counting one number per second. The notification start time when the countdown starts is calculated back from the steering start time when the lane change can be started. The notification start time is adjusted according to the situation of the own vehicle A, the surrounding traffic situation, the driver's situation, and the like. The guidance related to the countdown is, for example, "start moving to the right lane" and "3.2.1". In accordance with this guidance, a countdown is performed by displaying a virtual image on the countdown display unit 51 (see FIGS. 5 to 7). In addition, the footrest control device 110 displaces the footrest 113 in synchronization with the countdown to perform tactile notification. Further, the steering vibration device 115 also generates vibration in the steering 16 so as to be synchronized with the countdown, and gives a tactile notification. The steering vibration device 115 gradually changes the frequency of the generated vibration to a higher level in accordance with the countdown voice as the remaining time until the start of steering decreases.

During the above countdown, the LCA function unit 83 adjusts the speed of the own vehicle A by accelerating or decelerating. Then, after the countdown is completed, the LCA function unit 83 starts steering the front wheels from the steering start timing (see FIG. 8D). In this way, the own vehicle A starts moving to the central traveling lane.

The notification duration for continuing the countdown described so far is adjusted according to the traveling speed of the own vehicle A and the real-time driving load and arousal level of the driver. For example, when the cruising speed of the own vehicle A is faster than the scene shown in FIG. 8B, the guidance related to the countdown is, for example, "start moving to the right lane" or "5, 4, 3, 2, 1". It is said to be the content.

The situation shown in FIGS. 9 and 10 below is a scene in which a plurality of lane changes are carried out based on the medium-term driving plan. FIG. 9 shows a scene in which the vehicle moves from the traveling lane located on the left side of the three lanes to the central traveling lane and then further moves to the overtaking lane located on the right side. In the situation shown in FIG. 9, the process from the approval of the lane change to the start of the countdown is substantially the same as the situation described in FIG.

When the movable space of the own vehicle A is confirmed in the central traveling lane to be the destination, the countdown to the start of steering is started (see FIG. 9A). If multiple lane changes are planned, the regular version countdown will start before the first lane change. Then, after the countdown ends, the LCA function unit 83 starts steering the front wheels from the steering start timing (see FIG. 9B). As described above, the own vehicle A starts moving to the central traveling lane.

Further, when the movable space of the own vehicle A is confirmed in the right traveling lane to be the next destination, the countdown to the start of steering is started again (see FIG. 9C). Before the second lane change, a shortened countdown will begin. In this shortened version of the countdown, the notification continuation period from the notification start time to the steering start time is set shorter than the countdown of the normal version. Therefore, the guidance related to the second countdown will be, for example, "start moving to the right lane" and "2.1". After the end of the second countdown, the LCA function unit 83 starts steering the front wheels from the steering start timing (see FIG. 9D). As described above, the own vehicle A starts moving to the overtaking lane on the right side. Before the start of the second countdown, the driver may be requested to perform the approval operation again.

FIG. 10 shows a scene in which the vehicle moves from the traveling lane located on the left side of the three lanes to the central traveling lane and then returns to the traveling lane on the left side. The process up to the completion of the first lane change (see FIGS. 10A and 10B) is substantially the same as the situation shown in FIG. After moving to the central traveling lane, when the movable space of the own vehicle A is confirmed in the traveling lane on the left side, the countdown to the start of steering is started again (see FIG. 10C). The second countdown is a shortened version, for example, "Start moving to the original lane" and "2.1". When the second countdown is completed, the steering of the front wheels is started from the steering start time (see FIG. 10D). As described above, the own vehicle A starts moving to the left traveling lane again.

The situation shown in FIG. 11 below is a scene in which the lane change is suspended due to the presence of the parallel running vehicle A2. In this scene, the guidance "There is a car in the next lane, so the lane change is pending" is played in the car (see Fig. 11B). Further, if a space in which the lane can be changed is not secured in the traveling lane to be moved even if the predetermined time continues, the lane change support this time is set as a time-out. When the lane change times out, the guidance "Stop changing lanes" is played in the vehicle (see Fig. 11C).

The details of each process executed by the control circuit 20a in order to realize the countdown notification by the notification management method described so far will be described with reference to FIGS. 1 and 2 based on FIGS. 12 and 13. First, the notification setting process for setting the countdown according to the situation will be described based on the flowchart of FIG. The notification setting process shown in FIG. 12 is started by the notification control unit 35 every time the LCA function unit 83 tries to change lanes.

In S101, the travel plan generated by the travel plan setting unit 84 is acquired through the travel plan acquisition unit 31, and the process proceeds to S102. In S102, the current traveling speed information, the driver's driving load information, and the arousal degree information are acquired, and the process proceeds to S103. In S103, the frequency of lane changes implemented by the LCA function unit 83 is determined based on the travel plan acquired in S101, and the process proceeds to S104.

In S104, it is determined whether or not to carry out the countdown of the normal version based on the determination result in S103. In S103, when the lane change is performed at a frequency less than the preset threshold value, the normal version countdown is selected. For example, there is a case where a lane change is planned to move from one of the traveling lane and the overtaking lane to the other (see FIG. 8).

Further, even when the lane change is performed at a frequency equal to or higher than a preset threshold value, the normal version countdown is selected if the lane change is the first lane change among a plurality of times (see FIGS. 9B and 10B). In these cases, in S105, the notification start time of the countdown of the normal version is set based on the travel plan acquired in S101 and each information acquired in S102, and the notification setting process is ended.

On the other hand, if the lane change is performed at a frequency higher than the preset threshold value and the lane change scheduled this time is the second or later of a plurality of times, the reduced version countdown is selected in S104. Will be done. In this case, in S106, the notification start time for performing the countdown of the shortened version is set based on the travel plan acquired in S101 and each information acquired in S102, and the notification setting process is ended.

Next, the details of the notification execution process will be described with reference to FIG. In the notification execution process, a countdown that reflects the setting by the notification setting process (see FIG. 12) is executed. Similar to the notification setting process, the notification execution process shown in FIG. 13 is also started by the notification control unit 35 every time the LCA function unit 83 tries to change lanes.

In S121, the driver is inquired whether or not the lane change can be carried out, and the process proceeds to S122. In S122, it is determined whether or not the driver has approved the steering switch 16a. If the approval operation is not input in S122, the process proceeds to S123. In S123, it is determined whether or not the waiting time for the approval operation has timed out. By repeating S122 and S123, the waiting state for input of the approval operation is maintained.

If it is determined that the approval operation is not input and the waiting time has timed out, the process proceeds to S124. In S124, an announcement is made that the lane is not changed, and the notification execution process is terminated. On the other hand, if the approval operation is input before the waiting time times out, the process proceeds to S125.

In S125, the LCA function unit 83 is notified of the completion of approval of the lane change by the driver, and the process proceeds to S126. Upon notification by S125, the LCA function unit 83 is in a state where it is possible to change lanes. In S126, the operation of the direction indicator corresponding to the moving direction of the own vehicle A is started (see FIG. 9A), and the process proceeds to S127. In S127, the start of the lane change is announced by voice in the vehicle (see FIG. 9A), and the process proceeds to S128.

In S128, the LCA function unit 83 determines whether or not the lane change is pending. If the lane change is not suspended, the process proceeds to S133. On the other hand, if the lane change is suspended due to the parallel running vehicle A2 in the lane to be moved, the process proceeds to S129. In S129, the pending lane change is announced (see FIG. 9B), and the process proceeds to S130. In S130 and S131, the state of holding the lane change is released. If it is determined that the hold state is released before the elapse of the preset time-out time, the process proceeds to S133. On the other hand, if the waiting time for changing lanes has timed out due to the continuation of the hold state, the process proceeds to S132. In S132, the cancellation of the lane change is announced by voice in the vehicle (see FIG. 11C), and the notification execution process is terminated.

In S133, the countdown set value set in the notification setting process (see FIG. 12) is read, and the process proceeds to S134. In S134, by repeating the determination of whether or not the countdown start time read in S133 has been reached, the device waits until the notification start time is reached. Then, when the notification start time is reached, the process proceeds to S135.

In S135, the countdown is started from the value based on the set value read in S133 (see FIG. 9C and the like), and the process proceeds to S136. The countdown started by S135 continuously notifies the driver of the decrease in the remaining time until the steering start time. In S136, the end of the countdown is waited for by repeating the end determination of the countdown started in S135. Then, when the countdown is completed, the process proceeds to S137. In S137, the end of the countdown is notified to the LCA function unit 83, and the notification execution process is terminated. Based on the notification by S125, the LCA function unit 83 starts steering the front wheels (see FIG. 9D and the like).

In the first embodiment described so far, the HUD device 14 and the audio speaker 15 controlled by the notification control unit 35 continue to reduce the remaining time until the steering start time when the lane change is performed by the function of the LCA function unit 83. Can be notified. Therefore, the driver can easily grasp the timing at which the own vehicle A automatically starts to move laterally to change lanes. Therefore, the HCU 20 can reduce the anxiety of passengers including the driver in the own vehicle A that changes lanes by the driving support function of the vehicle control ECU 70.

In addition, in the first embodiment, the more time it takes for the driver to recognize the lane change notification, the earlier the lane change notification start time. As a result, the driver can recognize the information related to the lane change with a margin of time. Based on the above, steering can be started after the driver fully understands the information that the lane change is started. Therefore, the driver is less likely to feel anxious about changing lanes by the driving support function.

Here, the faster the traveling speed of the own vehicle A, the longer it takes for the driver to recognize the notification of the lane change. Therefore, in the first embodiment, the faster the traveling speed of the own vehicle A, the earlier the notification start time. Based on the above, the driver can recognize the information that the lane change is started with a margin. Therefore, the driver's anxiety can be further reduced.

Further, the higher the driving load, the longer it takes for the driver to recognize the notification of the lane change. Therefore, in the first embodiment, the higher the operating load, the earlier the notification start time. Further, a driver with a lower arousal degree, such as a state of fatigue and a dozing state caused by fatigue, takes more time to recognize the notification of a lane change. Therefore, in the first embodiment, the lower the driver's arousal level, the earlier the notification start time. Based on the above, the driver can recognize the information that the lane change is started with a margin. As a result, the driver's anxiety can be further reduced.

In addition, in the first embodiment, the remaining time until the steering start time is notified by a numerical countdown. Therefore, the driver can easily grasp the timing when the own vehicle A starts to move in the lateral direction. Based on the above, the effect of reducing anxiety of passengers is more reliably exerted.

Further, in the first embodiment, the notification start time is advanced by increasing the numerical value for starting the countdown. Based on the above, it is possible to extend the notification continuation period related to the countdown and advance the notification start time to the steering start time without giving the driver a sense of discomfort.

Further, according to the first embodiment, when it is confirmed by the medium-term driving plan that the lane change is repeated a plurality of times, the notification continuation period in the second and subsequent lane changes is shorter than the initial notification continuation period. .. With such a setting, the driver is less likely to feel the countdown annoying.

Further, in the first embodiment, the remaining time is notified by voice. Therefore, the driver can easily grasp the remaining time until the start of steering while monitoring the surroundings of the own vehicle A. As described above, in order for the driver to grasp the timing when the own vehicle A starts to move in the lateral direction, the notification by voice is preferable.

In addition, in the first embodiment, the remaining time is notified by the virtual image display by the HUD device 14. Therefore, even in a situation where it is difficult to hear the voice due to the noise caused by the driving, the driver can surely grasp the remaining time until the start of steering by visually recognizing the display. Further, if the virtual image display is superimposed on the foreground, the driver can grasp the remaining time until the start of steering while monitoring the surroundings of the own vehicle A. As described above, the virtual image display by the HUD device 14 is suitable for notifying the countdown until the start of steering.

In the first embodiment, the HUD device 14 corresponds to the "display", the audio speaker 15 corresponds to the "audio output device", the HCU 20 corresponds to the "notification management device", and the main processor 21 and the drawing processor 22 corresponds to the "processor". Further, the travel plan acquisition unit 31 corresponds to the "start time acquisition unit", and the vehicle control system 60 corresponds to the "vehicle control device". Further, S101 in the notification management program corresponds to the "start time acquisition step", and S135 corresponds to the "notification control step".

(Second Embodiment)
The second embodiment of the present invention is a modification of the first embodiment. The vehicle control system 260 (see FIG. 2) in the second embodiment can provide driving support having a higher level of automation than the first embodiment. Specifically, the vehicle control system 260 states that "an automated driving system performs a driving operation of a vehicle in a specific driving mode under the condition that the driver appropriately responds to a driving operation switching request from the system". It is possible to realize automatic operation at the automation level. Such a vehicle control system 260 can start a lane change without obtaining the approval of the driver (operator). Therefore, in the notification execution process in the second embodiment, S121 to S125 (see FIG. 13) related to the driver's approval are omitted.

In the vehicle that performs autonomous driving as described above, not only the driver but also other passengers are notified of the steering start time of the lane change. That is, the HCU 220 of the second embodiment (see FIG. 2) displays the countdown not only by the HUD device 14 but also by the CID 13. Hereinafter, details of each display by the HUD device 14 and the CID 13 accompanying the implementation of the lane change by the driving support function will be described.

As shown in FIGS. 14 to 16, in the projection region 14a, in addition to the speed display unit 52 and the ACC / LKA indicator 53 which are substantially the same as those in the first embodiment, the LCA indicator 254, the countdown display unit 251 and the like are displayed as virtual images. Will be done. The LCA indicator 254 is displayed on the inner peripheral side of the countdown display unit 251.

The countdown display unit 251 is an annular image having a line width thicker than that of the ring image 51b (see FIG. 5 and the like) of the first embodiment. The countdown display unit 251 is divided into a plurality (four) in the circumferential direction to form a plurality of arc-shaped sections. The countdown display unit 251 reduces the sections that emit high-intensity light (displayed in black in the drawing) one by one per second counterclockwise, and the rest until the lateral movement due to the lane change is started. Notify the time. As described above, the countdown display unit 251 forms a progress bar that contracts counterclockwise with the passage of time from the state of being stretched in the circumferential direction.

As shown in FIG. 17, the countdown display unit 255 displayed on the CID 13 is composed of a message image 255a, a progress bar 255b, and the like. The message image 255a is, for example, a sentence having the content of "starting lane change". The progress bar 255b is an image extending in a strip shape along the longitudinal direction of the display screen of the CID 13. The progress bar 255b has a high-luminance region (indicated by white in the drawings) and a low-intensity region (indicated by dots in the drawings). The progress bar 255b notifies the decrease in the remaining time until the lane change by expanding the low-luminance region while reducing the high-luminance region. The countdown display unit 255 is superimposed and displayed on a screen previously displayed on the CID 13, such as an audio menu screen or a map screen.

In addition, in the second embodiment, the countdown is performed by the notification sound reproduced from the audio speaker 15 at a pace of once per second. The notification sound is a single note or chord of less than 1 second. The HCU 220 gradually raises the pitch of the notification sound as the steering start time approaches. The driver or the like can grasp the steering start time from the pitch of the notification sound.

Also in the second embodiment described so far, the CID 13 and the audio speaker 15 continuously notify the decrease in the remaining time until the lane change. As a result, the timing at which the own vehicle A starts to move can be easily grasped, so that the anxiety of the passengers including the driver can be reduced. In addition, even in the countdown that changes the pitch of the notification sound as in the second embodiment, the passengers including the driver can surely grasp the approach of the steering start time.

In the second embodiment, the HUD device 14 and the CID 13 correspond to the "display", the HCU 220 corresponds to the "notification management device", and the vehicle control system 260 corresponds to the "vehicle control device".

(Third Embodiment)
A third embodiment of the present invention is another modification of the first embodiment. The HUD device 14 (see FIG. 1) of the third embodiment projects a virtual image onto the first projection region 314a and the second projection region 314b as shown in FIG. The first projection area 314a is defined in the windshield 18 at a position in front of both eyes of the driver. The image projected on the first projection area 314a is mainly superimposed on the vehicle in front A1 and the road surface in the traveling direction to realize AR (Augmented Reality) display. The light of the image projected on the first projection area 314a is at a position farther from the windshield 18 than the light of the image projected on the second projection area 314b, for example, at a position about 15 m forward from the driver's seat 17d. It is imaged. The second projection region 314b is defined below the first projection region 314a in the windshield 18. In the second projection area 314b, the speed display unit 52, the LCA indicator 54, and the like are displayed as virtual images, as in the projection area 14a (see FIG. 1) of the first embodiment.

A planned locus display unit 355 and a countdown display unit 351 are projected on the first projection area 314a as images for notifying the lane change notice. The scheduled travel locus display unit 355 shows the planned travel locus of the own vehicle A (see FIG. 8D and the like) set by the travel plan setting unit 84 (see FIG. 2). The scheduled trajectory display unit 355 is displayed like an arrow drawn on an actual road surface.

The countdown display unit 351 is displayed in the lower corner of the first projection area 314a so as not to overlap with the preceding vehicle A1. The countdown display unit 351 is composed of a numerical image 351a, a ring image 351b, and the like. The numerical image 351a displays a number whose value is decreased by one per second, similarly to the numerical image 51a (see FIG. 5 and the like) of the first embodiment. The ring image 351b is formed in a ring shape surrounding the numerical image 351a, similarly to the ring image 51b (see FIG. 5 and the like) of the first embodiment. The ring image 351b counts down the remaining time until the lane change together with the numerical image 51a by reducing the central angle from 360 ° to zero every second. The ring image 351b that has shrunk counterclockwise is returned to the annular shape again in synchronization with the switching of the numerical values of the numerical image 351a.

In the above third embodiment, the method of adjusting the countdown to advance the notification start time is different from that of the first embodiment. Specifically, in the number display of the countdown display unit 351 and the countdown of "3.2.1" by the voice guidance of the audio speaker 15 (see FIG. 2), the time required for counting one number is adjusted. That is, when the notification start time is advanced, for example, a countdown that decreases one number every 1.5 seconds is executed.

Also in the third embodiment described so far, the decrease in the remaining time until the lane change is continuously notified by the virtual image display of the first projection area 314a and the sound of the audio speaker 15. As a result, the passenger can easily grasp the timing at which the own vehicle A starts to move, so that the anxiety of the passenger of the own vehicle A can be reduced.

(Other embodiments)
Although a plurality of embodiments according to the present invention have been described above, the present invention is not construed as being limited to the above embodiments, and is applied to various embodiments and combinations without departing from the gist of the present invention. can do.

In the above embodiment, when it takes time for the driver to recognize the notification, the start time of the notification such as the countdown is advanced. However, the notification duration from the notification start time to the steering start time may be constant regardless of the situation. Further, the length of the notification duration may be adjustable by the input of the driver. Further, the detected value used for adjusting the notification duration is not limited to the above-mentioned vehicle speed, driving load, alertness, and the like. In addition, the length of the notification duration can be adjusted according to, for example, the type of road. For example, on a general road, the notification duration may be shorter than that on an expressway, so that a quick lane change may be possible.

In the first and third embodiments described above, the countdown display indicates a decrease in the remaining time. Further, in the second embodiment, the reduction of the remaining time is indicated by the display of the progress bar that is reduced. As described above, the mode of the display indicating the remaining time until the start of steering can be changed as appropriate. For example, both numbers and progress bars may be displayed side by side on the CID display screen. Further, the display indicating the decrease in the remaining time is not limited to the CID and HUD devices. For example, the countdown number can also be displayed on the combination meter. When counting down using a plurality of indicators, it is desirable that the reductions of the numbers are strictly synchronized with each other.

As in the above embodiment, the volume of the voice notifying the decrease in the remaining time may be constant or may be gradually increased. Further, for example, by using an ultrasonic speaker, only the driver may hear the countdown. Further, the countdown voice may be changed by the driver from a plurality of preset types. Alternatively, the decrease in the remaining time may be notified by only one of the voice and the display.

In the above embodiment, the tactile presentation by the footrest control device is performed in parallel with the countdown by voice and display. However, it is possible to carry out the countdown to the start of steering only by presenting the tactile sensation that changes the frequency. Further, the frequency of the tactilely presented vibration may be changed stepwisely higher or lower stepwise as in the above embodiment as the remaining time until the start of steering decreases. Moreover, the frequency of vibration may be escalated or diminished rather than gradual. In addition, the tactilely presented modes of vibration may be intermittent or continuous.

In the above embodiment, vibration is generated in the rim portion of the steering wheel, but the portion that presents the tactile sensation by the vibration is not limited to the rim portion of the steering wheel as long as it is a portion touched by the passenger. For example, a seat vibration device that makes the driver feel vibration through the seat surface portion or the seat back portion of the driver's seat or the passenger seat may be provided as a notification device. Further, tactile presentation such as winding up the seat belt may be performed. Further, each configuration for performing tactile presentation may be omitted.

In the above embodiment, when the lane change is repeatedly carried out, the countdown from the second time onward is a shortened version. However, even if the lane change is repeated, the countdown of the same length may be carried out. Further, only the first time is counted down, and the second and subsequent voices may be chords with different pitches as in the second embodiment.

In the above embodiment, the functions provided by the main processor 21 and the drawing processor 22 of the HCU 20 can be provided by hardware and software different from those described above, or a combination thereof. For example, in an in-vehicle network in which the HCU 20 is omitted, even if the control circuit of the vehicle control ECU, the control circuit of the combination meter, the control circuit of the CID, etc. execute a part or all of the notification setting process and the notification execution process. Good. Further, each function may be provided by hardware and software different from those described above, or a combination thereof. Further, various non-transitional substantive storage media such as a flash memory and a hard disk can be adopted as the memory for storing the programs executed by the processors 21 and 22.
(Appendix 1)
It is a notification management device that controls a notification device (40) that is mounted on a vehicle (A) together with a vehicle control device (60) that realizes a support function that supports a lane change and that notifies the passengers of the vehicle. ,
A start time acquisition unit (31) for acquiring information indicating a steering start time at which the vehicle control device starts changing lanes of the vehicle, and
A notification control unit (35) that continuously notifies the decrease in the remaining time until the steering start time acquired by the start time acquisition unit by the notification device.
Notification management device including.
(Appendix 2)
In the vehicle equipped with the notification device (40) for notifying the passengers of the vehicle (A) and the vehicle control device (60) for realizing the support function for supporting the lane change, the notification by the notification device is transmitted. It is a notification management method to manage
As a step performed by at least one processor (21,22)
A start time acquisition step (S101) for acquiring information indicating a steering start time at which the vehicle control device starts changing lanes of the vehicle, and
A notification control step (S135) for continuously notifying the decrease in the remaining time until the steering start time acquired by the start time acquisition step by the notification device.
Notification management method including.
(Appendix 3)
In the vehicle equipped with the notification device (40) for notifying the passengers of the vehicle (A) and the vehicle control device (60) for realizing the support function for supporting the lane change, the notification by the notification device is transmitted. It is a notification management program that manages
On at least one processor (21,22)
A start time acquisition step (S101) for acquiring information indicating a steering start time at which the vehicle control device starts changing lanes of the vehicle, and
A notification control step (S135) for continuously notifying the decrease in the remaining time until the steering start time acquired by the start time acquisition step by the notification device.
A notification management program that executes processing including.

13 CID (display), 14 HUD device (display), 15 audio speaker (audio output device), 20,220 HCU (notification management device), 21 main processor (processor), 22 drawing processor (processor), 31 running Plan acquisition unit (start time acquisition unit), 32 vehicle speed information acquisition unit, 33 load information acquisition unit, 34 awakening information acquisition unit, 35 notification control unit, 40 notification equipment, 60, 260 vehicle control system (vehicle control device), A (Auto) vehicle

Claims (9)

A notification device (40) that is mounted on the vehicle (A) together with a vehicle control device (60) that realizes a lane change support function (63) that generates steering force toward an adjacent lane, and notifies the passengers of the vehicle. It is a notification management device that controls
Start time acquisition unit (31) for acquiring control information regarding steering control for lane change started by the lane change support function and peripheral information regarding the presence or absence of another vehicle (A2) existing in the vicinity of the adjacent lane. When,
Based on the control information acquired by the start time acquisition unit, the approach of the start of movement of the lane change performed by the lane change support function is reduced by the number that counts down to the start of movement, the progress bar, and the change of sound. , And the notification control unit that continuously notifies the notification by the notification device and changes the notification start timing by the notification device based on the peripheral information acquired by the start time acquisition unit. and 35), with a,
The start time acquisition unit further acquires information on whether or not the lane change support function suspends the lane change due to the presence of the other vehicle.
The notification control unit notifies the lane change on hold when the lane change is suspended by the lane change support function, and when the lane change hold is released by the lane change support function. It is you start the countdown, alarm management device. The notification according to claim 1, wherein the notification control unit continuously notifies the approach of the start of movement of the lane change by the notification device when the lane change by the lane change support function is approved by the passenger. Management device. The notification control unit according to claim 1 or 2 , wherein the notification control unit advances the notification start time for starting the notification when the passenger takes time to recognize the notification of the lane change. Notification management device. A vehicle speed information acquisition unit (32) for acquiring information indicating the traveling speed of the vehicle is further provided.
The notification management device according to claim 3 , wherein the notification control unit advances the notification start time as the traveling speed of the vehicle increases. A load information acquisition unit (33) for acquiring information indicating a driving load in the driver of the vehicle is further provided.
The notification management device according to claim 3 or 4 , wherein the notification control unit advances the notification start time as the driver's driving load increases. An awakening information acquisition unit (34) for acquiring information indicating the arousal level in the driver of the vehicle is further provided.
The notification management device according to any one of claims 3 to 5 , wherein the notification control unit advances the notification start time as the driver's arousal level decreases. The notification control unit is characterized in that, when the lane change by the lane change support function is repeated, the period for continuing the notification in the second lane change is shorter than the period for continuing the notification in the first lane change. The notification management device according to any one of claims 1 to 6. The notification control unit may control the display unit (14) included in the notification device, the content (355) showing the expected trajectory of the lane change, any one of the claims 1-7 to be superimposed on the road surface The notification management device described in the section. It is equipped with a notification device (40) that notifies the passengers of the vehicle (A) and a vehicle control device (60) that realizes a lane change support function (63) that generates a steering force toward an adjacent lane. A notification management program that manages notifications by the notification device in the vehicle.
On at least one processor (21,22)
A start time acquisition step (S101) for acquiring control information regarding steering control for lane change started by the lane change support function and peripheral information regarding the presence or absence of another vehicle (A2) existing in the vicinity of the adjacent lane. ,
Based on the control information acquired by the start time acquisition step, the approach of the start of movement of the lane change performed by the lane change support function is reduced by the number that counts down to the start of movement, the progress bar, and the change of sound. , And change the timing of notification start by the notification device based on the peripheral information acquired by the start time acquisition step. S135 and), to implement the process comprising,
In the start time acquisition step, information regarding whether or not the lane change support function suspends the lane change due to the presence of the other vehicle is further acquired.
In the notification control step, when the lane change support function suspends the lane change, a notification indicating the suspension of the lane change is performed, and when the lane change support function cancels the suspension of the lane change. It is you start the countdown, alarm management program.

Images