JP6936107B2 - Information transmission method during automatic driving and in-vehicle information presentation device - Google Patents

Description

The present invention relates to an automatic driving information transmission method and an in-vehicle information presenting device that can be used in a vehicle capable of automatic driving.

In the automobile manufacturing industry, technology for automating a part of driving operation and technology for automatic driving in which almost all driving operations are automatically performed by a system including a computer instead of an occupant are being developed (for example, patents). Document 1, Patent Document 2).

The driving support system of Patent Document 1 shows a technique that enables a driver to quickly grasp the surrounding traffic conditions when the automatic driving is canceled. Specifically, when a notice of switching from automatic driving to manual driving or switching from automatic driving to manual driving is received, the vehicle speed of the own vehicle, the image behind, and the front image are displayed on the display in the meter cluster. It is shown that an image showing the shape of the road, an image showing the arrangement of other vehicles in the vicinity, and an image showing the distance to the preceding vehicle and the situation around the preceding vehicle are displayed.

Further, the information presentation system of Patent Document 2 shows a technique for presenting the recognition information of the automatic driving system to the occupant based on the instruction of the occupant. Specifically, the display mode of the display unit is switched based on the display switching instruction of the occupant. Further, it has a display mode for displaying setting information of automatic driving, a display mode for displaying running information when the automatic driving system is operating, and a display mode for displaying recognition result information of the automatic driving system.

Japanese Unexamined Patent Publication No. 2016-182906 Japanese Unexamined Patent Publication No. 2017-26417

By the way, when a vehicle equipped with an automatic driving system is traveling by automatic driving, a situation may be encountered in which the system cannot sufficiently cope with the situation. Therefore, in such a situation, for example, it is necessary to switch from the automatic driving mode to the manual driving mode (delivery from the system to the driver: handover) and continue driving the vehicle at the driver's discretion and driving operation. If so, it is assumed that the vehicle will stop automatically. In some cases, the automatic driving mode, which does not require the assistance of the driver at all, is switched to the automatic driving mode, which requires the assistance of the driver.

Here, in order to smoothly carry out the handover from the automatic operation mode to the manual operation mode, the system alerts the driver to some kind before the handover actually occurs, and the driver prepares for the handover. It is necessary to encourage them to do so.

However, the various handover situations predicted by the system in the vehicle may actually lead to such situations, or may only be possible and not actually occur. In other words, there are cases where the system actually requires a handover after the system predicts the possibility of a situation where the automatic operation mode cannot be continued, and cases where the system does not actually request a handover and the automatic operation is performed as it is. May continue.

As one of the specific driving situations, it is assumed that the traveling point of the own vehicle approaches an area where the map data necessary for automatic driving does not exist. In such a case, since it is difficult to continue the automatic operation, handover occurs.

On the other hand, for example, in the vicinity of an interchange on an expressway, the number of vehicles that change course increases due to the merging or branching of multiple lanes on the road, or the forward course is blocked due to traffic congestion. Difficult-to-drive conditions are likely to occur. In such a state, it is difficult to deal with it only by automatic operation, so that the system may generate a request for handover. However, even in the vicinity of the interchange, for example, when the traffic volume is relatively light, it is unlikely that the automatic operation mode cannot be continued, so there is a high probability that the system will not generate a handover request.

Therefore, when the system predicts the possibility of a situation where autonomous driving cannot be continued, for example, if a message such as "Prepare for manual driving" is always output to alert the driver, depending on the situation. The result is very annoying for the driver. That is, there is no problem if the request for handover actually occurs after the alert is issued, but if the request for handover does not actually occur after the alert, it will be for a while after the alert is issued. As a result, the driver is prepared for the handover, and the comfort of automatic driving is impaired.

In other words, even if there is no problem and the vehicle is driving safely by automatic driving, for example, when approaching an interchange, you will always be alerted, so the driver will be alerted as in the case of manual driving. You have to pay close attention to the surrounding situation, and even though it is an automatic operation, you will feel the same burden as in the case of manual operation. In addition, the driver finds it bothersome to present such information.

However, in the vicinity of an interchange, etc., a situation may be encountered in which the automatic operation mode cannot actually be continued. Therefore, if information is presented that suddenly informs the situation that the automatic operation mode cannot be continued immediately before the handover, the driver may not be ready at all and may panic or cannot perform the handover smoothly. Occurs.

The present invention has been made in view of the above circumstances, and an object of the present invention is to have a greater degree of involvement in driving control by the driver than in the first state from the first state in which driving control is automatically executed. It is an object of the present invention to provide an automatic driving information transmission method and an in-vehicle information presenting device capable of facilitating switching to two states and suppressing impairing the comfort of automatic driving.

In order to achieve the above-mentioned object, the automatic driving information transmission method and the in-vehicle information presenting device according to the present invention are characterized by the following (1) to (10).
(1) An automatic driving information transmission method for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement by the driver is greater than that in the first state.
When the occurrence of an event that may switch from the first state to the second state is predicted,
In addition to carrying out explicit information transmission as necessary in the vicinity of the planned switching point where the switching from the first state to the second state occurs when the event is encountered.
The above-mentioned using an output device that stimulates at least one of the five senses of the driver in a form of expression weaker than that of the explicit information transmission at the switching notice point where there is time to spare for the planned switching point. Communicate information,
A method of transmitting information during automatic driving, which is characterized by the fact that.

According to the automatic operation information transmission method of the configuration (1) above, the information is transmitted at the switching advance notice point before the planned switching point, so that the driver has sufficient margin before the handover occurs. It is possible to prepare for the occurrence of handover. In addition, since the information is transmitted in a weaker expression form than the explicit information transmission at the switching notice point, it is possible to prevent the driver from being unnecessarily prepared for the possibility of handover. That is, even when the request for handover does not occur, the driver does not feel annoyed with the transmission of information, and the comfort of automatic driving is not impaired.

(2) The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is requested.
The method for transmitting information during automatic driving according to (1) above.

According to the automatic driving information transmission method of the configuration (2) above, there is a possibility that the driving state of the vehicle shifts from a driving state that does not require the assistance of the driver to a driving state that has the assistance of the driver. Even when an event is predicted, appropriate information can be transmitted to the driver. Therefore, for example, during automatic driving of the vehicle, there is no need for driver assistance such as touching the steering wheel, being obliged to monitor, starting a lane change starting from the blinker operation, and approving the driver for the judgment of the system. Appropriate information transmission can be carried out in the case of shifting from a normal driving state to a driving state requiring any of these assistances.

(3) The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled.
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The method for transmitting information during automatic driving according to (1) above.

According to the automatic driving information transmission method of the configuration (3) above, the traveling state of the vehicle is at least one of the traveling direction and speed of the vehicle from the traveling state in which the traveling direction and speed of the vehicle are automatically controlled. Even when predicting an event that may shift to a driving state controlled by the driver, appropriate information transmission can be carried out to the driver. Therefore, with or without driver assistance, for example, touching the steering wheel, being obliged to monitor, starting a lane change starting from the blinker operation, and driver approval of the system's decisions. Appropriate information transmission can be carried out even in the case of shifting from a state in which the direction and speed are automatically controlled to a state in which only one of the traveling direction or the speed is automatically controlled, or in a completely manual operation.

(4) When the output device unrelated to the driving of the vehicle is operating before reaching the switching notice point, the output device of the output device after passing through the switching notice point or the point. Change the output level,
The automatic driving information transmission method according to any one of (1) to (3) above.

According to the information transmission method during automatic driving according to the configuration of (4) above, the driver is using the output device to watch, for example, music or a video of a TV program during automatic driving. However, since the output level of the output device is reduced at the switching notice point, the driver feels this change and feels uncomfortable. Alternatively, noise can be added to the sound of music or TV programs, or the vehicle speed display can be increased. In other words, it is possible to casually convey to the driver a state that is slightly different from the usual state. Therefore, it is possible to implicitly inform the driver that there is a possibility of handover, and the driver does not feel annoyed.

(5) Compare with the case where the degree of encounter, which is the predicted probability of encountering the above event, the degree of urgency, which indicates the time margin, and the degree of importance, which indicates the magnitude of damage in the event of an accident, are small and large. Then, at the switching notice point, the output device is controlled so that the stimulus given to the driver or the change thereof becomes relatively small.
The automatic driving information transmission method according to any one of (1) to (4) above.

According to the automatic driving information transmission method having the configuration of (5) above, it is possible to optimize the stimulus given to the driver according to the degree of encounter, the degree of urgency, or the degree of importance of the predicted event. That is, when the degree of encounter, the degree of urgency, or the degree of importance is low, it is possible to avoid the troublesomeness of transmitting information by giving a stimulus at the minimum awareness level. Further, when the degree of encounter, the degree of urgency, or the degree of importance is high, the driver can easily prepare for the request for handover by giving a relatively large stimulus.

(6) When the state of long-time operation is detected, the urgency of the predicted event is increased and calculated.
The method for transmitting information during automatic driving according to (5) above.

According to the automatic driving information transmission method having the configuration of (6) above, it is possible to give a stronger stimulus than usual in a situation where the driver's consciousness is distracted due to the influence of long-time driving. Therefore, it is possible to awaken the driver's consciousness to a state where it is possible to respond to the request for handover.

(7) When a state of poor visibility due to the weather is detected, the stimulus given to the driver or its change is increased.
The method for transmitting information during automatic driving according to (5) above.

According to the automatic driving information transmission method having the configuration of (7) above, it is possible to give a stronger stimulus than usual in a state of poor visibility, that is, a situation in which a request for handover is more likely to occur than usual. It becomes easier for a person to respond to a request for handover than usual.

(8) An in-vehicle information presenting device that presents information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement by the driver is greater than that in the first state.
An information output control unit for outputting information related to the switching is provided in association with the switching from the first state to the second state.
The information output control unit
When the occurrence of an event that may switch from the first state to the second state is predicted,
In addition to carrying out explicit information transmission as necessary in the vicinity of the planned switching point where the switching from the first state to the second state occurs when the event is encountered.
The above-mentioned using an output device that stimulates at least one of the five senses of the driver in a form of expression weaker than that of the explicit information transmission at the switching notice point where there is time to spare for the planned switching point. Communicate information,
An in-vehicle information presentation device characterized by this.

According to the in-vehicle information presenting device having the configuration of (8) above, the information is transmitted at the switching advance notice point before the planned switching point, so that the driver can perform the handover with sufficient margin before the handover occurs. You can prepare for the outbreak. In addition, since the information is transmitted in a weaker expression form than the explicit information transmission at the switching notice point, it is possible to prevent the driver from being unnecessarily prepared for the possibility of handover. That is, even when the request for handover does not occur, the driver does not feel annoyed with the transmission of information, and the comfort of automatic driving is not impaired.

(9) The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is requested.
The vehicle-mounted information presentation device according to (8) above.

According to the automatic driving information transmission device having the configuration of (9) above, there is a possibility that the driving state of the vehicle shifts from a driving state in which the driver's assistance is not required to a driving state in which the driver's assistance is provided. Even when an event is predicted, appropriate information can be transmitted to the driver. Therefore, for example, during automatic driving of the vehicle, there is no need for driver assistance such as touching the steering wheel, being obliged to monitor, starting a lane change starting from the blinker operation, and approving the driver for the judgment of the system. Appropriate information transmission can be carried out in the case of shifting from a normal driving state to a driving state requiring any of these assistances.

(10) The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled.
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The vehicle-mounted information presentation device according to (8) above.

According to the automatic driving information transmission device having the configuration of (10) above, the traveling state of the vehicle is at least one of the traveling direction and the speed of the vehicle from the traveling state in which the traveling direction and the speed of the vehicle are automatically controlled. Even when predicting an event that may shift to a driving state controlled by the driver, appropriate information transmission can be carried out to the driver. Therefore, with or without driver assistance, for example, touching the steering wheel, being obliged to monitor, starting a lane change starting from the blinker operation, and driver approval of the system's decisions. Appropriate information transmission can be carried out even in the case of shifting from a state in which the direction and speed are automatically controlled to a state in which only one of the traveling direction or the speed is automatically controlled, or in a completely manual operation.

According to the automatic driving information transmission method and the in-vehicle information presenting device of the present invention, from the first state in which the driving control is automatically executed, the second state in which the driver is more involved in the driving control than in the first state. It is possible to smoothly switch to when it is necessary to switch to, and to prevent the comfort of automatic driving from being impaired.

The present invention has been briefly described above. Further, the details of the present invention will be further clarified by reading through the embodiments described below (hereinafter referred to as "embodiments") with reference to the accompanying drawings. ..

FIG. 1 is a plan view showing an example of information presentation of vehicles on the road and each point. 2 (a), 2 (b), and 2 (c) are plan views showing specific examples of the state of each vehicle in the vicinity of the interchange on the highway. FIG. 3 is a block diagram showing a configuration example of a main part of an in-vehicle system that implements the information transmission method during automatic driving of the present invention. FIG. 4 is a flowchart showing a characteristic operation example of an in-vehicle system that implements the information transmission method during automatic driving of the present invention. FIG. 5 is a schematic diagram showing a specific example of the information presentation form according to the embodiment of the present invention.

Specific embodiments of the present invention will be described below with reference to the respective figures.

<Specific example of environment to which the present invention can be applied>
<Example of points where information is presented>
FIG. 1 shows an example of information presentation of vehicles on the road and each point. In FIG. 1, it is assumed that the own vehicle 42 at the current position P3 is automatically driving on the road 41 in the traveling direction 43.

Here, the own vehicle 42 is equipped with an automatic driving control unit 10 which will be described later. The automatic driving control unit 10 is an electronic control unit (ECU) for controlling the automatic driving of an automobile, and is, for example, an automation level specified by the Japanese government or the National Highway Traffic Safety Administration (NHTSA) of the United States Ministry of Transport. It is equipped with a function that supports level 2 (LV2) and level 3 (LV3) automatic driving.

At level 2, the system automatically performs multiple operations of accelerating, steering, and braking the vehicle. However, at level 2, the driver needs to constantly monitor the driving situation and perform driving operations as necessary.

On the other hand, at level 3, the system controls the acceleration, steering, and braking of the vehicle, so that the driver usually only needs to monitor the driving situation. In addition, it is not always necessary to monitor. However, even in the case of level 3, when the system makes a request in an emergency or at the limit of the system, the driver needs to respond to this request. That is, it is necessary to hand over the responsibility of operation from the system to the manual operation of the driver (H / O), and shift from level 3 to level 2 having a lower automation rate. In addition, even within the same level, while the vehicle is automatically driving, the steering wheel is touched, the driver is obliged to monitor, the start of lane change starting from the blinker operation, the driver's approval for system judgment, etc. In some cases, the driving state that does not require the assistance of the driver of the vehicle may shift to the driving state that requires the assistance of any of these. That is, there is a case where the first state in which the driving control is automatically executed shifts to the second state in which the degree of involvement of the driver in the driving control is greater than in the first state.

In the example shown in FIG. 1, a point P0 where a dangerous road condition is potentially likely to occur exists in front of the traveling direction 43 of the own vehicle 42. Then, when it is determined that the automatic driving system cannot actually handle the danger point P0, a message such as "handover" is performed at a timing several seconds before the potential danger point P0 in order to carry out the handover. To the driver.

However, since the occupant who is in the own vehicle 42 in the automatic driving state is not normally preparing for the handover, even if a request for the handover suddenly occurs immediately before the point P0 (a few seconds before), the request is immediately made. It is difficult to respond and the driver may panic.

Therefore, when the automatic driving system on the own vehicle 42 knows the potential danger point P0 in advance, the handover is performed so that the driver of the own vehicle 42 can prepare for the handover with a margin. It is desirable to present information for notifying the handover at the switching notice point P2, which is 1 km before the planned switching point P1 for which the above is requested.

However, at the potential danger point P0, the request for handover may or may not actually occur. If the request for handover does not occur, the driver's preparation between the switching notice point P2 and the potential danger point P0 is wasted, and the driver presents information at the switching notice point P2. It will be annoying. In other words, even though the driver is driving in automatic driving, the driver will be more prepared than necessary for the possibility of handover between the switching notice point P2 and the potential danger point P0. Comfort is compromised.

<Specific examples of potentially dangerous points>
Specific examples of the state of each vehicle in the vicinity of the interchange on the highway are shown in FIGS. 2 (a), 2 (b), and 2 (c), respectively.

As shown in FIG. 2A, the interchange (IC) 41a of the expressway has a branching point of the exit road 41b and a merging point of the entrance road 41c. Then, in the vicinity of the branch point of the exit road 41b, as shown in FIG. 2B, congestion is likely to occur due to a plurality of other vehicles 45. Further, even if the own vehicle 42 tries to change lanes to the adjacent traveling lane in order to avoid this traffic jam, the presence of another vehicle 45 traveling in the adjacent traveling lane causes a situation in which it is difficult to change lanes.

Further, in the vicinity of the confluence of the entrance road 41c, as shown in FIG. 2C, the course of the own vehicle 42 may be blocked by another vehicle 45 merging from the entrance road 41c. In that case, the own vehicle 42 generally changes lanes to the adjacent traveling lane, but the presence of another vehicle 45 traveling in the adjacent traveling lane makes it difficult to change lanes.

That is, in the situation of the own vehicle 42 as shown in FIG. 2B and the situation of the own vehicle 42 shown in FIG. There is a high possibility that you can drive. That is, it is considered that the vicinity of the interchange 41a corresponds to the potential danger point P0 shown in FIG.

Further, the handover is required in the situations shown in FIGS. 2 (b) and 2 (c), but in the situation where the traffic volume is low as shown in FIG. 2 (a), problems such as traffic congestion occur. Since it is not, the own vehicle 42 can go straight on as it is. That is, at a potential danger point P0 near the interchange, handover may or may not be required. Therefore, for example, how it is desirable to present information to the driver at the switching notice point P2 shown in FIG. 1 changes depending on the situation at that time.

<Configuration example of the main part of the in-vehicle system>
FIG. 3 shows a configuration example of a main part of an in-vehicle system that implements the information transmission method during automatic driving of the present invention. This in-vehicle system includes a function for automatically driving an automobile and an in-vehicle information presenting device 100 that presents information related to the automatic driving to the driver.

In the in-vehicle system shown in FIG. 1, as components necessary for automatically driving an automobile, an automatic driving control unit 10, a wireless communication device 11, a road map database (DB) 12, a position detection unit 13, and an in-vehicle camera 14 are used. , Radar 15, accelerator control unit 16, brake control unit 17, and steering control unit 18.

The wireless communication device 11 can acquire weather information, traffic information, and the like at each point ahead of the road in which the vehicle is currently traveling by connecting to a predetermined server outside the vehicle by wireless communication. can. The weather information, traffic information, and the like acquired by the wireless communication device 11 are input to the automatic driving control unit 10 as input information SG11.

The road map database (DB) 12 stores in advance a wide range of road maps including the road on which the own vehicle is currently traveling and various information related to this road. Information such as a map held by the road map database 12 is input to the automatic driving control unit 10 as input information SG12.

The position detection unit 13 can calculate the latest position information indicating the current position of the own vehicle by receiving and using radio waves of, for example, a GPS (Global Positioning System) satellite. This position information is input to the automatic operation control unit 10 as input information SG13.

The in-vehicle camera 14 can capture images showing the surrounding situations such as the front, the rear, and the sides of the own vehicle in the traveling direction, and can output the image signals. This video signal is input to the automatic operation control unit 10 as input information SG14.

The radar 15 can detect the presence or absence of obstacles such as the preceding vehicle and the distance between the preceding vehicle and the own vehicle by a detection function using radio waves such as millimeter waves. The information detected by the radar 15 is input to the automatic operation control unit 10 as input information SG15.

The accelerator control unit 16 includes an electrically controllable actuator necessary for automatically adjusting the accelerator opening degree of the own vehicle. The accelerator control unit 16 can adjust the accelerator opening degree according to the output signal SG16 output by the automatic operation control unit 10.

The brake control unit 17 includes an electrically controllable actuator connected to the brake mechanism of the own vehicle. According to the output signal SG17 output by the automatic driving control unit 10, the brake control unit 17 can control the on / off of the brake of the own vehicle and the braking force.

The steering control unit 18 includes an electrically controllable actuator connected to the steering mechanism of the own vehicle. According to the output signal SG18 output by the automatic driving control unit 10, the steering control unit 18 can move the steering mechanism of the own vehicle or generate an assist torque for assisting the steering force of the driver.

The automatic driving control unit 10 is an electronic control unit (ECU) for controlling the automatic driving of an automobile. As described above, for example, the Japanese government and the National Highway Traffic Safety Administration (NHTSA) of the United States Ministry of Transport specify it. It is equipped with a function that supports automatic operation of level 2 (LV2) and level 3 (LV3) of the automation level.

The automatic driving control unit 10 can perform acceleration control of the own vehicle by giving an instruction to the accelerator control unit 16 using the output signal SG16. Further, the automatic driving control unit 10 can perform braking control of the own vehicle by giving an instruction to the brake control unit 17 using the output signal SG17. Further, the automatic driving control unit 10 can perform steering control of the own vehicle by giving an instruction to the steering control unit 18 using the output signal SG18.

Further, the automatic driving control unit 10 grasps each white line of the traveling lane boundary and the position of the own vehicle in the left-right direction by analyzing the image of the in-vehicle camera 14, and calculates an appropriate position of the own vehicle in the left-right direction. You can also grasp the condition of the curve of the road ahead. Therefore, the automatic driving control unit 10 can realize, for example, a lane keeping assist system function that automatically controls the own vehicle to travel at the center position of the traveling lane on the road.

Further, the automatic driving control unit 10 is based on the result of analyzing the image of the in-vehicle camera 14 and the position and distance information of the preceding vehicle detected by the radar 15, for example, the inter-vehicle distance between the preceding vehicle and the own vehicle is safe. Acceleration and deceleration can be performed automatically to stay within range. That is, ACC (Adaptive Cruise Control System) can be realized.

Further, the automatic driving control unit 10 owns a vehicle based on a predetermined target point, a current position detected by the position detection unit 13, a road map of the road map database 12, traffic information acquired by the wireless communication device 11, and the like. It is possible to calculate an appropriate driving route on the road to be driven and to predict changes in road conditions in the future. Further, the prediction accuracy can be improved by reflecting the analysis result of the actual image of the vehicle-mounted camera 14.

Further, the automatic operation control unit 10 receives the automatic / manual switching instruction SG01 generated by the driver's switch operation or the like, and performs a handover for shifting from level 3 to level 2 or the like having a lower automation rate. be able to.

Further, the automatic driving control unit 10 can detect a situation in which a handover may occur based on the analysis result of the image of the vehicle-mounted camera 14 and the distance information detected by the radar 15. Further, by using the weather information and the traffic information acquired by the wireless communication device 11, it is possible to predict to some extent the occurrence of a possible handover event in the future.

For example, if there is a possibility that visibility will be poor due to the effects of weather such as rainfall, snowfall, and fog, or the detection accuracy of various sensors on the vehicle will decrease due to the effects of rainfall, etc., level 3 It is considered better to suspend the continuation of automatic operation.

Further, as described above, when there is a large amount of traffic near the interchange of the expressway, this point becomes a potential danger point P0 due to the occurrence of traffic congestion. In addition to interchanges, for example, junctions, service areas (SA), parking areas (PA), and other confluences, specific intersections with a high accident rate, the last point of traffic congestion, mountainous areas at night, and school hours. School zone etc. is assumed as a potential danger point P0.

That is, there is a possibility that a handover from level 3 to level 2 or the like will occur. In addition, the weather and traffic conditions such as rainfall can be predicted in advance as the conditions of future locations based on the information acquired by the wireless communication device 11 as well as the conditions of the current location.

Therefore, when the automatic driving control unit 10 detects a potential danger point P0 encountered by the own vehicle 42 in the future course, it outputs an alarm level SG10 as a signal indicating the potential danger point P0. The alarm level SG10 may include information indicating the type of expected event. This alarm level SG10 is input to the information output control unit 20.

The information output control unit 20 is an electronic control unit (ECU) that controls to present information necessary for automatic operation to the driver. The automatic operation control unit 10 and the information output control unit 20 shown in FIG. 3 may be integrated.

The in-vehicle information presentation device 100 of the present embodiment includes some functions in the automatic operation control unit 10, an information output control unit 20, a display output device 21, a lighting output device 22, a sound / audio output device 23, and a vibration output. It is composed of at least one of a device 24 and an odor output device 25.

The display output device 21 corresponds to a display device arranged at a position easily visible to an occupant driving the vehicle in the driver's seat, such as a meter unit or a center display mounted on the vehicle. ..

The lighting output device 22 corresponds to various indoor lighting devices mounted on the vehicle. The sound / audio output device 23 corresponds to various auditory output devices including an audio device and the like. The vibration output device 24 is a device capable of generating mechanical vibration by electrical control. The vibration output device 24 is mounted or connected to a seating portion of the driver's seat or a steering wheel so that the driver can recognize the vibration as a tactile sensation during driving.

The odor output device 25 is a device capable of generating a specific odor in the vehicle interior by electrical control. The odor output device 25 is installed inside a car air conditioner, for example, and can spray an fragrance or spread the odor into a space inside the vehicle by blowing air.

The information output control unit 20 has a display output device 21, a lighting output device 22, a sound / audio output device 23, a vibration output device 24, and an odor output device 25 according to the alarm level SG10 input from the automatic operation control unit 10. The necessary information can be presented to the driver by selecting any one of the above or combining a plurality of the above. By properly using various types of output devices as needed, the information output control unit 20 can present information in various types of forms and adjust the intensity of information presentation.

<Characteristic operation example of in-vehicle system>
FIG. 4 shows a characteristic operation example of an in-vehicle system that implements the information transmission method during automatic driving of the present invention. That is, when the automatic operation control unit 10 or the information output control unit 20 shown in FIG. 3 executes each step of FIG. 4, the characteristic operation of the present invention is realized. An operation example of FIG. 4 will be described below.

The automatic driving control unit 10 uses the wireless communication device 11 to acquire weather information and traffic information at each point in front of the vehicle's course by wireless communication with the outside of the vehicle (S11). For example, it acquires traffic information such as traffic volume and traffic congestion in the vicinity of an interchange existing in front of the course, and information such as the presence or absence of poor visibility due to weather.

Then, the automatic driving control unit 10 predicts the passage of the potential danger point P0 based on the road map data of the road map database 12, the weather information and the traffic information acquired in S11, and the predetermined determination criteria. (S12). Then, when the potential danger point P0 is detected, the process proceeds to the next step S13.

The automatic driving control unit 10 calculates the distance and time from the current position P3 of the own vehicle 42 to the point with respect to the potential danger point P0 predicted in S12 (S13). The time to the potential danger point P0 can be calculated based on the vehicle speed and distance of the own vehicle 42.

Further, the automatic driving control unit 10 calculates the degree of danger encounter at the potential danger point P0 (S14). This degree of danger encounter is based on, for example, history information of accident occurrence at the relevant point, current traffic volume, current traffic congestion, time zone classification (daytime, evening, nighttime, etc.), number of lanes on the road, etc. Can be identified.

Further, the automatic driving control unit 10 calculates the urgency indicating the time margin based on the distance and time from the current position P3 calculated in S13 to the potential danger point P0 (S15). In addition, the importance indicating the magnitude of damage when the own vehicle 42 has an accident at the potential danger point P0 is calculated (S16). The importance is the vehicle speed of the own vehicle 42, the type of danger point P0 (interchange, junction, service area (SA), parking area (PA) and other confluence points, intersections, the last point of traffic congestion, mountainous areas at night. , School zone during school hours, etc.).

Further, the automatic driving control unit 10 stimulates casual information presentation when the switching notice point P2 is reached, based on the danger encounter degree calculated in S14, the urgency calculated in S15, and the importance calculated in S16. At least one of the magnitude of the change in the intensity of the stimulus and the intensity of the stimulus is calculated (S17). The intensity of the stimulus, or the magnitude of its change, may be calculated by simply adding the degree of danger encounter, the degree of urgency, and the degree of importance, or by appropriately weighting each of these values. .. The intensity of the stimulus and the magnitude of the change are output from the automatic operation control unit 10 as, for example, the alarm level SG10.

Further, the automatic driving control unit 10 identifies whether or not the own vehicle 42 continues to drive for a long time without a break (S18). Then, when the condition of "driving for a long time" is satisfied, the strength of the stimulus and the magnitude of the change when presenting casual information regarding the potential danger point P0 calculated in S17 are increased (S20). ..

Further, the automatic driving control unit 10 identifies whether or not the potential danger point P0 or its vicinity is in a poor visibility state based on the weather information and the traffic information acquired in S11 (S19). Then, when the condition of "poor visibility" is met, the strength of the stimulus and the magnitude of the change when presenting the casual information calculated in S17 are increased (S20).

When the alarm level SG10 corresponding to the potential danger point P0 is input, the information output control unit 20 determines whether or not the own vehicle 42 has reached the switching notice point P2 that announces the possibility of handover at the point. Is identified (S21). This switching notice point P2 is, for example, a point 1 km before the potential danger point P0 as shown in FIG. Of course, the switching notice point P2 may be changed according to the difference in the situation such as the vehicle speed of the own vehicle 42.

When the own vehicle 42 reaches the switching advance notice point P2, the information output control unit 20 executes casual information presentation according to the alarm level SG10, that is, the calculated intensity of the stimulus and the magnitude of the change (S22). That is, any one of the display output device 21, the illumination output device 22, the sound / audio output device 23, the vibration output device 24, the odor output device 25, or a plurality of combinations thereof is selected, and the potential danger point P0 is selected. Information indicating the possibility of handover is presented.

Although a specific example will be described later, the "subtle information presentation" in S22 is different from the explicit information presentation, and is performed by adjusting the stimulus to the driver by slightly changing or adding the output form. That is, by giving the driver a small awareness that makes him feel a sense of discomfort that is different from the usual one, it is possible to create an atmosphere that predicts the occurrence of handover.

Further, when the handover from the automatic operation to the manual operation becomes definite, the information output control unit 20 moves at a position before the point where the handover occurs, for example, at the planned switching point P1 shown in FIG. The display output device 21 and the sound / voice output device 23 are used to output a handover message, and the situation is reliably transmitted to the driver by explicit expression (S24). This enables smooth handover.

<Specific example of information presentation form>
A specific example of the information presentation form in the embodiment of the present invention is shown in FIG. That is, a specific example of "subtle information presentation" in step S19 of FIG. 4 is shown in FIG.

In FIG. 5, there is a case where there is no “subtle information presentation” for each of the volume presentation 51, the noise presentation 52, the vehicle speed presentation 53, the display unit lighting presentation 54, the atmosphere lighting presentation 55, and the odor presentation 56. The difference is shown.

The volume presentation 51 automatically adjusts the volume output by a device such as an audio device mounted on the own vehicle, and the case of "with information presentation" is slightly smaller than the case of "without information presentation". The volume is reduced. In other words, it is intended to casually inform the driver that there is a change by changing the expression by slightly reducing the volume. For example, when the driver is driving automatically while listening to music using an audio device, the volume is automatically reduced by presenting the information by the volume presentation 51, so that the driver can switch to the notice point. You will notice a slight change in P2.

The noise presentation 52 mixes a noise component (Zar) prepared in advance, such as white noise, into the sound output by a device such as an audio device mounted on the own vehicle. In the example shown in FIG. 5, in the case of "without information presentation", the control is performed so that no noise is mixed, and in the case of "with information presentation", the noise is mixed. Therefore, when the driver is driving automatically while listening to music using the audio device, the presence / absence of noise mixed in the music and the noise level are automatically determined by presenting the information using the noise presentation 52. The driver will notice a slight change at the switching notice point P2.

The vehicle speed presentation 53 changes the expression form of the display of the vehicle speed “100 km / h, etc.” displayed on the display of the meter unit or the like on the own vehicle 42. In the example shown in FIG. 5, the display size of the vehicle speed display "100 km / h" of the vehicle speed presentation 53 is relatively small in the case of "without information presentation", and the display size is relatively large in the case of "with information presentation". Switch to. Therefore, when the driver is visually recognizing the display of the meter unit or the like, the driver notices a slight change at the switching notice point P2 due to the change in the display size of the vehicle speed presentation 53.

The display unit illumination presentation 54 changes the display expression form by controlling parameters such as hue, saturation, and brightness of illumination in a display such as a meter unit on the own vehicle 42. However, the target of control is limited to displays that are not related to the driving of the vehicle. In the example shown in FIG. 5, when the information is presented, the brightness of the display becomes subtly darker (may be brighter) than when the information is not presented. Therefore, for example, when the driver is driving automatically while watching a TV program or the like on the display, the driver notices a slight change at the switching notice point P2 due to the change in the brightness of the screen of the display. become.

The atmosphere lighting presentation 55 adds an atmosphere lighting device such as an ambient light installed in the vehicle interior of the own vehicle 42 as a control target. In the example shown in FIG. 5, the atmosphere lighting is controlled to be off when no information is presented, and the atmosphere lighting is casually turned on when information is presented. Therefore, when driving in automatic driving, the driver notices a slight change at the switching notice point P2 due to the change in brightness due to the environmental lighting.

The odor presentation 56 adds an odor output device 25 installed inside the air conditioner of the own vehicle 42 as a control target. In the example shown in FIG. 5, the odor output device 25 is controlled to be off (no odor) when no information is presented, and when information is presented, a fragrance is casually sprayed to generate an odor. Therefore, when driving in automatic driving, the driver notices a slight change at the switching notice point P2 due to the odor stimulation.

The control of the volume reduction in the volume presentation 51 and the reduction in the brightness in the display unit lighting presentation 54 may be changed step by step at a rate that the driver finally notices, or the driver notices. The change may be made so that the driver finally notices the change by repeating a slight change to the extent that there is no change.

Note that, for example, an interchange or the like is a potential danger point P0, so in the manual operation mode (level 2 or the like), it is desirable to alert the driver to be alert, for example, in the vicinity of the switching notice point P2. On the other hand, at the switching advance notice point P2 in the automatic operation mode (level 3 or the like), since the request for handover does not always occur after that, the caution is alerted in a weaker state than in the manual operation mode.

<Operation example when handover occurs>
When the vehicle-mounted information presenting device 100 outputs a handover message and performs the handover in step S21 shown in FIG. 4, as a more specific representative example, for example, the following operations are sequentially executed.

<Point 10 seconds before the end of the autonomous driving section>
"10 seconds until the end of automatic operation" is displayed as a text message. In addition, the numerical display of "10 seconds" is down-counted with the passage of time and updated every second.
At the same time, a pattern icon indicating gripping the steering wheel is displayed in yellow.
At the same time, a warning sound (pawn) is output, and a pseudo voice of "Please change driving" is output.

<Point 3 seconds before the end of the autonomous driving section>
"Please change driving soon" and "3 seconds until the end of automatic driving" are displayed as text messages.
At the same time, the display of the pattern icon indicating that the steering wheel is gripped is changed to red.

<When the driver holds the steering wheel>
"Switched to manual operation" is displayed as a text message.
At the same time, the display of the pattern icon indicating that the steering wheel is gripped is changed to white.
At the same time, a pseudo voice of "Switched to manual operation. Please drive with caution" is output.

<When the section where automatic driving is possible ends without handover (after 0 seconds)>
As a text message, "Automatic driving will end and the car will stop. Please drive while paying attention to the surrounding traffic conditions." In addition, an intermittent alarm sound is output and the vehicle stops.

<Advantages of information transmission method during automatic driving>
For example, in the control procedure as shown in FIG. 4, by transmitting information to the driver using the expression method as shown in FIG. 5, the possibility of handover at the potential danger point P0 is dealt with. It is possible to prevent the driver from being unnecessarily prepared between the switching notice point P2 and the point P0, and to avoid impairing the comfort of automatic driving.

In addition, by casually transmitting the change at the switching notice point P2 by the expression method as shown in FIG. 5, a slight sense of tension is given to the driver, so that if an unscheduled handover request occurs. Even if there is, the driver can respond to this handover request without panicking.

In particular, as shown in FIG. 5, when the volume of the volume presentation 51 is reduced or the brightness of the display unit lighting presentation 54 is dimmed, for example, for viewing contents such as music and TV programs unrelated to driving. Even when the driver is concentrated, the concentration of the driver can be slightly reduced in the direction of monitoring the running of the own vehicle. Therefore, it becomes easier for the driver to respond to an unscheduled handover request.

Here, the features of the automatic driving information transmission method and the in-vehicle information presentation device according to the above-described embodiment of the present invention are briefly summarized and listed below in [1] to [10], respectively.
[1] An automatic driving information transmission method for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement by the driver is greater than that in the first state.
When the occurrence of an event that may switch from the first state to the second state is predicted (S12),
In addition to carrying out explicit information transmission as necessary in the vicinity of the planned switching point (P1) where the switching from the first state to the second state occurs when the event is encountered (S24).
An output device that stimulates at least one of the driver's five senses is used at the switching notice point (P2), which has time to spare with respect to the planned switching point, in a form of expression weaker than that of the explicit information transmission. To transmit the information (S22),
A method of transmitting information during automatic driving, which is characterized by the fact that.

[2] The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance to the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is requested.
The method for transmitting information during automatic driving according to the above [1].

[3] The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled.
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The method for transmitting information during automatic driving according to the above [1].

[4] When the output device (volume presentation 51, display unit lighting presentation 54) that is not related to the driving of the vehicle is operating before reaching the switching notice point, the switching notice point or the switching notice point. After passing the point, the output level of the output device is changed (S22, see FIG. 5).
The method for transmitting information during automatic driving according to any one of the above [1] to [3].

[5] Compare with the case where the degree of encounter, which is the predicted probability of encountering the above event, the degree of urgency, which indicates the time margin, and the degree of importance, which indicates the magnitude of damage in the event of an accident, are small and large. Then, at the switching notice point, the output device is controlled so that the stimulus given to the driver or the change thereof becomes relatively small (S22).
The method for transmitting information during automatic driving according to any one of the above [1] to [4].

[6] When the state of long-time operation is detected, the urgency of the predicted event is increased and calculated (S18, S20).
The method for transmitting information during automatic driving according to the above [5].

[7] When a state of poor visibility due to the weather is detected, the stimulus given to the driver or its change is increased (S19, S20).
The method for transmitting information during automatic driving according to the above [5].

[8] An in-vehicle information presenting device (100) for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as a driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement by the driver is greater than that in the first state.
An information output control unit (20) for outputting information related to the switching is provided in association with the switching from the first state to the second state.
The information output control unit
When the occurrence of an event that may switch from the first state to the second state is predicted (S12),
In addition to carrying out explicit information transmission as necessary in the vicinity of the planned switching point (P1) where the switching from the first state to the second state occurs when the event is encountered.
An output device that stimulates at least one of the driver's five senses is used at the switching notice point (P2), which has time to spare with respect to the planned switching point, in a form of expression weaker than that of the explicit information transmission. To transmit the information (S22),
An in-vehicle information presentation device characterized by this.

[9] The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance to the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is requested.
The vehicle-mounted information presentation device according to the above [8].

[10] The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled.
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The vehicle-mounted information presentation device according to the above [8].

10 Automatic operation control unit 11 Wireless communication equipment 12 Road map database 13 Position detection unit 14 In-vehicle camera 15 Radar 16 Accelerator control unit 17 Brake control unit 18 Steering control unit 20 Information output control unit 21 Display output device 22 Lighting output device 23 Sound / Audio output device 24 Vibration output device 25 Smell output device 41 Road 41a Interchange 41b Exit road 41c Entrance road 42 Own vehicle 43 Direction of travel 45 Other vehicle 51 Volume presentation 52 Noise presentation 53 Vehicle speed presentation 54 Display lighting presentation 55 Atmosphere lighting presentation 56 Smell Presentation 100 In-vehicle information presentation device P0 Potential danger point P1 Scheduled switching point P2 Switching notice point P3 Current position SG01 Automatic / manual switching instruction SG10 Alarm level SG11, SG12, SG13, SG14, SG15 Input information SG16, SG17, SG18 Output signal SG21, SG22, SG23, SG24, SG25 output signals

Claims (10)

This is an automatic driving information transmission method for presenting information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as the driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement by the driver is greater than that in the first state.
When the occurrence of an event that may switch from the first state to the second state is predicted,
In addition to carrying out explicit information transmission as necessary in the vicinity of the planned switching point where the switching from the first state to the second state occurs when the event is encountered.
The above-mentioned using an output device that stimulates at least one of the five senses of the driver in a form of expression weaker than that of the explicit information transmission at the switching notice point where there is time to spare for the planned switching point. Communicate information,
A method of transmitting information during automatic driving, which is characterized by the fact that. The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance to the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is requested.
The method for transmitting information during automatic driving according to claim 1. The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled.
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The method for transmitting information during automatic driving according to claim 1. When an output device unrelated to the driving of the vehicle is operating before reaching the switching notice point, the output level of the output device is set after passing through the switching notice point or the point. Change,
The automatic driving information transmission method according to any one of claims 1 to 3, wherein the information is transmitted. Compared to the case where the degree of encounter, which is the predicted probability of encountering the above event, the degree of urgency, which indicates the time margin, and the degree of importance, which indicates the magnitude of damage in the event of an accident, are small and large. At the switching notice point, the output device is controlled so that the stimulus given to the driver or its change is relatively small.
The automatic driving information transmission method according to any one of claims 1 to 4, wherein the information is transmitted. When the state of long-time operation is detected, the urgency of the predicted event is increased and calculated.
The automatic driving information transmission method according to claim 5. When a state of poor visibility due to the weather is detected, the stimulus given to the driver or its change is increased.
The automatic driving information transmission method according to claim 5. An in-vehicle information presenting device that presents information to the driver in a vehicle having two or more states in which the degree of involvement of the driver in driving control is different as a driving state.
The traveling state includes a first state in which the driving control is automatically executed, and a second state in which the degree of involvement by the driver is greater than that in the first state.
An information output control unit for outputting information related to the switching is provided in association with the switching from the first state to the second state.
The information output control unit
When the occurrence of an event that may switch from the first state to the second state is predicted,
In addition to carrying out explicit information transmission as necessary in the vicinity of the planned switching point where the switching from the first state to the second state occurs when the event is encountered.
The above-mentioned using an output device that stimulates at least one of the five senses of the driver in a form of expression weaker than that of the explicit information transmission at the switching notice point where there is time to spare for the planned switching point. Communicate information,
An in-vehicle information presentation device characterized by this. The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled, and the driver's assistance to the driving control is not required.
The second state is a state in which the traveling direction and speed of the vehicle are automatically controlled and the driver's assistance to the driving control is requested.
The vehicle-mounted information presenting device according to claim 8. The first state is a state in which the traveling direction and speed of the vehicle are automatically controlled.
The second state is a state in which at least one of the traveling direction and the speed of the vehicle is controlled by the driver.
The vehicle-mounted information presenting device according to claim 8.

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