JP7375651B2 - Notification control device and notification control program - Google Patents

Description

The disclosure herein relates to control of notifications to vehicle occupants.

The control device disclosed in Patent Document 1 changes the operating line for notifying occupants about the preceding vehicle, depending on the degree of coincidence between the traveling direction of the host vehicle and the traveling direction of the preceding vehicle.

Patent No. 5915441

In Patent Document 1, it is considered that the notification regarding the preceding vehicle is carried out with uniform notification intensity.

Now, a scenario can be considered in which a vehicle changes lanes to a right-turn-only lane before an intersection in order to turn right at the intersection. If your vehicle attempts to change lanes to overtake a vehicle in front of you in the straight lane, you may temporarily approach the vehicle in front of you. In such a scene, since the own vehicle is planning to change lanes to the right-turn lane, the possibility of a collision such as a rear-end collision due to the temporary approach of the preceding vehicle is considered to be relatively low. On the other hand, if notifications about the preceding vehicle are given at a uniform intensity, the occupants will feel bothered in this scene.

One of the objects of the disclosure of this specification is to provide a notification control device and a notification control program that realize appropriate notification in a scene where a vehicle is scheduled to enter an intersection.

One of the aspects disclosed herein is a notification control device that is used in a vehicle and controls notifications directed to the occupants of the vehicle (α) by one or more notification devices (31, 32, 33). And,
The vehicle is in a lane change state where the vehicle is scheduled to change lanes, and the vehicle is located less than a predetermined distance from the intersection and is planning to enter an intersection where the vehicle is traveling toward the intersection. an own vehicle schedule determination unit (X3) that determines whether or not there is a vehicle schedule;
When the schedule conditions that the own vehicle is planning to change lanes and are planning to enter an intersection are satisfied, the preceding vehicle (β) is faster than when the own vehicle is not planning to change lanes. a notification intensity setting unit (X4) for setting the notification intensity of the notification to a weak setting ,
The notification intensity setting unit sets the notification intensity to a weaker setting when the own vehicle has already entered the intersection than when the scheduled condition is satisfied.
In addition, another one of the disclosed aspects is a notification that is used in a vehicle and controls notifications directed to occupants of the own vehicle (α) as a vehicle by one or more notification devices (31, 32, 33). A control device,
The vehicle is in a lane change state where the vehicle is scheduled to change lanes, and the vehicle is located less than a predetermined distance from the intersection and is planning to enter an intersection where the vehicle is traveling toward the intersection. an own vehicle schedule determination unit (X3) that determines whether or not there is a vehicle schedule;
When the schedule conditions that the own vehicle is planning to change lanes and are planning to enter an intersection are satisfied, the preceding vehicle (β) is faster than when the own vehicle is not planning to change lanes. a notification intensity setting unit (X4) for setting the notification intensity of the notification to a weak setting,
The notification intensity setting unit sets the notification intensity to a stronger setting than a weak setting even if the scheduled condition is satisfied when the own vehicle is traveling at a predetermined speed or higher.
In addition, another one of the disclosed aspects is a notification that is used in a vehicle and controls notifications directed to occupants of the own vehicle (α) as a vehicle by one or more notification devices (31, 32, 33). A control device,
The vehicle is in a lane change state where the vehicle is scheduled to change lanes, and the vehicle is located less than a predetermined distance from the intersection and is planning to enter an intersection where the vehicle is traveling toward the intersection. an own vehicle schedule determination unit (X3) that determines whether or not there is a vehicle schedule;
When the schedule conditions that the own vehicle is planning to change lanes and are planning to enter an intersection are satisfied, the preceding vehicle (β) is faster than when the own vehicle is not planning to change lanes. a notification intensity setting unit (X4) that sets the notification intensity of the notification to a weak setting;
A notification mode control section (X6) that controls the specific expression mode of the notification by referring to the notification intensity setting information acquired from the notification intensity setting section.

Another aspect disclosed herein is a notification that is used in a vehicle and controls notifications directed to occupants of the vehicle (α) by one or more notification devices (31, 32, 33). A control program,
At least one processing unit (11),
The vehicle is in a lane change state where the vehicle is scheduled to change lanes, and the vehicle is located less than a predetermined distance from the intersection and is planning to enter an intersection where the vehicle is traveling toward the intersection. A process (S101 to S107) for determining whether or not there is a
When the schedule conditions that the own vehicle is planning to change lanes and are planning to enter an intersection are satisfied, the preceding vehicle (β) is faster than when the own vehicle is not planning to change lanes. A process of setting the notification intensity of the notification to a weak setting and, if the host vehicle has already entered the intersection, setting the notification intensity to a stronger setting than the weak setting when the schedule condition is satisfied (S108 , S109 ).
Another aspect disclosed herein is a notification that is used in a vehicle and controls notifications directed to occupants of the vehicle (α) by one or more notification devices (31, 32, 33). A control program,
At least one processing unit (11),
The vehicle is in a lane change state where the vehicle is scheduled to change lanes, and the vehicle is located less than a predetermined distance from the intersection and is planning to enter an intersection where the vehicle is traveling toward the intersection. A process (S101 to S107) for determining whether or not there is a
When the schedule conditions that the own vehicle is planning to change lanes and are planning to enter an intersection are satisfied, the preceding vehicle (β) is faster than when the own vehicle is not planning to change lanes. A process in which the notification intensity is set to a weak setting for notifications regarding the event, and even if the scheduled conditions are met, the notification intensity is set to be stronger than the weak setting if the own vehicle is traveling at a predetermined speed or higher. (S108, S109) are executed.
Another aspect disclosed herein is a notification that is used in a vehicle and controls notifications directed to occupants of the vehicle (α) by one or more notification devices (31, 32, 33). A control program,
At least one processing unit (11),
The vehicle is in a lane change state where the vehicle is scheduled to change lanes, and the vehicle is located less than a predetermined distance from the intersection and is planning to enter an intersection where the vehicle is traveling toward the intersection. A process (S101 to S107) for determining whether or not there is a
When the schedule conditions that the own vehicle is planning to change lanes and are planning to enter an intersection are satisfied, the preceding vehicle (β) is faster than when the own vehicle is not planning to change lanes. a process of setting the notification strength in the notification to a weak setting (S108);
A process (S206) for controlling the specific expression mode in the notification is executed with reference to the notification intensity setting information.

According to these aspects, in a scene where the own vehicle is about to change lanes to a right-turn lane or a left-turn lane in order to make a right turn at the intersection, the own vehicle is in a state of planning to change lanes, and the vehicle is in a state where the vehicle is planning to change lanes, and The scheduled condition of entering scheduled state is satisfied. In this case, the notification strength of the notification regarding the preceding vehicle that precedes the own vehicle will be set to be weak. Therefore, even if the host vehicle α attempts to change lanes in the scene and temporarily approaches the preceding vehicle, excessive notifications about the preceding vehicle to the occupants are suppressed. Therefore, the annoyance felt by the occupants can be reduced.

Note that the symbols in parentheses exemplarily indicate correspondence with parts of the embodiment described later, and are not intended to limit the technical scope.

FIG. 2 is a block diagram showing an in-vehicle network. It is a block diagram showing HCU. FIG. 6 is a diagram comparing the implementation state (on state) of notification regarding the preceding vehicle at the normal level and the non-implementation state (off state). FIG. 6 is a diagram showing an example of a separation display of a preceding vehicle at a normal level in the center column. 4 is a diagram corresponding to FIG. 3 at a weak level; FIG. FIG. 5 is a diagram corresponding to FIG. 4 at a weak level; It is a figure which compares the notification about a preceding vehicle by a normal level and a weak level. It is a flowchart for explaining the whole picture of processing by HCU. 12 is a flowchart for explaining details of notification intensity setting processing by the HCU. FIG. 2 is a diagram illustrating the relationship between road scenes and notification intensity on general roads. FIG. 3 is a diagram illustrating the relationship between a road scene on an expressway and notification intensity. 12 is a flowchart for explaining details of notification processing by the HCU. 12 is a flowchart for explaining details of notification termination processing by the HCU. 14 is a flowchart corresponding to FIG. 13 in Modification 1. FIG.

One embodiment will be described based on the drawings.

(First embodiment)
As shown in FIG. 1, the display control device according to the first embodiment of the present disclosure is an HCU (Human Machine Interface Control Unit) 10. The HCU 10 constitutes an HMI (Human Machine Interface) system used in the host vehicle α, together with a head up display (hereinafter referred to as HUD 31), a meter (hereinafter referred to as MET 32), and a speaker 33.

The HCU 10 is connected as a communicable node to a communication bus of an in-vehicle network mounted on the own vehicle α. A vehicle information providing ECU (Electronic Control Unit) 21, a surrounding monitoring sensor 22, a locator 23, and the like are each connected as nodes to the communication bus of the in-vehicle network. These nodes connected to the communication bus are able to communicate with each other.

The vehicle information providing ECU 21 is an electronic control device that sequentially outputs and provides vehicle information to a communication bus of an in-vehicle network. The own vehicle information includes various information regarding the own vehicle α, such as speed information of the own vehicle α from a vehicle speed sensor, turn signal (direction indicator) operation information (hereinafter referred to as turn signal information), and the like.

The surroundings monitoring sensor 22 is an autonomous sensor that monitors the surrounding environment of the own vehicle α. The surrounding monitoring sensor 22 detects moving objects such as pedestrians, cyclists, animals other than humans, and other vehicles (for example, the preceding vehicle β), as well as fallen objects on the road, guardrails, curbs, road signs, lane markings, etc. from the detection range. It is possible to detect stationary objects such as road markings and structures on the side of the road. The detection range includes at least the range in front of the own vehicle α. The surrounding monitoring sensor 22 provides detection information about objects detected within the detection range to the HCU 10 and the like via the communication bus. The surrounding monitoring sensor 22 includes at least one of a camera, a millimeter wave radar, a lidar, and a sonar as a detection configuration for object detection.

The locator 23 includes a GNSS (Global Navigation Satellite Systems) receiver, an inertial sensor, and the like. The locator 23 combines the positioning signal received by the GNSS receiver, the measurement result of the inertial sensor, etc., the speed information outputted to the communication bus, etc., and successively determines the position, traveling direction, etc. of the host vehicle α with high precision. The locator 23 can specify, for example, the lane in which the vehicle α is traveling among a plurality of lanes. The locator 23 sequentially outputs position information and direction information of the own vehicle α based on the positioning results to the communication bus as locator information.

The locator 23 further includes a map database 23a. The map database 23a is mainly composed of a large-capacity nonvolatile storage medium that stores a large amount of three-dimensional map data and two-dimensional map data. The map data is so-called high-precision map data, and includes information necessary for driving, such as three-dimensional or two-dimensional shape information of the road, detailed information of each lane, and legal speed information of the road. The locator 23 reads map data around the current location from the map database 23a and provides it to the HCU 10 and the like together with locator information. Note that instead of the locator 23, a user terminal such as a smartphone, a navigation device, or the like may provide position information, direction information, map data, etc. to the HCU 10 or the like.

Next, details of the HUD 31, MET 32, speaker 33, and HCU 10 included in the HMI system will be explained in order. Here, the HUD 31, the MET 32, and the speaker 33 correspond to notification devices capable of giving notifications to occupants (for example, drivers). Here, the notification includes display and audio notification. The HUD 31 and the MET 32 also correspond to display devices capable of displaying information to passengers. The speaker 33 also corresponds to an audio notification device that can provide audio notifications to passengers.

The HUD 31 is housed in a housing space in the instrument panel below the windshield. The HUD 31 projects light that is formed as a virtual image toward the projection range of the windshield. The light projected onto the windshield is reflected toward the driver's seat and is perceived by the driver as a passenger. The driver visually recognizes a display in which a virtual image is superimposed on the external environment (for example, scenery) of the vehicle α that can be seen through the windshield. In this way, the HUD 31 becomes a superimposed display device among display devices that can display a display superimposed on the external environment of the own vehicle α.

The MET 32 is arranged on the opposite side of the steering wheel from the driver's seat in the accommodation space in the instrument panel. The MET 32 is capable of displaying a real image on a display screen facing the driver's seat. The display screen is realized by a liquid crystal panel, an OLED display, a micro LED display, or the like. In this way, the MET 32 becomes a vehicle interior display device that can perform display on a display screen provided in the vehicle interior of the host vehicle α.

The speaker 33 is installed, for example, on an instrument panel, a door panel, a rear quarter panel, or the like. The speaker 33 is capable of emitting sound by converting an input electrical signal into a physical signal using a voice coil and a diaphragm.

The HCU 10 is an electronic control device that integrally controls notifications from a plurality of notification devices including the HUD 31, MET 32, and speaker 33 in the HMI system. As shown in FIG. 1, the HCU 10 mainly includes a computer including a processing section 11, a RAM (Random Access Memory) 12, a storage section 13, an input/output interface 14, and a bus connecting these. The processing unit 11 is hardware for arithmetic processing coupled with the RAM 12. The processing unit 11 is configured to include at least one arithmetic core such as a CPU (Central Processing Unit), a GPU (Graphic Processing Unit), or a RISC (Reduced Instruction Set Computer). The processing unit 11 may further include an FPGA (Field-Programmable Gate Array), an IP core with other dedicated functions, and the like. The processing unit 11 accesses the RAM 12 to execute various processes for realizing the functions of each functional unit, which will be described later. The storage unit 13 includes at least one nonvolatile storage medium such as a semiconductor memory. The storage unit 13 stores various computer programs (for example, notification control programs) executed by the processing unit 11.

The HCU 10 has a plurality of functional units that realize notifications to the occupants by executing a computer program stored in the storage unit 13 by the processing unit 11. Specifically, as shown in FIG. 2, the HCU 10 includes a position information grasping section X1, an own vehicle schedule determining section X2, an own vehicle speed determining section X3, a notification intensity setting section X4, a notification implementation requesting section X5, and a notification mode control section X6. has.

The position information grasping unit X1 grasps the position information and direction information of the own vehicle α, and the position information and direction information of other vehicles including the preceding vehicle β. Specifically, the position information grasping unit X1 grasps the position and direction of the own vehicle α with respect to the surrounding roads based on the locator information acquired from the locator 23. Further, the position information grasping unit X1 identifies the positions and directions of other vehicles including the preceding vehicle β with respect to surrounding roads based on the detection information acquired from the surroundings monitoring sensor 22. The position information grasping unit X1 sequentially updates the position and direction of the own vehicle α and the positions and directions of other vehicles including the preceding vehicle β, based on the latest locator information and detection information, and updates the own vehicle schedule determination unit X2, The information is provided to the notification implementation request unit X5 and the notification mode control unit X6.

The own vehicle schedule determination unit X2 determines the schedule of the own vehicle α. The host vehicle schedule determination unit X2 has a lane change schedule determination function and an intersection entry schedule determination function.

The lane change schedule determination function is a function that determines whether or not the own vehicle α is in a lane change schedule state where a lane change is scheduled. Specifically, the own vehicle schedule determination unit X2 acquires the turn signal information output to the communication bus of the network, and refers to the operating state of the turn signal. The own vehicle schedule determination unit X2 determines whether or not the own vehicle α is scheduled to change lanes based on the position and direction of the own vehicle α, and the operating state of the blinker.

For example, in a scene where the own vehicle α is traveling on a road with multiple lanes, if the indicator switch of the turn signal corresponding to the lane direction on the right or on the left is activated, the own vehicle schedule determination unit It is determined that α is in a lane change scheduled state. Further, for example, in a scene where the number of lanes increases on the road on which the own vehicle α is traveling, if the turn signal switch corresponding to the increasing lane direction is activated, the own vehicle schedule determination unit X2 determines that the own vehicle α is changing lanes. It is determined that it is in the scheduled state. Scenes in which the number of lanes increases include not only scenes in which the number of driving lanes increases, but also scenes in which the number of right-turn lanes or left-turn lanes increases before an intersection.

On the other hand, in a scene where the vehicle α has already entered the intersection or a scene where the vehicle α is already in the left-turn lane or the right-turn lane before the intersection, the right or left turn signal switch is activated. This may be the case. In this case, there is a high probability that a lane change is not planned, but a right or left turn is planned. Therefore, the host vehicle schedule determination unit X2 determines that the host vehicle α is not in a lane change scheduled state.

The intersection entry schedule determination function is a function that determines whether or not the vehicle α is in an intersection scheduled state where the vehicle α is located less than a predetermined distance from the intersection and the vehicle α is traveling toward the intersection. Specifically, the own vehicle schedule determination unit X2 determines the road on which the own vehicle α is traveling and the intersection ahead of the road on which the own vehicle α is traveling, based on the position and direction of the own vehicle α with respect to surrounding roads. Identify. Then, the own vehicle schedule determination unit X2 calculates the distance between the own vehicle α and the specified intersection. If this distance is less than the predetermined distance, the own vehicle schedule determination unit X2 determines that the own vehicle α is scheduled to enter the intersection.

The predetermined distance is a route guidance tuning distance that is set in synchronization with the route guidance start distance. The route guidance start distance is a distance set so that route guidance for an intersection is started when the vehicle α is traveling toward the intersection. Route guidance regarding the intersection is realized, for example, by the notification mode control unit X6 controlling the display on the HUD 31, the display on the MET 32, the audio notification from the speaker 33, and the like.

Furthermore, synchronization here means that the predetermined distance is set to a distance within a range that can be recognized as an error of plus or minus 10% of the route guidance start distance. More preferably, the predetermined distance corresponds to the route guidance starting distance. For example, the predetermined distance is 300 m.

In this embodiment, the determination conditions and the like partially overlap in the lane change schedule determination function and the intersection entry schedule determination function. For this reason, the own vehicle schedule determination unit X2 achieves both functions in a composite manner by sharing arithmetic processing for overlapping determination conditions (see also the flowchart in FIG. 9).

Furthermore, the own vehicle schedule determination unit X2 of this embodiment has a lane change position determination function on a road where basically no intersections exist. The lane change position determination function detects when the vehicle α is planning to change lanes and is driving on a road where there are basically no intersections, such as an expressway or a motorway. This function determines whether or not a lane change is to be made.

The own vehicle speed determination unit X3 determines whether the speed of the own vehicle α is greater than a predetermined speed. Here, the predetermined speed is, for example, the legal speed of the road on which the host vehicle α travels. The own vehicle speed determination unit X3 compares the vehicle speed information of the own vehicle α output to the communication bus of the in-vehicle network with the legal speed information acquired from the locator 23, and performs the determination.

The notification intensity setting unit X4 sets the notification intensity of the notification regarding the preceding vehicle β based on the determination result by the host vehicle schedule determination unit X2, the determination result by the host vehicle speed determination unit X3, and the like. In this embodiment, the preceding vehicle β is defined as another vehicle that travels in the same lane as the own vehicle α and that precedes the own vehicle α.

The notification intensity setting unit X4 sets the notification intensity to be higher when the vehicle α is scheduled to change lanes and is scheduled to enter an intersection, than when the vehicle α is not scheduled to change lanes. Set it weakly. However, even if this schedule condition is satisfied, if the own vehicle speed determination section X3 determines that the speed of the own vehicle α is higher than the predetermined speed, the notification strength setting section X4 , it is not necessary to set the notification strength to a weak setting.

In particular, in this embodiment, two notification intensity levels are set as the notification intensity for the preceding vehicle β: a normal level and a weak level that is weaker than the normal level. The notification intensity setting unit X4 selects an appropriate notification intensity level from among these notification intensity levels.

Specifically, the notification intensity setting unit X4 sets the notification intensity to a weak level unless the speed of the own vehicle α is higher than a predetermined speed under the satisfaction of the scheduled condition. The notification intensity setting unit X4 exceptionally sets the notification intensity to the normal level when the speed of the own vehicle α is higher than the predetermined speed even if the scheduled condition is satisfied.

The notification implementation requesting unit X5 determines the possibility of contact between the own vehicle α and the preceding vehicle β, and requests the notification mode control unit X6 to implement an approach notification regarding the preceding vehicle β based on the possibility of contact. . The possibility of contact is determined by comparing the preceding vehicle distance, which is the distance from the own vehicle α to the preceding vehicle β, and the stopping distance of the own vehicle α. The stopping distance can be calculated by, for example, the sum of the estimated free running distance and the braking distance.

When the stopping distance is less than or equal to the distance of the preceding vehicle, the notification implementation requesting unit X5 postpones the request for implementation of the approach notification regarding the preceding vehicle β.

On the other hand, if the stopping distance is greater than the distance of the preceding vehicle, the notification implementation requesting section Request implementation of approach notification regarding. While the notification mode control unit X6 is executing the approach notification, the notification implementation requesting unit X5 tracks changes in the relationship between the preceding vehicle distance and the stopping distance. When the value obtained by multiplying the stopping distance by the contact possibility classification magnification factor becomes larger than the distance of the preceding vehicle, the notification implementation request section We will once again request that the approach notification regarding β be implemented. The contact possibility classification magnification is set to a value greater than 0 and less than 1, and in particular, is set to 0.7 in this embodiment.

On the other hand, when the stopping distance becomes smaller than the distance of the preceding vehicle, the notification implementation requesting section X5 requests the notification mode controlling section X6 to stop the notification regarding the preceding vehicle β. Furthermore, when the stopping distance becomes larger than the preceding vehicle distance again, the notification intensity setting unit X4 requests implementation of an approach notification for the preceding vehicle β at the selected notification intensity level.

The notification mode control unit X6 controls the specific expression mode of the notification regarding the preceding vehicle β. The expression mode is determined in response to a request from the notification implementation requesting unit X5 while referring to notification intensity setting information acquired from the notification intensity setting unit X4.

Specifically, the notification mode control unit X6 formulates an expression mode in which the HUD 31, MET 32, and speaker 33 cooperate. The notification mode control unit X6 lays out various display contents on the image used for display on the HUD 31 and the image used for display on the MET 32. The notification mode control unit X6 causes the HUD 31 and the MET 32 to perform display based on the layout. The notification mode control unit X6 causes the speaker 33 to output audio corresponding to such display content as necessary.

If there is no request from the notification implementation requesting unit X5 and the preceding vehicle β is not detected, the notification mode control unit X6 lays out speed content C1H, C1M, lane content C2M, own vehicle content C3, etc. as display content. (See right column of Figures 3 and 5). The speed contents C1H and C1M are contents representing the speed of the host vehicle α, and are displayed on the HUD 31 and the MET 32, respectively. The speed contents C1H and C1M are, for example, digital displays using characters, but in the MET32, they may be analog displays imitating a mechanical meter.

The lane content C2M is content representing the lane in which the host vehicle α travels, and is displayed on the MET 32. In the lane content C2M, line images corresponding to a pair of white lines placed on both sides of the lane are arranged diagonally so that the distance between them becomes narrower from the bottom to the top. This diagonal arrangement gives the content a sense of perspective.

Self-vehicle content C3 is content that represents the self-vehicle α from a diagonal perspective looking down from behind, and is displayed on the MET 32. Own vehicle content C3 is placed between the line images in lane content C2M.

In this case, the speaker 33 does not provide audio notification regarding the preceding vehicle β.

When there is a request from the notification implementation request section X5, the notification mode control section X6 formulates an expression mode based on the notification intensity attached to the request. When the notification intensity level is the normal level, the notification mode control unit Content C6 etc. are laid out (see the left column of FIG. 3).

The preceding vehicle content C4M is content that represents the preceding vehicle β from a perspective looking down diagonally from behind, and is displayed on the MET 32. The preceding vehicle content C4M is displayed in a smaller size than the own vehicle content C3. The preceding vehicle content C4M is arranged between the line images in the lane content C2M and above the host vehicle content C3.

The preceding vehicle emphasis content C5 is content that emphasizes the presence of the preceding vehicle β, and is displayed on the MET 32. The preceding vehicle emphasis content C5 is a combination of a frame image that surrounds and emphasizes the preceding vehicle content C4M, and a character image that displays the words "Beware of approaching" adjacent to the frame image.

The large pop-up content C6 is content that displays a display in a pop-up display format that urges caution to approach the preceding vehicle β, and is displayed on the HUD 31. The large pop-up content C6 is arranged at the center of the virtual image display area in a relatively large size that occupies more than 1/4 of the display area. The large pop-up content C6 is a combination of a background image filled with a warning color such as red or yellow, and a character image that displays the words "Beware of approaching" superimposed on the background image.

While the large pop-up content C6 is being displayed, the notification mode control unit X6 causes the speaker 33 to issue a high-pitched voice notification of "beep beep...".

When the notification intensity level is a weak level, the notification mode control unit Content C7 etc. are laid out (see the left column of FIG. 5). Note that additional lane content C2M is also displayed on the HUD 31.

The preceding vehicle content C4M is similar to the case of the normal level described above, but is displayed on the HUD 31 in addition to the MET 32. The preceding vehicle emphasis content C5 is the same as the case of the normal level described above.

The small pop-up content C7 is content that displays a display in a pop-up display format that urges caution to approach the preceding vehicle β, and is displayed on the HUD 31. The small pop-up content C7 is arranged in a side part of the display area of the virtual image, avoiding the center part, and has a smaller size than the large pop-up content C6. The small pop-up content C7 is a combination of a character image displaying the words "Be careful of approaching" and a frame image surrounding the character image without filling the background.

While the small pop-up content C7 is being displayed, the notification mode control unit X6 causes the speaker 33 to issue a low-pitched audio notification of "Pong...".

While the notification mode control unit X6 is notifying the preceding vehicle β, the notification mode control unit The relative position of the preceding vehicle β relative to the vehicle β is sequentially monitored. When the preceding vehicle β moves relatively to the left or right direction with respect to the host vehicle α and leaves, the notification mode control unit X6 displays a departure display on the HUD 31 that expresses departure in the departure direction. and MET32 to implement it.

In the withdrawal display control, first, the notification mode control unit X6 erases the large pop-up content C6 or the small pop-up content C7 that was displayed on the HUD 31 (see the center column of FIGS. 4 and 6). When the notification intensity level is the normal level, the notification mode control unit X6 erases the large pop-up content C6 on the HUD 10 and causes the HUD 31 to display lane content C2H and preceding vehicle content C4H that can be displayed at a weak level.

Next, in the above-described relative movement, if the own vehicle α maintains the lane and the preceding vehicle β changes lanes, the notification mode control unit X6 changes the preceding vehicle content C4H, C4M to the lane content C2H, Both the HUD 31 and the MET 32 display a fade-out display while moving in the withdrawal direction relative to the C2M. In the above-described relative movement, if the preceding vehicle β maintains the lane and the own vehicle α changes lanes, the notification mode control unit X6 controls both the preceding vehicle contents C4H, C2M and the lane contents C2H, C2M. Both the HUD 31 and the MET 32 display a display that fades out while moving in the leaving direction while maintaining the relative positional relationship with each other. Fade out here means that the contrast is gradually reduced over time so that the target content blends into the background, and is eventually erased. Further, in these cases, the position of the own vehicle content C3 is displayed in a fixed position without moving.

Regarding the above-mentioned expressions regarding the notification regarding the preceding vehicle β, the case of normal level and the case of weak level will be compared and summarized below using FIG.

In the case of the normal level, the HUD 31 displays large pop-up content C6 in the center of the display area. On the other hand, in the case of the weak level, the small pop-up content C7 is displayed in the side part of the display area, and the lane content C2H and the preceding vehicle content C4H are displayed in the center part of the display area. Therefore, in the HUD 31, the display modes are different between the normal level and the weak level.

In MET32, lane content C2M, host vehicle content C3, and preceding vehicle content C4M are displayed both at the normal level and at the weak level. Therefore, in MET32, the display mode is the same between the normal level and the weak level.

In the case of the normal level, the speaker 33 provides a high-pitched voice notification of "beep beep...". In the case of a weak level, a low-pitched audio notification such as "Pawn..." is performed. Therefore, in the speaker 33, the display mode is different between the normal level and the weak level.

Next, details of a notification control method for notifying the preceding vehicle β based on the notification control program will be described using flowcharts shown in FIGS. 8, 9, 12, and 13.

First, an overview of the notification control process in this embodiment is shown in FIG. The processing in each step of S100 to S300 is repeatedly performed at an appropriate start timing or cycle while the power switch of the own vehicle α is on and power is being supplied to the HCU 10.

In S100, the notification intensity setting unit X4 selects the notification intensity from two notification intensity levels. After processing S100, the process moves to S200.

In S200, the notification mode control unit X6 starts to cause the HUD 31, MET 32, and speaker 33 to notify about the preceding vehicle β in accordance with the request from the notification implementation requesting unit X5. After processing S200, the process moves to S300.

In S300, the notification mode control unit X6 stops notifying the preceding vehicle β in response to the departure status of the preceding vehicle β. The series of processing ends at S300.

Details of the process of S100 are shown in each step of FIG. First, in S101, the host vehicle schedule determination unit X2 acquires blinker information. After processing in S101, the process moves to S102.

In S102, the host vehicle schedule determination unit X2 determines whether the indicator switch of the turn signal is activated (is in an on state). If an affirmative determination is made in S102, the process moves to S103. If a negative determination is made in S102, the process moves to S110.

In S103, the own vehicle schedule determination unit X2 acquires the position and direction of the own vehicle α. After processing in S103, the process moves to S104.

In S104, the host vehicle schedule determination unit X2 determines whether the road type is a road with an intersection (for example, a general road). If an affirmative determination is made in S104, the process moves to S105. If a negative determination is made in S105, the process moves to S111.

In S105 when the road type is a road with an intersection, the own vehicle schedule determination unit X2 determines whether the distance between the own vehicle α and the intersection is less than a predetermined distance (for example, 300 m). If an affirmative determination is made in S105, the process moves to S106. If a negative determination is made in S105, the process moves to S109.

In S106, the host vehicle schedule determination unit X2 determines whether the host vehicle α is already located in a right-turn lane, a left-turn lane, or an intersection. If an affirmative determination is made in S106, the process moves to S109. If a negative determination is made in S106, the process moves to S107.

In S107, the own vehicle speed determination unit X3 determines whether the speed of the own vehicle α is below the upper limit of the legal speed. If an affirmative determination is made in S107, the process moves to S108. If a negative determination is made in S107, the process moves to S109.

In S108, the notification intensity setting unit X4 sets the notification intensity level for the notification regarding the preceding vehicle β to a weak level. The series of processing ends at S108.

In S109 and S110, the notification intensity setting unit X4 sets the notification intensity level in the notification regarding the preceding vehicle β to the normal level. The series of processing ends at S109 and S110.

In S111 when the road type is a road that basically does not have an intersection, such as an expressway or a motorway, the vehicle schedule determination unit X2 determines whether or not the vehicle α is located within the main road. . If an affirmative determination is made in S111, the process moves to S112. If a negative determination is made in S111, it means that the own vehicle α is located inside a ramp, an interchange entrance, a service area entrance, a parking area entrance, etc., and the process moves to S114.

In S112, the own vehicle speed determination unit X3 determines whether the speed of the own vehicle α is below the upper limit of the legal speed. If an affirmative determination is made in S112, the process moves to S113. If a negative determination is made in S112, the process moves to S114.

In S113, the notification intensity setting unit X4 sets the notification intensity level in the notification regarding the preceding vehicle β to a weak level. The series of processing ends at S113.

In S114, the notification intensity setting unit X4 sets the notification intensity level in the notification regarding the preceding vehicle β to the normal level. The series of processing ends at S114.

As in steps S101 to S110 above, for example, on a general road, the notification intensity level for the preceding vehicle β is set as shown in FIG. When the own vehicle α is traveling toward an intersection and the distance to the intersection is 300 meters or more, it is not considered that the intersection is scheduled to be entered yet, and the notification intensity level is set to the normal level.

If the distance from the own vehicle α to the intersection is less than 300 m and the own vehicle α has not changed lanes to the right turn lane, the notification intensity level is set to a weak level. In a situation where a passenger is planning to change lanes to the right-turn lane, if excessive notification is given to the preceding vehicle β located in the lane before the lane change, it will cause great annoyance to the passenger. It is. However, when the speed of own vehicle α exceeds the legal speed, the notification intensity level is the normal level.

After the vehicle α changes lanes from 50 meters before the intersection to the added right-turn lane and enters the intersection, the notification intensity level is set to the normal level. After changing lanes, the preceding vehicle β located in the right-turning lane is also about to turn right, just like the own vehicle α, so if the own vehicle α does not also decelerate as the preceding vehicle β decelerates, the own vehicle α will overtake the preceding vehicle β. come into contact with. Therefore, the occupants should be strongly notified about the preceding vehicle β.

Further, as in steps S101 to S104 and S111 to S114, for example, on an expressway, the notification intensity level for the preceding vehicle β is set as shown in FIG. 11. For example, the notification intensity level is set to the normal level on roads before merging onto the main highway or after branching off. There is a high possibility that the preceding vehicle β also makes the same movements as the own vehicle α, such as changing lanes. That is, considering the possibility that the preceding vehicle β changes lanes with the own vehicle α and continues to be the preceding vehicle β, the occupants should be strongly notified about the preceding vehicle β.

On the other hand, on the main line of an expressway, when the own vehicle α is scheduled to change lanes, the notification intensity level is set to a weak level. Since there is a low possibility that the preceding vehicle β changes lanes with the host vehicle α and continues to be the preceding vehicle β, if excessive notifications are given to the preceding vehicle β located in the lane before the lane change, it will be extremely annoying for the occupants. This is because it would end up giving .

Next, details of the process of S200 are shown in each step of FIG. First, in S201, the notification implementation requesting unit X5 obtains the speed of the own vehicle α. After processing S201, the process moves to S202.

In S202, the notification implementation requesting unit X5 obtains the distance of the preceding vehicle. After processing in S202, the process moves to S203.

In S203, the notification implementation requesting unit X5 calculates the stopping distance. After processing S203, the process moves to S204.

In S204, the notification implementation requesting unit X5 determines whether the stopping distance is greater than the preceding vehicle distance. If an affirmative determination is made in S204, the process moves to S205. If a negative determination is made in S204, a notification implementation request is not made and the series of processing ends.

In S205, the notification implementation requesting unit X5 requests execution of an approach notification for the preceding vehicle β at the notification intensity level selected by the notification intensity setting unit X4. Then, the notification mode control unit X6 determines the expression mode based on the notification intensity level selected by the notification intensity setting unit X4. In this way, the HUD 31, MET 32, and speaker 33 start notifying the occupants. After processing in S205, the process moves to S206.

In S206, the notification implementation request unit X5 determines whether the value of 0.7 times the stopping distance is greater than the distance of the preceding vehicle. If an affirmative determination is made in S206, the process moves to S207. If a negative determination is made in S206, the process returns to S204 again.

In S207, the notification implementation requesting unit X5 requests implementation of an approach notification regarding the preceding vehicle β at the normal level. Then, the notification mode control unit X6 determines the expression mode based on the normal level. For example, if the notification intensity level is a weak notification at the time of S205, the notification will be changed to a stronger expression mode. In this way, the HUD 31, MET 32, and speaker 33 continue to notify the occupants in a new manner. After processing in S205, the process moves to S206. The series of processes ends with the process of S207.

Next, details of the process of S300 are shown in each step of FIG. First, in S301, the notification mode control unit X6 acquires the notification implementation status regarding the preceding vehicle β by the HUD 31, MET 32, and speaker 33. After processing S301, the process moves to S302.

In S302, the notification mode control unit X6 determines whether notification regarding the preceding vehicle β is currently being performed based on the acquired notification implementation state. If an affirmative determination is made in S302, the process moves to S303. If a negative determination is made in S302, the series of processing ends.

In S303, the notification mode control unit X6 determines whether the preceding vehicle β is moving away from the own vehicle α by moving relatively to the leaving direction of the leftward or rightward direction. If a negative determination is made in S303, the process moves to S304. If an affirmative determination is made in S303, the process moves to S305.

In S304, the notification mode control unit X6 determines whether the stopping distance is greater than the preceding vehicle distance. If an affirmative determination is made in S304, the process moves to S306. If a negative determination is made in S304, the process returns to S303 again.

In S305, the notification mode control unit X6 causes the HUD 31 and the MET 32 to display a display representing the departure of the preceding vehicle β in the departure direction. After processing in S305, the process moves to S306.

In S306, the notification mode control unit X6 ends the notification regarding the preceding vehicle β. The series of processing ends at S306.

(effect)
The effects of the first embodiment described above will be explained again below.

According to the first embodiment, in a scene where the own vehicle α is about to change lanes to a right turn lane or a left turn lane in order to make a right turn at the intersection before an intersection, the own vehicle α is in a state where the lane change is planned, In addition, the schedule condition that the intersection is scheduled to be entered is satisfied. Then, the notification strength of the notification regarding the preceding vehicle β that precedes the own vehicle α becomes a weak level, which is a weak setting. Therefore, even if the own vehicle α attempts to change lanes in the scene and temporarily approaches the preceding vehicle β, excessive notifications about the preceding vehicle β to the occupants are suppressed. Therefore, the annoyance felt by the occupants can be reduced.

Further, according to the first embodiment, if the vehicle α has already entered the intersection, the notification intensity is set to the normal level, which is stronger than the weak level when the scheduled condition is met. . Therefore, it is possible to increase the effect of suppressing the situation in which the own vehicle α contacts the preceding vehicle β at an intersection where traffic paralysis is likely to occur.

Further, according to the first embodiment, even if the schedule condition is met, if the own vehicle α is traveling at a predetermined speed or higher, the notification intensity is set to the normal level, which is set stronger than the weak level. It is said that Therefore, it is possible to increase the effect of suppressing the situation in which the own vehicle α contacts the preceding vehicle β during high-speed driving when the impact is likely to be strong when the vehicle α comes into contact with the preceding vehicle β.

Further, according to the first embodiment, the notification mode control unit X6 controls the specific expression mode of the notification regarding the preceding vehicle β by referring to the notification intensity setting information acquired from the notification intensity setting unit X4. . Since the notification device such as the HUD 31, the MET 32, and the speaker 33 implements an expression mode according to the notification strength, it becomes easier for the occupant to take appropriate actions in response to the notification.

Further, according to the first embodiment, the notification mode control unit X6 determines the expression mode based on the notification intensity setting information at the start stage of the notification regarding the preceding vehicle β. Then, the notification mode control unit X6 changes the expression mode to a stronger expression mode than at the start stage in a later stage when the possibility of contact with the preceding vehicle β is higher than in the start stage. Since the expression mode is changed step by step as the possibility of contact increases, it is possible to reduce the annoyance felt by the occupant and to give the occupant multiple opportunities to recognize the notification.

According to the first embodiment, after starting the notification regarding the preceding vehicle β, the notification mode control unit When moving and leaving, the HUD 31 and MET 32 are made to display a display expressing the departure in the departure direction of the preceding vehicle β. Therefore, it is possible to make the occupants accurately recognize that the preceding vehicle β has left the vehicle.

Further, according to the first embodiment, in the display expressing departure, the preceding vehicle content C4H, C4M fades out while moving in the departure direction relative to the lane content C2H, C2M. This display allows the occupants to accurately recognize that the preceding vehicle β has left the vehicle by changing lanes.

Further, according to the first embodiment, in the display expressing departure, both the preceding vehicle content C4H, C4M and the lane content C2H, C2M fade out while moving in the departure direction while maintaining their relative positional relationship. . This display allows the occupants to accurately recognize that the own vehicle α has left the vehicle by changing lanes.

Further, according to the first embodiment, the notification mode control unit X6 changes the expression displayed by the HUD 31 of the HUD 31 and the MET 32 based on the notification intensity setting information. By changing the display on the HUD 10, which is easily recognized by the occupants viewing the outside environment by superimposing it on the external environment of the host vehicle α, the notification regarding the preceding vehicle β can be accurately recognized by the occupants.

(Other embodiments)
Although one embodiment has been described above, the present disclosure is not to be construed as being limited to this embodiment, and can be applied to various embodiments without departing from the gist of the present disclosure.

Specifically, as a first modification, the details of the process in S300 of the first embodiment may be changed as in S351 to S356 shown in FIG. 14. Specifically, S351 and S352 are the same processes as S301 and S302. After processing in S352, the process moves to S353.

S353 is the same process as S304. If an affirmative determination is made in S353, the process moves to S354. If a negative determination is made in S353, the process in S353 is performed again after a predetermined period of time has elapsed.

S354 is the same process as S303. If an affirmative determination is made in S354, the process moves to S355. If a negative determination is made in S354, the process moves to S356.

S355 is the same process as S305. After processing S355, the process moves to S356. S356 is the same process as S366. The series of processing ends at S356.

As a second modification, the vehicle schedule determination unit X2 may determine whether the vehicle α is scheduled to change lanes using another information instead of the blinker information. For example, it may be determined whether or not the vehicle α is scheduled to change lanes using information about the planned route to the destination set by the car navigation function or the automatic driving function.

As a third modification, the notification may include vibration. For example, the notification control device may control notification using a vibration device that vibrates a steering wheel, a driver's seat, or the like.

As a fourth modification, each function provided by the notification control device can be provided by software and hardware that executes it, only software, only hardware, or a complex combination thereof. Further, when such functions are provided by electronic circuits as hardware, each function can also be provided by digital circuits including multiple logic circuits, or by analog circuits.

As a fifth modification, the form of the storage medium that stores the program and the like that can realize the above-mentioned notification control may also be changed as appropriate. For example, the storage medium is not limited to a configuration provided in the form of a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot portion, and electrically connected to the control circuit of the notification control device. You can. Furthermore, the storage medium may be an optical disk, a hard disk, or the like that serves as a basis for copying the program to the notification control device.

As a sixth modification, the notification control device may not be installed in the own vehicle α. For example, if the notification control device is not installed in the vehicle but is fixedly placed outside the own vehicle α or installed in another vehicle, the notification control device is not installed in the vehicle, but is installed in another vehicle. The notification device may be remotely controlled.

The control unit and techniques described in this disclosure may be implemented by a special purpose computer comprising a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and techniques described in this disclosure may be implemented with dedicated hardware logic circuitry. Alternatively, the apparatus and techniques described in this disclosure may be implemented by one or more special purpose computers configured by a combination of a processor executing a computer program and one or more hardware logic circuits. The computer program may also be stored as instructions executed by a computer on a computer-readable non-transitory tangible storage medium.

10: HCU (notification control device), 31: HUD (superimposed display device, display device, notification device), 32: MET (vehicle interior display device, display device, notification device), 33: Speaker (audio notification device, notification device) ), α: own vehicle, β: preceding vehicle, X3: own vehicle schedule determination section, X4: notification intensity setting section

Claims (13)

A notification control device that is used in a vehicle and controls notifications from one or more notification devices (31, 32, 33) to an occupant of the own vehicle (α) as the vehicle,
An intersection where the vehicle is in a lane change scheduled state where the vehicle is scheduled to change lanes, the vehicle is located less than a predetermined distance from the intersection, and the vehicle is traveling toward the intersection. an own vehicle schedule determination unit (X3) that determines whether or not the vehicle is in a planned approach state;
When the schedule conditions that the own vehicle is in the lane change scheduled state and the intersection planned state are satisfied, the host vehicle is ahead of the own vehicle than when the own vehicle is not in the lane change planned state. a notification intensity setting unit (X4) that sets the notification intensity in the notification regarding the preceding vehicle (β) to be weak ;
The notification intensity setting unit controls notification to set the notification intensity to be stronger than the weak setting when the scheduled condition is satisfied, when the own vehicle has already entered the intersection. Device. The notification intensity setting unit is configured to set the notification intensity to a stronger setting than the weak setting even if the scheduled condition is met and the own vehicle is traveling at a predetermined speed or higher. The notification control device according to item 1 . A notification control device that is used in a vehicle and controls notifications from one or more notification devices (31, 32, 33) to an occupant of the own vehicle (α) as the vehicle,
An intersection where the vehicle is in a lane change scheduled state where the vehicle is scheduled to change lanes, the vehicle is located less than a predetermined distance from the intersection, and the vehicle is traveling toward the intersection. an own vehicle schedule determination unit (X3) that determines whether or not the vehicle is in a planned approach state;
When the schedule conditions that the own vehicle is in the lane change scheduled state and the intersection planned state are satisfied, the host vehicle is ahead of the own vehicle than when the own vehicle is not in the lane change planned state. a notification intensity setting unit (X4) that sets the notification intensity in the notification regarding the preceding vehicle (β) to be weak ;
The notification intensity setting unit sets the notification intensity to be stronger than the weak setting even if the scheduled condition is met, if the own vehicle is traveling at a predetermined speed or higher. Notification control device. Any one of claims 1 to 3, further comprising a notification mode control section (X6) that controls a specific expression mode in the notification by referring to the notification intensity setting information acquired from the notification intensity setting section. The notification control device according to item 1. A notification control device that is used in a vehicle and controls notifications from one or more notification devices (31, 32, 33) to an occupant of the own vehicle (α) as the vehicle,
An intersection where the vehicle is in a lane change scheduled state where the vehicle is scheduled to change lanes, the vehicle is located less than a predetermined distance from the intersection, and the vehicle is traveling toward the intersection. an own vehicle schedule determination unit (X3) that determines whether or not the vehicle is in a planned approach state;
When the schedule conditions that the own vehicle is in the lane change scheduled state and the intersection planned state are satisfied, the host vehicle is ahead of the own vehicle than when the own vehicle is not in the lane change planned state. a notification intensity setting unit (X4) that sets the notification intensity of the notification regarding the preceding vehicle (β) to be weak;
A notification control device comprising: a notification mode control section (X6) that controls a specific expression mode in the notification by referring to setting information of the notification intensity acquired from the notification intensity setting section. The notification mode control unit includes:
At the start stage of the notification regarding the preceding vehicle, determining an expression mode based on the setting information of the notification intensity,
The notification control device according to claim 4 or 5 , wherein the expression mode is changed to a stronger expression mode than at the start stage in a later stage when the possibility of contact with the preceding vehicle is higher than in the start stage. A display device (31, 32) capable of displaying is provided as the notification device,
After starting the notification about the preceding vehicle, the notification mode control unit is configured to control the notification mode when the preceding vehicle moves relatively to the left or right direction and leaves the host vehicle. The notification control device according to any one of claims 4 to 6, wherein the display device displays a display representing departure of the preceding vehicle in the departure direction. After starting the notification regarding the preceding vehicle, the notification mode control unit is configured to display a message indicating that the preceding vehicle is leaving in the leaving direction when the preceding vehicle leaves by changing lanes. The notification control device according to claim 7 , wherein the display device causes the display device to perform a display in which the content (C4H, C4M) fades out while moving relative to the lane content (C2H, C2M) in the leaving direction. After starting the notification regarding the preceding vehicle, when the own vehicle departs by changing lanes, the notification mode control unit is configured to display a display representing the departure of the preceding vehicle in the departing direction. The notification control device according to claim 7 , wherein the display device performs a display that fades out while moving in the leaving direction while maintaining a relative positional relationship between both the content and the lane content. As the notification device, a superimposed display device (31) capable of displaying a display superimposed on the external environment of the vehicle, and a vehicle interior display device capable of displaying a display on a display screen provided in the vehicle interior of the vehicle. (32) is provided,
The notification control according to claim 4 or 5, wherein the notification mode control unit changes the expression of the display by the superimposed display device of the superimposed display device and the vehicle interior display device based on the setting information of the notification intensity. Device. A notification control program that is used in a vehicle and controls notifications directed to occupants of the own vehicle (α) as the vehicle by one or more notification devices (31, 32, 33),
At least one processing unit (11),
An intersection where the vehicle is in a lane change scheduled state where the vehicle is scheduled to change lanes, the vehicle is located less than a predetermined distance from the intersection, and the vehicle is traveling toward the intersection. A process (S101 to S107) for determining whether or not the vehicle is in a scheduled entry state;
When the schedule conditions that the own vehicle is in the lane change scheduled state and the intersection planned state are satisfied, the host vehicle is ahead of the own vehicle than when the own vehicle is not in the lane change planned state. The notification intensity of the notification regarding the preceding vehicle (β) is set to be weak, and when the own vehicle has already entered the intersection, the notification intensity is set to be the same as that of the preceding vehicle (β) when the scheduled condition is satisfied. A notification control program that executes processing for setting stronger settings than weak settings (S108 , S109 ). A notification control program that is used in a vehicle and controls notifications directed to occupants of the own vehicle (α) as the vehicle by one or more notification devices (31, 32, 33),
At least one processing unit (11),
An intersection where the vehicle is in a lane change scheduled state where the vehicle is scheduled to change lanes, the vehicle is located less than a predetermined distance from the intersection, and the vehicle is traveling toward the intersection. A process (S101 to S107) for determining whether or not the vehicle is in a scheduled entry state;
When the schedule conditions that the own vehicle is in the lane change scheduled state and the intersection planned state are satisfied, the host vehicle is ahead of the own vehicle than when the own vehicle is not in the lane change planned state. The notification strength of the notification regarding the preceding vehicle (β) is set to be weak, and even if the schedule condition is met, the notification strength is set to be low if the own vehicle is traveling at a predetermined speed or higher. , a notification control program that executes processing for setting a stronger setting than the weaker setting (S108 , S109 ). A notification control program that is used in a vehicle and controls notifications directed to occupants of the own vehicle (α) as the vehicle by one or more notification devices (31, 32, 33),
At least one processing unit (11),
An intersection where the vehicle is in a lane change scheduled state where the vehicle is scheduled to change lanes, the vehicle is located less than a predetermined distance from the intersection, and the vehicle is traveling toward the intersection. A process (S101 to S107) for determining whether or not the vehicle is in a scheduled entry state;
When the schedule conditions that the own vehicle is in the lane change scheduled state and the intersection planned state are satisfied, the host vehicle is ahead of the own vehicle than when the own vehicle is not in the lane change planned state. a process (S108) for setting the notification strength in the notification regarding the preceding vehicle (β) to be weak;
A notification control program that executes a process (S206) of controlling a specific expression mode in the notification by referring to the setting information of the notification intensity .

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