JP7484959B2 - Vehicle notification control device and vehicle notification control method - Google Patents

Description

This disclosure relates to a vehicle notification control device and a vehicle notification control method.

Patent document 1 discloses a technology that displays "Autonomous driving in progress" on a display device attached to the roof of the vehicle when the vehicle is in autonomous driving mode.

JP 2017-7417 A

Depending on the level of automation, autonomous driving varies in both system control and driver behavior. In contrast, Patent Document 1 only considers notifying people outside the vehicle that the vehicle is "in autonomous driving" while it is in autonomous driving. Therefore, with the technology disclosed in Patent Document 1, it is difficult to provide a more favorable external notification to those around the vehicle depending on the vehicle's state regarding autonomous driving.

One objective of this disclosure is to provide a vehicle notification control device and a vehicle notification control method that, when a vehicle is performing autonomous driving, enables information related to autonomous driving to be notified to the outside of the vehicle in a manner that is more favorable for those around the vehicle, depending on the vehicle's state related to autonomous driving.

The above object is achieved by a combination of features recited in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The reference characters in parentheses in the claims indicate a correspondence with the specific means described in the embodiments described below as one aspect, and do not limit the technical scope of the present disclosure.

In order to achieve the above object, a first vehicle notification control device disclosed herein is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 106) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is an exterior notification of information related to autonomous driving, to the outside of the vehicle. 5a, 105b, 105c, 105d, 105e), in which the vehicle exterior notification control unit changes the timing of issuing the vehicle exterior notification depending on the autonomous driving related state identified by the state identification unit , and the state identification unit identifies, as the autonomous driving related state, at least whether or not prior approval, that is, approval from the driver of the vehicle, has been given for an increase in the automation level before the increase becomes possible, and the vehicle exterior notification control unit changes the timing of issuing the vehicle exterior notification depending on whether prior approval has been given when an increase in the automation level becomes possible, using the autonomous driving related state identified by the state identification unit.
In order to achieve the above object, a second vehicle notification control device disclosed herein is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to autonomous driving, to the outside of the vehicle. The vehicle exterior notification control unit changes the timing of issuing the vehicle exterior notification in accordance with the autonomous driving related state identified by the state identification unit, and the state identification unit identifies at least the cause of a decrease in the automation level as the autonomous driving related state, and the vehicle exterior notification control unit changes the timing of issuing the vehicle exterior notification in accordance with the cause of the decrease in the automation level using the autonomous driving related state identified by the state identification unit when the automation level is decreased.
In order to achieve the above object, a third vehicle notification control device disclosed herein is a vehicle notification control device that can be used in a vehicle that is capable of monitoring-free autonomous driving, which is autonomous driving without the driver of the vehicle being required to monitor, and that is capable of switching the automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 105b) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is a notification of information related to autonomous driving, to the outside of the vehicle. a, 105b, 105c, 105d, 105e), in which the vehicle exterior notification control unit changes the timing of issuing the vehicle exterior notification depending on the autonomous driving related state identified by the state identification unit, and the state identification unit (104a) identifies at least the start of autonomous driving without monitoring obligation and the duration of driving in autonomous driving without monitoring obligation as the autonomous driving related states, and when the state identification unit identifies the start of autonomous driving without monitoring obligation, the vehicle exterior notification control unit (105a) continues the vehicle exterior notification for a first predetermined time and then ends it, while when the duration of driving in autonomous driving without monitoring obligation identified by the state identification unit exceeds a second predetermined time that is longer than the first predetermined time, the vehicle exterior notification control unit (105a)
In order to achieve the above object, a fourth vehicle notification control device disclosed herein is a vehicle notification control device that can be used in a vehicle that is capable of monitoring-free autonomous driving, which is autonomous driving without the driver of the vehicle being required to monitor, and that is capable of switching the automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an exterior notification of information related to autonomous driving, to the outside of the vehicle. 5c, 105d, 105e), in which the vehicle exterior notification control unit changes the timing of issuing the vehicle exterior notification depending on the autonomous driving related state identified by the state identification unit, and the state identification unit (104b) identifies at least the start of autonomous driving without monitoring obligation and the implementation status of lane changing during autonomous driving without monitoring obligation as the autonomous driving related states, and when the state identification unit identifies the start of autonomous driving without monitoring obligation, the vehicle exterior notification control unit (105b) continues the vehicle exterior notification for a first predetermined time and then ends it, while causing the vehicle exterior notification to be issued again based on the identification by the state identification unit of a lane change being performed during autonomous driving without monitoring obligation or a lane change having been performed during autonomous driving without monitoring obligation.
In order to achieve the above object, a fifth vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 19 The vehicle exterior notification control unit changes the timing of issuing an exterior notification in accordance with the autonomous driving related state identified by the state identification unit, the state identification unit (104c) identifies at least the surrounding conditions of the vehicle during autonomous driving as an autonomous driving related state, and the vehicle exterior notification control unit (105c) issues an exterior notification when the state identification unit identifies a state in which the inter-vehicle distance between the autonomous driving vehicle and a vehicle behind the vehicle is less than a threshold value for a specified period of time or more.
In order to achieve the above object, a sixth vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to autonomous driving, to the outside of the vehicle. The vehicle exterior notification control unit changes the timing of issuing an exterior notification depending on the autonomous driving related state identified by the state identification unit, the exterior notification device (191d) is provided at least in the front of the vehicle and issues an exterior notification by at least one of display and light emission, the state identification unit (104d) identifies at least the following state of the autonomous driving vehicle as the autonomous driving related state, and the exterior notification control unit (105d) causes an exterior notification to be issued from the exterior notification device provided in the front of the vehicle when the state identification unit identifies a state in which the autonomous driving vehicle has started following a leading vehicle.
In order to achieve the above object, a seventh vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification device (19, 19b, 19c) that performs an exterior notification, which is a notification of information related to autonomous driving, to the outside of the vehicle. The vehicle exterior notification control unit changes the timing of the exterior notification in accordance with the autonomous driving-related state identified by the state identification unit, and includes an interior notification control unit (102, 102b, 102e) that controls an interior notification device (18, 181, 182) that issues an interior notification, which is an indication to the interior of the vehicle that an exterior notification is being issued, the interior notification control unit changing the timing of the exterior notification in accordance with the autonomous driving-related state identified by the state identification unit.
In order to achieve the above object, an eighth vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that is capable of monitoring-free autonomous driving, which is autonomous driving without the driver of the vehicle being required to monitor, and that is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an alert regarding information related to the autonomous driving, to the outside of the vehicle, and the exterior notification control unit changes a timing for issuing an exterior notification in accordance with the autonomous driving-related state identified by the state identification unit, and controls an interior notification, which is an alert indicating that an exterior notification is being issued, to the inside of the vehicle. The vehicle is provided with an in-vehicle notification control unit (102, 102b, 102e) that controls an in-vehicle notification device (18, 181, 182) that performs the above-mentioned operations, and a state identification unit (104b) identifies at least the start of autonomous driving without monitoring obligation and the implementation status of a lane change during autonomous driving without monitoring obligation as autonomous driving-related states, and an exterior notification control unit (105b) continues the exterior notification for a first predetermined time and then ends it when the state identification unit identifies the start of autonomous driving without monitoring obligation, while causing an exterior notification to be issued again based on the state identification unit identifying a lane change being performed during autonomous driving without monitoring obligation or a lane change having been performed during autonomous driving without monitoring obligation, and the in-vehicle notification control unit (102b) causes an in-vehicle notification indicating the automation level of the vehicle to be issued, but causes an in-vehicle notification indicating the implementation status of a lane change, based on the state identification unit identifying a lane change being performed during autonomous driving without monitoring obligation or a lane change having been performed during autonomous driving without monitoring obligation.
In order to achieve the above object, a ninth vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to autonomous driving, to the outside of the vehicle, and the exterior notification control unit: The timing of issuing an exterior notification is changed depending on the autonomous driving-related state identified by the state identification unit, and the vehicle is provided with an interior notification control unit (102, 102b, 102e) that controls an interior notification device (18, 181, 182) that issues an interior notification, which is an notification toward the interior of the vehicle indicating that an exterior notification is being issued, and the exterior notification device (191) issues an exterior notification at least by display, and the interior notification device (181) displays at least an image showing a vehicle, and the interior notification control unit issues an interior notification by causing a display similar to the exterior notification to be displayed in an area of the image showing the vehicle displayed by the interior notification device, where the exterior notification is issued by the exterior notification device.
In order to achieve the above object, a tenth vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification unit (104, 104a, 104b, 104c, 104d, 104e) that identifies an autonomous driving related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an announcement of information related to autonomous driving, to the outside of the vehicle, and the exterior notification control unit changes the timing of issuing the exterior notification depending on the autonomous driving related state identified by the state identification unit. The vehicle is provided with an in-vehicle notification control unit (102, 102b, 102e) that controls an in-vehicle notification device (18, 181, 182) that issues an in-vehicle notification, which is a notification toward the interior of the vehicle indicating that an external notification is being made, and a state identification unit (104e) identifies at least the traffic conditions of the vehicle at an intersection during autonomous driving as an autonomous driving related state, and an exterior notification control unit (105e) issues an exterior notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during autonomous driving, and an in-vehicle notification control unit (102e) issues an in-vehicle notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during autonomous driving.

In order to achieve the above object, a first vehicle notification control method of the present disclosure is a vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and can switch the automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor, for identifying an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an exterior notification of information related to autonomous driving, to the outside of the vehicle, wherein the exterior notification control step changes the timing of issuing the exterior notification depending on the autonomous driving-related state identified in the state identification step, the state identification step identifies at least whether or not prior approval, which is approval from the driver of the vehicle, has been given for an increase in the automation level before the increase becomes possible, as the autonomous driving-related state, and the exterior notification control step changes the timing of issuing the exterior notification depending on whether prior approval has been given, when an increase in the automation level becomes possible, using the autonomous driving-related state identified in the state identification step .
In order to achieve the above-mentioned object, the second vehicle notification control method disclosed herein is a vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and can switch the automation level, which is the degree of autonomous driving, and includes a state identification process executed by at least one processor for identifying an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control process for controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an exterior notification of information related to autonomous driving, to outside the vehicle, wherein the exterior notification control process changes the timing of the exterior notification depending on the autonomous driving-related state identified in the state identification process, the state identification process identifies at least a factor that causes a decrease in the automation level as the autonomous driving-related state, and the exterior notification control process changes the timing of the exterior notification depending on the factor that causes the decrease in the automation level, when the automation level decreases, using the autonomous driving-related state identified in the state identification process.
In order to achieve the above object, a third vehicle notification control method of the present disclosure is a vehicle notification control method that can be used in a vehicle that is capable of monitoring-free autonomous driving, which is autonomous driving without the driver of the vehicle being required to monitor, and that is capable of switching the automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor, for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving, and an external notification step of controlling an external notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an external notification, which is a notification of information related to the autonomous driving, to the outside of the vehicle. The vehicle exterior notification control process includes a notification control step, in which the timing of issuing the vehicle exterior notification is changed depending on the autonomous driving-related state identified in the state identification step, and the state identification step identifies at least the start of autonomous driving without monitoring obligation and the duration of driving in autonomous driving without monitoring obligation as the autonomous driving-related state, and in the vehicle exterior notification control step, when the start of autonomous driving without monitoring obligation is identified in the state identification step, the vehicle exterior notification is continued for a first predetermined time and then terminated, while when the duration of driving in autonomous driving without monitoring obligation identified in the state identification step exceeds a second predetermined time that is longer than the first predetermined time, the vehicle exterior notification is issued again.
In order to achieve the above object, a fourth vehicle notification control method of the present disclosure is a vehicle notification control method that can be used in a vehicle that is capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of the vehicle driver, and that is capable of switching the automation level, which is the degree of automatic driving, and includes a state identification step executed by at least one processor, which identifies an automatic driving related state, which is a state of the vehicle related to the automatic driving, and an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, to the outside of the vehicle. In addition, in the vehicle exterior notification control process, the timing of issuing an exterior notification is changed depending on the autonomous driving related state identified in the state identification process, and in the state identification process, at least the start of autonomous driving without monitoring obligation and the implementation status of a lane change during autonomous driving without monitoring obligation are identified as autonomous driving related states, and in the vehicle exterior notification control process, when the start of autonomous driving without monitoring obligation is identified in the state identification process, the vehicle exterior notification is continued for a first predetermined time period and then terminated, while the vehicle exterior notification is issued again based on the identification in the state identification process of a lane change being implemented during autonomous driving without monitoring obligation or a lane change having been implemented during autonomous driving without monitoring obligation.
In order to achieve the above object, a fifth vehicle notification control method disclosed herein is a vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and that can switch the automation level, which is the degree of autonomous driving, and includes a state identification process executed by at least one processor for identifying an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control process for controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an exterior notification of information related to autonomous driving, to outside the vehicle, wherein the exterior notification control process changes the timing of issuing the exterior notification depending on the autonomous driving-related state identified in the state identification process, the state identification process identifies at least the surrounding situation of the vehicle that is autonomously driving as the autonomous driving-related state, and the exterior notification control process issues an exterior notification when the state identification process identifies a situation in which a state in which the distance between the autonomous driving vehicle and a vehicle behind the vehicle is less than a threshold continues for a specified time or more.
In order to achieve the above object, a sixth vehicle notification control method of the present disclosure is a vehicle notification control method usable in a vehicle capable of autonomous driving and capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor for identifying an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control step for controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is a notification of information related to the autonomous driving, to the outside of the vehicle. In addition, in the vehicle exterior notification control process, the timing of issuing an exterior notification is changed depending on the autonomous driving related state identified in the state identification process, and the vehicle exterior notification device (191d) is provided at least at the front of the vehicle and issues an exterior notification by at least one of display and light emission, and in the state identification process, at least the following status of the autonomous driving vehicle is identified as the autonomous driving related state, and in the vehicle exterior notification control process, when the state identification process identifies a status in which the autonomous driving vehicle has started following a leading vehicle, an exterior notification is issued from the vehicle exterior notification device provided at the front of the vehicle.
In order to achieve the above-mentioned object, a seventh vehicle notification control method disclosed herein is a vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and can switch the automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor, for identifying an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an notification of information related to autonomous driving, to the outside of the vehicle, in which the timing of issuing the exterior notification is changed depending on the autonomous driving-related state identified in the state identification step, and includes an interior notification control step of controlling an interior notification device (18, 181, 182) that issues an interior notification, which is an notification indicating that an exterior notification is being issued, to the inside of the vehicle cabin.
In order to achieve the above object, an eighth vehicle notification control method of the present disclosure is a vehicle notification control method that can be used in a vehicle that is capable of monitoring-free autonomous driving, which is autonomous driving without the driver of the vehicle being required to monitor, and that is capable of switching the automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor to identify an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an exterior notification of information related to autonomous driving, to the outside of the vehicle, and the exterior notification control step changes a timing of issuing an exterior notification according to the autonomous driving-related state identified in the state identification step, and an interior notification, which is an interior notification, which is an interior notification indicating that an exterior notification is being issued, to the inside of the vehicle. The method includes an in-vehicle notification control step of controlling an alarm device (18, 181, 182), and in the state identification step, at least the start of autonomous driving without monitoring obligation and the implementation status of lane changing during autonomous driving without monitoring obligation are identified as autonomous driving-related states, and in the external notification control step, when the start of autonomous driving without monitoring obligation is identified in the state identification step, the external notification is continued for a first predetermined time and then terminated, while an external notification is issued again based on the identification in the state identification step of a lane change being implemented during autonomous driving without monitoring obligation or a lane change being implemented during autonomous driving without monitoring obligation, and in the in-vehicle notification control step, an in-vehicle notification indicating the automation level of the vehicle is not issued, but an in-vehicle notification indicating the implementation status of a lane change is issued based on the identification in the state identification step of a lane change being implemented during autonomous driving without monitoring obligation or a lane change being implemented during autonomous driving without monitoring obligation.
In order to achieve the above object, a ninth vehicle notification control method of the present disclosure is a vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor, for identifying an autonomous driving-related state, which is a state of the vehicle related to autonomous driving, and an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to autonomous driving, to an outside of the vehicle, and in the exterior notification control step, The timing of issuing an exterior notification is changed depending on an autonomous driving-related state, and includes an interior notification control process for controlling an interior notification device (18, 181, 182) that issues an interior notification, which is an notification toward the interior of the vehicle indicating that an exterior notification is being issued, and the exterior notification device (191) issues an exterior notification at least by display, and the interior notification device (181) displays at least an image showing a vehicle, and the interior notification control process issues an interior notification by causing a display similar to the exterior notification to be displayed in an area of the image showing the vehicle displayed by the interior notification device, in which the exterior notification is issued by the exterior notification device.
In order to achieve the above object, a tenth vehicle notification control method disclosed herein is a vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and that can switch the automation level, which is the degree of autonomous driving, and includes a state identification step executed by at least one processor, which identifies an autonomous driving-related state, which is the state of the vehicle related to autonomous driving, and an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that issues an exterior notification, which is an exterior notification of information related to autonomous driving, to the outside of the vehicle, and in the exterior notification control step, a timing for issuing the exterior notification is changed depending on the autonomous driving-related state identified in the state identification step. The method includes an in-vehicle notification control process that controls an in-vehicle notification device (18, 181, 182) that issues an in-vehicle notification, which is a notification toward the interior of the vehicle, indicating that an external notification is being made, and in the state identification process, at least the traffic conditions of the vehicle at an intersection during automatic driving are identified as an automatic driving related state, and in the external notification control process, when it is determined in the state identification process that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during automatic driving, an external notification indicating that a temporary stop is planned is issued, and in the in-vehicle notification control process, when it is determined in the state identification process that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during automatic driving, an in-vehicle notification indicating that a temporary stop is planned is issued.

These features make it possible to change the timing of external notification, which is a notification of information related to autonomous driving to the outside of the vehicle, depending on the vehicle's state regarding autonomous driving. Therefore, it becomes possible to cause external notification to be performed at a timing that is more favorable for those around the vehicle, depending on the vehicle's state regarding autonomous driving. As a result, when the vehicle is performing autonomous driving, it becomes possible to cause information related to autonomous driving to be notified to the outside of the vehicle in a manner that is more favorable for those around the vehicle, depending on the vehicle's state regarding autonomous driving.

1 is a diagram illustrating an example of a schematic configuration of a vehicle system 1. FIG. A diagram for explaining an example of how an exterior display device 191 is installed. A diagram for explaining an example of how an exterior display device 191 is installed. FIG. 2 is a diagram showing an example of a schematic configuration of an HCU 10. 11 is a diagram for explaining an example of a foreground image displayed on a display 181. FIG. FIG. 2 is a diagram showing an example of the appearance of a host vehicle. 11A and 11B are diagrams showing an example of a case where an in-vehicle notification is performed in a foreground image. 11A and 11B are diagrams showing an example of a case where an in-vehicle notification is performed in a foreground image. 13 is a diagram for explaining an example of the timing of outside and inside vehicle notifications when it is possible to raise the level to area-limited LV3 and prior approval has been given. FIG. 13 is a diagram for explaining an example of the timing of external and internal notifications when an increase to congestion limited LV3 is possible and prior approval has been given. FIG. This figure explains an example of the timing of outside and inside vehicle notifications when it is possible to increase the automation level to LV3 and prior approval is not given. This figure explains an example of the timing of outside and inside vehicle notifications when it is possible to increase the automation level to LV3 and prior approval is not given. 11 is a diagram for explaining an example of the timing of outside and inside notification when the automation level of the host vehicle is lowered due to an override. FIG. 13 is a diagram for explaining an example of the timing of external and internal notifications when the automation level of the vehicle decreases due to a planned driving change. 13 is a diagram for explaining an example of the timing of external and internal notifications when the automation level of the vehicle decreases due to an unplanned driving change. 11 is a diagram for explaining an example of the timing of an outside notification when the automation level of the host vehicle is lowered due to a sudden release factor. FIG. FIG. 13 is a diagram for explaining an example in which the duration of the vehicle exterior notification is varied depending on the cause of a decrease in the automation level. FIG. 2 is a diagram showing an example of a schematic configuration of an HCU 10a. 11 is a diagram for explaining an example of timing for re-notifying an outside alarm. FIG. FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1b. FIG. 2 is a diagram showing an example of a schematic configuration of an HCU 10b. FIG. 13 is a diagram for explaining an example of an outside-vehicle notification based on the surrounding conditions of the vehicle after completing a lane change during autonomous driving without a monitoring obligation. FIG. 13 is a diagram for explaining an example of the timing of an external notification when changing lanes during autonomous driving without a monitoring obligation. FIG. 13 is a diagram for explaining an example of the timing of an external notification when changing lanes during autonomous driving without a monitoring obligation. FIG. 13 is a diagram for explaining an example of the timing of an external notification when changing lanes during autonomous driving without a monitoring obligation. 11 is a diagram for explaining an example in which an outside notification is changed depending on whether or not the driver is monitoring the surroundings. FIG. 11 is a diagram for explaining an example in which an external notification is changed depending on the situation of a lane change. FIG. FIG. 10 is a diagram for explaining an example of an in-vehicle notification indicating the implementation status of a lane change. FIG. 2 is a diagram showing an example of a schematic configuration of an HCU 10c. 10A and 10B are diagrams for explaining an example of timing of vehicle exterior notification according to the surrounding conditions of the host vehicle; FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1d. FIG. 2 is a diagram showing an example of a schematic configuration of an HCU 10d. 10A and 10B are diagrams for explaining an example of timing of vehicle exterior notification according to a following situation of the host vehicle; 11 is a diagram for explaining an example of changing the vehicle exterior notification when the vehicle exterior notification is being performed while following a preceding vehicle. FIG. FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10e. This figure explains an example of the timing of external and internal warnings of a planned stop when a stop is required before a crosswalk when turning right or left at an intersection during autonomous driving. This figure explains an example of the timing of external and internal stop sign notifications when the vehicle stops in front of a crosswalk when turning right or left at an intersection during autonomous driving.

Several embodiments for disclosure will be described with reference to the drawings. For ease of explanation, parts in several embodiments that have the same functions as parts shown in the drawings used in the previous explanations may be given the same reference numerals and their explanations may be omitted. For parts given the same reference numerals, the explanations in other embodiments may be referred to.

(Embodiment 1)
<General Configuration of Vehicle System 1>
Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings. The vehicle system 1 shown in FIG. 1 can be used in a vehicle capable of automatic driving (hereinafter, an automatic driving vehicle). As shown in FIG. 1, the vehicle system 1 includes a HCU (Human Machine Interface Control Unit) 10, a communication module 11, a locator 12, a map database (hereinafter, a map DB) 13, a vehicle state sensor 14, a surroundings monitoring sensor 15, a vehicle control ECU 16, an automatic driving ECU 17, an in-vehicle presentation device 18, an outside-vehicle notification device 19, and a user input device 20. For example, the HCU 10, the communication module 11, the locator 12, the map DB 13, the vehicle state sensor 14, the surroundings monitoring sensor 15, the vehicle control ECU 16, and the automatic driving ECU 17 may be configured to be connected to an in-vehicle LAN (see the LAN in FIG. 1). The vehicle using the vehicle system 1 is not necessarily limited to an automobile, but the following description will be given taking the case of using the system in an automobile as an example.

There can be multiple levels of automation for an autonomous vehicle (hereafter referred to as automation level), as defined by the SAE, for example. Automation levels are classified into LV0 to 5, for example, as follows:

LV0 is the level at which the driver performs all driving tasks without intervention from the vehicle's system. The driving task may be referred to as a dynamic driving task. Driving tasks include, for example, steering, acceleration/deceleration, and surrounding monitoring. LV0 corresponds to so-called manual driving. LV1 is the level at which the system assists with either steering or acceleration/deceleration. LV1 corresponds to so-called driving assistance. LV2 is the level at which the system assists with both steering and acceleration/deceleration. LV2 corresponds to so-called partial driving automation. LV1-2 are also considered to be part of autonomous driving.

For example, automated driving of LV1-2 is automated driving in which the driver has a duty to monitor safe driving (hereinafter simply referred to as the duty to monitor). The duty to monitor includes visual monitoring of the surroundings. Autonomous driving of LV1-2 can be said to be automated driving in which a second task is not permitted. A second task is an action other than driving that is permitted for the driver, and is a specific action that has been specified in advance. A second task can also be said to be a secondary activity, other activity, etc. A second task must not prevent the driver from responding to a request from the automated driving system to take over driving operations. As an example, actions such as watching content such as videos, operating a smartphone, reading, and eating are considered as second tasks.

LV3 autonomous driving is a level where the system can perform all driving tasks under certain conditions, and the driver performs driving operations in an emergency. In LV3 autonomous driving, the driver is required to be able to respond quickly when the system requests a driver to take over. This driver handover can also be said to be a transfer of monitoring duties from the vehicle's system to the driver. LV3 corresponds to so-called conditional driving automation. LV3 includes area-limited LV3 that is limited to a specific area. The specific area referred to here may be a motorway or a highway. The specific area may be, for example, a specific lane. LV3 includes specific situation-limited LV3 that is limited to specific surrounding circumstances that are specific surrounding circumstances. An example of a specific surrounding situation is traffic congestion. In the following, a traffic congestion-limited LV3 that is limited to traffic congestion will be used as an example of a specific situation-limited LV3. The traffic congestion-limited LV3 may be configured to be limited to traffic congestion on a motorway or a highway, for example.

LV4 autonomous driving is a level where the system can perform all driving tasks, except in some situations such as on unmanageable roads and in extreme environments. LV4 corresponds to so-called highly automated driving. LV5 autonomous driving is a level where the system can perform all driving tasks in any environment. LV5 corresponds to so-called fully automated driving.

For example, autonomous driving levels 3 to 5 are autonomous driving levels where the driver has no obligation to monitor. In other words, they are equivalent to autonomous driving without a monitoring obligation. Autonomous driving levels 3 to 5 can be rephrased as autonomous driving in which a second task is permitted. Of autonomous driving levels 3 to 5, autonomous driving levels 4 and above are autonomous driving levels where the driver is permitted to sleep (hereinafter referred to as sleep-enabled autonomous driving). Of autonomous driving levels 3 to 5, autonomous driving levels 3 are autonomous driving levels where the driver is not permitted to sleep (hereinafter referred to as sleep-disabled autonomous driving).

The autonomous vehicle of this embodiment is assumed to be capable of switching between automation levels. The automation level may be configured to be switchable only between some of the levels LV0 to 5. In this embodiment, an example will be described in which an autonomous vehicle is capable of switching between autonomous driving at LV3, autonomous driving at LV2 or lower, and manual driving at LV0.

The communication module 11 transmits and receives information via wireless communication with a center outside the vehicle. In other words, it performs wide-area communication. The communication module 11 receives information about traffic congestion around the vehicle from the center via wide-area communication. The communication module 11 may transmit and receive information with other vehicles via wireless communication. In other words, it may perform vehicle-to-vehicle communication. The communication module 11 may transmit and receive information via wireless communication with a roadside device installed on the roadside. In other words, it may perform road-to-vehicle communication. When performing road-to-vehicle communication, the communication module 11 may receive information about surrounding vehicles transmitted from surrounding vehicles of the vehicle via the roadside device. The communication module 11 may also receive information about surrounding vehicles transmitted from surrounding vehicles of the vehicle via the center via wide-area communication.

The locator 12 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from multiple positioning satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. The locator 12 sequentially measures the position of the vehicle (hereinafter, the vehicle position) on which the locator 12 is mounted, by combining the positioning signals received by the GNSS receiver with the measurement results of the inertial sensor. The vehicle position is represented, for example, in latitude and longitude coordinates. Note that the vehicle position may also be measured using the travel distance calculated from signals sequentially output from a vehicle speed sensor mounted on the vehicle.

The map DB 13 is a non-volatile memory that stores high-precision map data. The high-precision map data is map data with higher precision than the map data used for route guidance in the navigation function. The map DB 13 may also store map data used for route guidance. The high-precision map data includes information that can be used for automated driving, such as three-dimensional shape information of the road, information on the number of lanes, and information indicating the permitted traveling direction for each lane. In addition, the high-precision map data may include node point information indicating the positions of both ends of road markings such as dividing lines. The locator 12 may be configured not to use a GNSS receiver by using three-dimensional shape information of the road. For example, the locator 12 may be configured to identify the vehicle position using three-dimensional shape information of the road and the detection results of a surrounding monitoring sensor 15 such as a LIDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging) that detects a point cloud of characteristic points of the road shape and structures or a surrounding monitoring camera. The three-dimensional shape information of the road may be generated based on captured images using Road Experience Management (REM).

The communication module 11 may receive map data distributed from an external server, for example, via wide area communication, and store the data in the map DB 13. In this case, the map DB 13 may be a volatile memory, and the communication module 11 may be configured to sequentially acquire map data for an area corresponding to the vehicle position.

The vehicle state sensor 14 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 14 includes a vehicle speed sensor that detects the vehicle speed, a steering sensor that detects the steering angle, and the like. The vehicle state sensor 14 includes a steering torque sensor, an accelerator sensor, a brake sensor, and the like. The steering torque sensor detects the steering torque applied to the steering wheel. The accelerator sensor detects whether or not the accelerator pedal is depressed. The accelerator sensor may be an accelerator depression force sensor that detects the depression force applied to the accelerator pedal. The accelerator sensor may be an accelerator stroke sensor that detects the depression amount of the accelerator pedal. The accelerator sensor may be an accelerator switch that outputs a signal according to whether or not the accelerator pedal is depressed. The brake sensor detects whether or not the brake pedal is depressed. The brake sensor may be a brake depression force sensor that detects the depression force applied to the brake pedal. The brake sensor may be a brake stroke sensor that detects the depression amount of the brake pedal. The brake sensor may be a brake switch that outputs a signal according to whether or not the brake pedal is depressed. The vehicle condition sensor 14 outputs the detected sensing information to the in-vehicle LAN. Note that the sensing information detected by the vehicle condition sensor 14 may be configured to be output to the in-vehicle LAN via an ECU installed in the vehicle.

The perimeter monitoring sensor 15 monitors the environment around the vehicle. As an example, the perimeter monitoring sensor 15 detects obstacles around the vehicle, such as moving objects such as pedestrians and other vehicles, and stationary objects such as objects that have fallen on the road. In addition, the perimeter monitoring sensor 15 detects road markings around the vehicle, such as lane markings. The perimeter monitoring sensor 15 is, for example, a perimeter monitoring camera that captures an image of a predetermined range around the vehicle, a millimeter wave radar that transmits a search wave to a predetermined range around the vehicle, a sonar, a LIDAR, or other sensor. The perimeter monitoring camera sequentially outputs the captured images as sensing information to the automatic driving ECU 17. The sonar, millimeter wave radar, LIDAR, or other sensor that transmits a search wave sequentially outputs the scan result based on the received signal obtained when receiving a reflected wave reflected by an obstacle to the automatic driving ECU 17 as sensing information. The sensing information detected by the perimeter monitoring sensor 15 may be configured to be output to the in-vehicle LAN via the automatic driving ECU 17.

The vehicle control ECU 16 is an electronic control device that controls the driving of the vehicle. Driving control includes acceleration/deceleration control and/or steering control. The vehicle control ECU 16 includes a steering ECU that controls steering, a power unit control ECU that controls acceleration/deceleration, and a brake ECU. The vehicle control ECU 16 controls driving by outputting control signals to each driving control device installed in the vehicle, such as an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor.

The autonomous driving ECU 17 includes, for example, a processor, memory, I/O, and a bus connecting these, and executes processes related to autonomous driving by executing a control program stored in the memory. The memory referred to here is a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data. The non-transitory tangible storage medium is realized by a semiconductor memory or a magnetic disk, for example. The autonomous driving ECU 17 includes, as functional blocks, a driving environment recognition unit, an action determination unit, and a control execution unit.

The driving environment recognition unit recognizes the driving environment around the vehicle based on sensing information acquired from the surrounding monitoring sensor 15. In addition to the sensing information acquired from the surrounding monitoring sensor 15, the driving environment recognition unit may recognize the driving environment around the vehicle based on the vehicle position acquired from the locator 12 and map data acquired from the map DB 13. As an example, the driving environment recognition unit uses this information to generate a virtual space that reproduces the actual driving environment.

The driving environment recognition unit may also determine whether there is a manual driving area (hereinafter, MD area) in the driving area of the vehicle. The driving environment recognition unit may also determine whether there is an automatic driving area (hereinafter, AD area) in the driving area of the vehicle. The driving environment recognition unit may also determine whether there is an ST section and a non-ST section in the AD area, as described below.

MD areas are areas where automated driving is prohibited. In other words, MD areas are areas where the driver is required to perform all of the vehicle's longitudinal control, lateral control, and surrounding monitoring. The longitudinal direction is the direction that corresponds to the front-to-rear direction of the vehicle. The lateral direction is the direction that corresponds to the width direction of the vehicle. Longitudinal control corresponds to the acceleration/deceleration control of the vehicle. Lateral control corresponds to the steering control of the vehicle. For example, an MD area may be a general road.

An AD area is an area where autonomous driving is permitted. In other words, an AD area is an area where the vehicle can take over one or more of longitudinal control, lateral control, and perimeter monitoring. For example, an AD area may be a highway or a road for automobiles only. Autonomous driving at traffic jam-limited LV3 (hereinafter, "traffic jam-limited autonomous driving") may be configured to be permitted only when there is a traffic jam in an AD area, for example.

AD areas are divided into ST sections and non-ST sections. ST sections are sections where area-limited LV3 autonomous driving (hereinafter, area-limited autonomous driving) is permitted. Area-limited autonomous driving may be permitted only in specific lanes within the ST section. Non-ST sections are sections where autonomous driving of LV2 and below is possible. In this embodiment, there is no distinction between non-ST sections where LV1 autonomous driving is permitted and non-ST sections where LV2 autonomous driving is permitted. ST sections may be, for example, driving sections for which high-precision map data has been developed. Non-ST sections may be sections within the AD area that do not fall under the ST section.

The behavior determination unit switches the control entity of the driving operation between the driver and the vehicle's system. When the control authority of the driving operation is on the system side, the behavior determination unit determines a driving plan for driving the vehicle based on the recognition result of the driving environment by the driving environment recognition unit. The driving plan may determine the route to the destination and the behavior that the vehicle should take to reach the destination. Examples of behavior include going straight, turning right, turning left, changing lanes, etc. When the control authority of the driving operation is on the system side of the vehicle, the control execution unit executes driving control such as acceleration/deceleration control and steering control of the vehicle in accordance with the driving plan determined by the behavior determination unit in cooperation with the vehicle control ECU 16.

The behavior determination unit also switches the automation level of the host vehicle's autonomous driving as necessary. The behavior determination unit determines whether or not an increase in the automation level is possible. For example, when the host vehicle moves from an MD area to a non-ST section of an AD area, it may determine that it is possible to switch from manual driving to autonomous driving of LV2 or lower. When the host vehicle moves from an MD area to a ST section of an AD area, it may determine that it is possible to switch from LV0 manual driving to area-limited LV3 autonomous driving. When the host vehicle moves from a non-ST section to a ST section of an AD area, it may determine that it is possible to switch from autonomous driving of LV2 or lower to autonomous driving of LV3. When the host vehicle is located in an AD area and the automation level is LV2 or lower, and all the conditions for congestion-limited LV3 are met, it may determine that it is possible to switch from autonomous driving of LV2 or lower to autonomous driving of congestion-limited LV3.

When the behavior determination unit determines that an increase in the automation level is possible and the increase in the automation level is approved by the driver, the behavior determination unit may increase the automation level. Approval may be specified based on approval received by the HCU 10 via the user input device 20. Approval may be pre-approval, which is given before it is determined that an increase in the automation level is possible, or normal approval, which is given when it is determined that an increase in the automation level is possible. Pre-approval may be given by receiving a setting input in advance with the user input device 20. Normal approval may be given by receiving an input with the user input device 20, for example, when it is determined that an increase in the automation level is possible and pre-approval has not been given. Note that pre-approval may be possible only when the automation level is increased to a predetermined level or higher. For example, pre-approval may be possible only when the automation level is increased to LV3 or higher.

The behavior determination unit may lower the automation level when it determines that a lowering of the automation level is necessary. Examples of cases in which it determines that a lowering of the automation level is necessary include when an override is detected, when a planned driving change occurs, and when an unplanned driving change occurs. An override is an operation by which the driver of the vehicle spontaneously acquires control of the vehicle. In other words, an override is an operational intervention by the driver of the vehicle. The behavior determination unit may detect an override from sensing information obtained from the vehicle state sensor 14. For example, the behavior determination unit may detect an override when the steering torque detected by the steering torque sensor exceeds a threshold value. The behavior determination unit may detect an override when the accelerator sensor detects depression of the accelerator pedal. Alternatively, the behavior determination unit may detect an override when the brake sensor detects depression of the brake pedal.

A planned driving changeover is a planned driving changeover determined by the system. For example, a planned driving changeover is performed when the vehicle moves from an ST section in an AD area to a non-ST section or an MD area. In this case, the automation level drops from area-limited LV3 to LV2 or lower. A planned driving changeover may be performed when the vehicle moves from a non-ST section in an AD area to an MD area. In this case, the automation level drops from area-limited LV3 to LV0. An unplanned driving changeover is an unplanned, sudden driving changeover determined by the system. For example, an unplanned driving changeover is performed when the conditions of the congestion-limited LV3 are no longer met during automatic driving of the congestion-limited LV3. In this case, the automation level drops from the congestion-limited LV3 to LV2 or lower. There may be multiple types of conditions for the congestion-limited LV3. Examples of the conditions include being within an AD area, the vehicle speed of the preceding vehicle or the vehicle being below a threshold value estimated to be a congestion, and being a congestion section in the congestion information. Unplanned driving changes may be made when the level of automation cannot be maintained due to a malfunction in the driving environment recognition unit.

When the automation level is lowered by an override, the autonomous driving ECU 17 lowers the automation level after an assistance period in which the system of the vehicle provides more driving assistance than the automation level after the lowering. The driving assistance during the assistance period may be, for example, less than the automation level before the lowering, but more than the automation level after the lowering. When the automation level is lowered due to a driving change determined by the system of the vehicle, the autonomous driving ECU 17 issues a driving change request to the driver of the vehicle to request a driving change, and then lowers the automation level. The driving change request is presented to the driver by the in-vehicle presentation device 18 described later. When the driver receives the driving change request, the driver takes preparatory action required for lowering the automation level, such as gripping the steering wheel. The autonomous driving ECU 17 lowers the automation level after confirming that this preparatory action has been taken. If this preparatory action is not taken, measures such as pulling to the shoulder of the road and stopping the vehicle may be taken.

The in-vehicle presentation device 18 presents information to the interior of the vehicle. The in-vehicle presentation device 18 has a display 181 and an audio output device 182. The display 181 presents information by displaying the information. The display 181 presents information according to instructions from the HCU 10. As the display 181, for example, a meter MID (Multi Information Display), a CID (Center Information Display), or a HUD (Head-Up Display) can be used.

The meter MID is a display device provided in front of the driver's seat inside the vehicle cabin. As an example, the meter MID may be provided in a meter panel. The CID is a display device located in the center of the vehicle's instrument panel. The HUD is provided in the vehicle cabin, for example, on the instrument panel. The HUD projects a display image formed by a projector onto a predetermined projection area on the windshield as a projection member. The light of the image reflected by the windshield into the vehicle cabin is perceived by the driver sitting in the driver's seat. This allows the driver to view a virtual image of the display image formed in front of the windshield, superimposed on a part of the foreground. The HUD may be configured to project a display image onto a combiner provided in front of the driver's seat instead of the windshield.

The audio output device 182 presents information by outputting audio. Examples of the audio output device 182 include a speaker installed in the vehicle cabin.

The exterior notification device 19 issues an exterior notification, which is a notification of information related to automatic driving, to the outside of the vehicle. The exterior notification device 19 has an exterior display 191 and an audio output device 192. The exterior display 191 is provided outside the vehicle and displays information to the outside of the vehicle. The exterior display 191 may display information by emitting light from a lamp. In the following, an example will be described in which the exterior display 191 is a lamp. Note that the exterior display 191 may be a display that displays text, images, etc.

An LED lamp may be used as the exterior display 191, for example. It is preferable that the exterior display 191 is capable of changing various notification modes. The notification mode corresponds to the light emission mode when the notification is made by emitting light. For example, it is preferable that the exterior display 191 is capable of switching the illumination color in addition to switching between on and off. The switching of the illumination color may be realized by changing the combination of the illumination of multiple colors of LEDs. It is preferable that the exterior display 191 is capable of flashing. It is preferable that the flashing cycle of the exterior display 191 is switchable. It is preferable that the ratio of the on time to the off time of the exterior display 191 is switchable.

The LED lamps serving as the exterior display 191 are preferably provided at the four corners of the vehicle as shown in FIG. 2. This is because the exterior display 191 is easy to see from any direction around the vehicle. The exterior display 191 may be provided, for example, at the left and right corners of the front bumper and the left and right corners of the rear bumper. HV in FIG. 2 indicates the vehicle.

The LED lamp serving as the exterior display 191 may be provided as a single lamp near the center of the vehicle width at the rear of the vehicle, as shown in FIG. 3. This makes it possible to make the exterior display 191 easier to see, at least for vehicles following the vehicle, which are most likely to be affected by the behavior of the vehicle.

The audio output device 192 presents information by outputting audio. Examples of the audio output device 192 include a speaker installed outside the vehicle cabin.

The user input device 20 accepts input from the user. The user input device 20 may be an operation device that accepts operation input from the user. The operation device may be a mechanical switch or a touch switch integrated with the display 181. Note that the user input device 20 is not limited to an operation device that accepts operation input, so long as it is a device that accepts input from the user. For example, the user input device 20 may be a voice input device that accepts voice input of commands from the user.

The HCU 10 is mainly composed of a computer equipped with a processor, volatile memory, non-volatile memory, I/O, and a bus connecting these. The HCU 10 is connected to an in-vehicle presentation device 18 and an external notification device 19. The HCU 10 executes control programs stored in the non-volatile memory to execute processes related to the control of the in-vehicle presentation device 18 and the external notification device 19. This HCU 10 corresponds to a vehicle notification control device. The configuration of the HCU 10 will be described in detail below. Furthermore, the execution of processes of each functional block of the HCU 10 by a computer corresponds to the execution of a vehicle notification control method.

<General configuration of HCU 10>
Next, the schematic configuration of the HCU 10 will be described with reference to Fig. 4. As shown in Fig. 4, the HCU 10 includes an information acquisition unit 101, an in-vehicle presentation control unit 102, an approval acceptance unit 103, a state identification unit 104, and an outside notification control unit 105 as functional blocks for controlling the in-vehicle presentation device 18 and the outside notification device 19. Note that some or all of the functions executed by the HCU 10 may be configured as hardware using one or more ICs or the like. Also, some or all of the functional blocks included in the HCU 10 may be realized by a combination of software execution by a processor and hardware members.

The information acquisition unit 101 acquires information input from outside the HCU 10. For example, the information acquisition unit 101 acquires the recognition result from the driving environment recognition unit of the autonomous driving ECU 17. The information acquisition unit 101 acquires the judgment result from the action judgment unit of the autonomous driving ECU 17. The information acquisition unit 101 acquires sensing information detected by the vehicle state sensor 14.

The in-vehicle presentation control unit 102 controls the in-vehicle presentation device 18. The in-vehicle presentation control unit 102 causes the display unit 181 to display an image showing the view in front of the vehicle (hereinafter, the foreground image). The in-vehicle presentation control unit 102 may cause the display unit 181 to display the foreground image using the recognition results obtained by the information acquisition unit 101 from the driving environment recognition unit. For example, the foreground image may be an overhead view seen from a virtual viewpoint above the vehicle.

Here, an example of a foreground image will be explained with reference to FIG. 5. Sc in FIG. 5 shows the display screen of the display device 181. HVI in FIG. 5 shows an image representing the host vehicle (hereinafter, host vehicle image). OVI in FIG. 5 shows an image representing vehicles surrounding the host vehicle (hereinafter, surrounding vehicle image). PLI in FIG. 5 shows an image representing lane markings (hereinafter, marking line image). VI in FIG. 5 shows an image representing the vehicle speed of the host vehicle (hereinafter, host vehicle speed image). In the foreground image, it is sufficient to display the host vehicle image, surrounding vehicle image, marking line image, and host vehicle speed image as shown in FIG. 5. In the foreground image, it is sufficient to display the host vehicle image and surrounding vehicle images that mimic the actual positional relationship between the host vehicle and surrounding vehicles.

The approval receiving unit 103 receives approval for increasing the automation level from the driver via the user input device 20. As described above, this approval can be either advance approval or normal approval. Advance approval may be performed, for example, before the vehicle starts traveling. Advance approval may be limited to an increase between specific automation levels. Normal approval may be performed, for example, by inquiring whether approval is possible using the in-vehicle presentation device 18 when it becomes possible to increase the automation level, and prompting the driver to input whether approval is possible. Then, when an input indicating that approval is possible is made, the approval may be accepted as normal approval. When approval is received, the approval receiving unit 103 may notify the autonomous driving ECU 17 that approval has been received. The autonomous driving ECU 17 increases the automation level based on the acceptance of approval.

The state identification unit 104 identifies the state of the vehicle related to autonomous driving (hereinafter, autonomous driving-related state). The processing in the state identification unit 104 corresponds to the state identification process. The state identification unit 104 may identify the autonomous driving-related state based on information such as the recognition result in the driving environment recognition unit and the judgment result in the action judgment unit acquired by the information acquisition unit 101.

The state identification unit 104 may identify, as an autonomous driving-related state, a situation in which the automation level can be increased. For example, a situation in which a vehicle enters an AD area from outside the AD area may be identified. This situation may be identified from the recognition result in the driving environment recognition unit. Alternatively, a situation in which a vehicle enters an ST section from outside the ST section may be identified. This situation may be identified from the recognition result in the driving environment recognition unit. Furthermore, the state identification unit 104 may identify, as an autonomous driving-related state, the degree to which the conditions of the congestion limiting LV3 are met. As an example, a situation in which some of the multiple conditions of the congestion limiting LV3 are met may be a situation in which the automation level can be increased. This situation may be identified from the judgment result in the action judgment unit. The state identification unit 104 may also identify the current automation level as an autonomous driving-related state. The state identification unit 104 may identify the current automation level by monitoring the autonomous driving ECU 17.

The state identification unit 104 may also identify, as an autonomous driving-related state, whether or not prior approval has been given for an increase in the automation level. The state identification unit 104 may identify, from the judgment result of the action judgment unit, whether or not prior approval has been given for an increase in the automation level. When a configuration is adopted in which prior approval can be given for each increased automation level, it may be identified whether or not prior approval has been given for each increased automation level. The state identification unit 104 may also identify, as an autonomous driving-related state, a decrease in the automation level. The state identification unit 104 may also identify the factors that cause the decrease in the automation level.

The exterior notification control unit 105 controls the exterior notification device 19 to issue an exterior notification. The processing in the exterior notification control unit 105 corresponds to the exterior notification control process. The in-vehicle presentation control unit 102 controls the in-vehicle presentation device 18 to issue a notification (hereinafter, in-vehicle notification) to the interior of the vehicle indicating that an exterior notification is being issued. Thus, the in-vehicle presentation device 18 corresponds to the in-vehicle notification device, and the in-vehicle presentation control unit 102 corresponds to the in-vehicle notification control unit.

As shown in FIG. 7, the in-vehicle presentation control unit 102 can perform an in-vehicle notification by displaying an image of the vehicle displayed on the display 181 in an area (see FIG. 6) where the vehicle exterior notification is performed by the vehicle exterior display 191, thereby performing an in-vehicle notification. FIG. 6 is a diagram showing the actual appearance of the vehicle. FIG. 7 is a diagram showing an example of a case where an in-vehicle notification is performed in the foreground image described in FIG. 5. FIG. 6 shows the appearance of the vehicle as seen from behind. FIG. 6 shows an example of a case where the vehicle exterior display 191 is provided at the four corners of the vehicle. The example in FIG. 6 shows the vehicle exterior display 191 provided at the left and right corners of the rear of the vehicle. The OLI in FIG. 7 shows an image showing the vehicle exterior display 191 in the vehicle image (hereinafter, the vehicle exterior notification lamp image).

When an in-vehicle notification indicating that an outside vehicle alarm is being issued is performed using an image of the vehicle itself, an image that emphasizes the outside vehicle alarm lamp image (see HLI in FIG. 8) may be displayed around the image of the vehicle itself, as shown in FIG. 8. This makes it easier for the driver to understand that an outside vehicle alarm is being issued, even if it is difficult for the driver to understand that an outside vehicle alarm is being issued based on the image of the outside vehicle alarm lamp alone.

The in-vehicle presentation control unit 102 may perform an in-vehicle notification in cooperation with the exterior notification control unit 105 performing an exterior notification. For example, the in-vehicle presentation control unit 102 may perform an in-vehicle notification at the same timing as the exterior notification control unit 105 performing an exterior notification. As an example of using an LED lamp as the exterior display 191, the exterior notification lamp image in the foreground image may be turned on at the same timing as the LED lamp is turned on. For example, an exterior notification indicating that the automation level has changed and an in-vehicle notification indicating that the automation level has changed may be made at the same timing. This allows the driver to know the timing at which the exterior notification will be made.

The in-vehicle presentation control unit 102 may also cause the in-vehicle notification control unit 105 to issue an in-vehicle notification earlier than the in-vehicle notification control unit 105 issues an in-vehicle notification. As an example of a case where an LED lamp is used as the in-vehicle display 191, an in-vehicle notification lamp image in the foreground image may be turned on earlier than the lighting of the LED lamp. For example, an in-vehicle notification indicating that the automation level has changed may be issued earlier than an in-vehicle notification indicating that the automation level has changed. This allows the driver to know that an in-vehicle notification will be issued earlier than the in-vehicle notification. Note that hereinafter, an example will be described in which an in-vehicle notification indicating that the automation level has changed and an in-vehicle notification indicating that the automation level has changed are issued at the same time.

Here, an example is shown of an in-vehicle notification in a foreground image, but this is not necessarily limited to this. For example, it does not have to be a foreground image, so long as a display similar to the vehicle exterior notification is made in an area of an image simulating the vehicle's exterior where the notification is made. Also, the in-vehicle notification is not limited to a configuration using an image. For example, the in-vehicle notification may be made using a meter lamp or indicator. In this case, the meter lamp or indicator may be lit in conjunction with the vehicle exterior notification. In addition, although an example is shown of an in-vehicle notification using a display, this is not necessarily limited to this. For example, an in-vehicle notification using a sound may be similarly made in conjunction with the vehicle exterior notification.

The vehicle exterior notification control unit 105 changes the timing of the vehicle exterior notification depending on the autonomous driving related state identified by the state identification unit 104. The vehicle exterior notification control unit 105 changes the timing of the vehicle exterior notification using the autonomous driving related state identified by the state identification unit 104. In other words, the vehicle exterior notification control unit 105 changes the timing of the vehicle exterior notification based on the autonomous driving related state identified by the state identification unit 104. When it becomes possible to increase the automation level, it is preferable that the vehicle exterior notification control unit 105 changes the timing of the vehicle exterior notification depending on whether or not prior approval has been given. In this case, the autonomous driving related state may be determined by using the result of identifying the situation in which an increase in the automation level is possible and the result of identifying whether or not prior approval has been given for the increase in the automation level.

In the following, an example will be described in which the timing of the vehicle exterior notification is changed depending on whether or not prior approval has been given when it becomes possible to increase the automation level. When prior approval has been given, the vehicle exterior notification control unit 105 preferably causes an exterior notification to be given in advance of the possibility that autonomous driving without monitoring obligation will be started before the vehicle enters the ST section when the vehicle enters the ST section from outside the ST section. Since area-limited autonomous driving is possible within the ST section, the timing of the increase in the automation level can be predicted more accurately when prior approval has been given. Therefore, it becomes possible to notify the surroundings of the vehicle of the possibility that autonomous driving without monitoring obligation will be started before it becomes possible to increase the automation level to area-limited LV3. As a result, it becomes possible to notify the surroundings of the vehicle, which would like to know about the increase in the automation level as soon as possible, that the automation level will be increased earlier.

Now, using Figure 9, we will explain an example of the timing of external and internal vehicle notifications when it is possible to increase the automation level to area-limited LV3 and prior approval has been given. Co in Figure 9 indicates the status of the vehicle. ADLV in Figure 9 indicates the automation level of the vehicle. II in Figure 9 indicates internal vehicle notification. AP in Figure 9 indicates the timing of approval. OI in Figure 9 indicates external vehicle notification. The same applies to the subsequent figures. The example in Figure 9 shows an example of when the automation level increases from LV2 or lower to area-limited LV3.

As shown in FIG. 9, the automation level is LV2 or lower until the vehicle enters the ST section (see EN in FIG. 9). As an in-vehicle notification, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see APNO in FIG. 9) indicating the approach to the ST section before the vehicle enters the ST section. This notification may be issued, for example, when the distance between the vehicle and the ST section is equal to or less than a threshold. After this notification, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see CHPR in FIG. 9) proposing switching to automated driving without monitoring obligation before the vehicle enters the ST section. In response to this notification, the driver approves the increase in the automation level before the vehicle enters the ST section, thereby providing prior approval (see PRAP in FIG. 9).

As for the outside notification, after prior approval and before entering the ST section, the outside notification control unit 105 starts an outside notification (see PLV3D in FIG. 9) that notifies in advance that autonomous driving without monitoring obligation may start. The outside notification that notifies in advance that autonomous driving without monitoring obligation may start is hereinafter referred to as an ascending advance notification. Until the ascending advance notification is started, the configuration may be such that an outside notification indicating that autonomous driving at LV2 or below is in progress (see LV2D in FIG. 9) is made, or such that no outside notification is made (see LO in FIG. 9). The outside notification indicating that autonomous driving at LV2 or below is in progress is hereinafter referred to as an LV2 or below mid-notification.

Because prior approval has been given, when the vehicle enters the ST section, the automation level becomes LV3 after a period in which the automation level transitions from LV2 or lower to LV3 (see USH in Figure 9). The advance notification of increase continues until the vehicle enters the ST section and the automation level transition to LV3 is complete. Then, after the automation level transition to LV3 is complete, the vehicle exterior notification control unit 105 starts an exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation (see LV3D in Figure 9). In other words, when the vehicle enters the ST section and area-limited autonomous driving is started, the vehicle exterior notification control unit 105 switches to an exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation. The exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation is referred to below as an LV3 mid-notification. At the same time that the LV3 notification starts, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see LV3I in FIG. 9) indicating that the vehicle has transitioned to autonomous driving without monitoring obligation.

When external notifications are made by turning on and off a lamp, the LV2 or lower notification, the rise advance notification, and the LV3 notification may be distinguished by the difference in the manner in which the lamp is turned on and off. For example, they may be distinguished by the lighting color. For example, the LV2 or lower notification and the LV3 notification may be represented by different lighting colors, and the rise advance notification may be represented by an intermediate color between the LV2 or lower notification and the LV3 notification. In addition, they may be distinguished by differences in the blinking period, the ratio of the time the light is on to the time it is off, etc. When a configuration is adopted in which external notifications are not made during automatic driving at LV2 or lower, the rise advance notification may be distinguished by being blinked, while the LV3 notification is distinguished by being lit.

Here, we have given an example of a case where the vehicle enters an ST section from outside the ST section as an example of a case where entering a specific area makes it possible to increase the automation level, but this is not necessarily limited to this. For example, it may also be applied to a case where the vehicle enters an AD section from outside the AD section. In this case, for example, the ST section may be replaced with an AD section, LV2 or lower may be replaced with LV0, and LV3 may be replaced with LV1 or higher.

If prior approval has been given, it is preferable that the vehicle exterior notification control unit 105 issue an exterior notification to notify in advance of the possibility that autonomous driving without monitoring obligation will be initiated when some of the conditions for congestion limited LV3 are met. Since congestion limited autonomous driving is possible when all of the conditions for congestion limited LV3 are met, if prior approval has been given, the timing at which the automation level will increase can be predicted to some extent when some of the conditions for congestion limited LV3 are met. Therefore, it becomes possible to notify those around the vehicle of the possibility that autonomous driving without monitoring obligation will be initiated before it becomes possible to increase the automation level to congestion limited LV3. As a result, it becomes possible to notify those around the vehicle who would like to know about the increase in automation level as soon as possible that the automation level will be increased earlier.

Here, using FIG. 10, an example of the timing of external and internal vehicle notifications when it is possible to increase the automation level to congestion limited LV3 and prior approval has been given will be described. The example in FIG. 10 shows an example of the case where the automation level increases from LV2 or lower to congestion limited LV3.

As shown in FIG. 10, the automation level is LV2 or lower until all of the conditions for traffic jam limited LV3 are met (see TCCW in FIG. 10). As for in-vehicle notification, when some of the conditions for traffic jam limited LV3 are met, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see TCNO in FIG. 10) indicating the possibility of traffic jam limited LV3 being possible. After this notification, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see CHPR in FIG. 10) proposing switching to automated driving without monitoring obligation before all of the conditions for traffic jam limited LV3 are met. In response to this notification, the driver approves the increase in the automation level before the vehicle meets all of the conditions for traffic jam limited LV3, thereby providing prior approval (see PRAP in FIG. 10).

As for the vehicle exterior notification, after prior approval and before all the conditions of the traffic jam limited LV3 are met, the vehicle exterior notification control unit 105 starts an advance notification of an increase (see PLV3D in FIG. 10). Until the advance notification of an increase is started, a notification of LV2 or lower (see LV2D in FIG. 10) may be performed, or an outside notification may not be performed (see LO in FIG. 10). When the vehicle meets all the conditions of the traffic jam limited LV3 due to prior approval, the automation level becomes LV3 after a period in which the automation level transitions from LV2 or lower to LV3 (see USH in FIG. 10). The advance notification of an increase continues until the vehicle meets all the conditions of the traffic jam limited LV3 and the automation level transition to LV3 is completed. Then, after the automation level transition to LV3 is completed, the vehicle exterior notification control unit 105 starts an LV3 mid-level notification (see LV3D in FIG. 10). In other words, when all of the conditions for the congestion-limited LV3 are met and LV3-limited autonomous driving is started, the vehicle exterior notification control unit 105 switches to the LV3 mid-notification. At the same time that the LV3 mid-notification is started, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see LV3I in FIG. 10) indicating that the vehicle has transitioned to autonomous driving without monitoring obligation.

Here, a situation in which traffic jam-limited LV3 is possible has been given as an example of a specific situation, but this is not necessarily limited to this. If a situation other than traffic jam is a situation in which automatic driving of LV3 is possible, then that situation can be considered as a specific situation.

In the case where no prior approval has been given, when the driver of the vehicle approves the autonomous driving without monitoring obligation when autonomous driving without monitoring obligation is enabled and the autonomous driving without monitoring obligation is started, the vehicle exterior notification control unit 105 preferably causes an exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation. In the case where no prior approval has been given, when autonomous driving without monitoring obligation is enabled, the point in time when the driver of the vehicle approves the autonomous driving without monitoring obligation is the earliest timing at which the automation level increases. Therefore, according to the above configuration, it is possible to notify the surroundings of the vehicle that the vehicle is in autonomous driving without monitoring obligation at an earlier timing than in the case where no prior approval has been given. As a result, it is possible to notify the surroundings of the vehicle that the automation level is increasing, which would be desirable if possible, of the increase in the automation level, earlier than the start of the increase in the automation level.

Now, with reference to FIG. 11, an example of the timing of external and internal vehicle notifications when it is possible to raise the automation level to LV3 and prior approval is not given will be described. The example in FIG. 11 shows an example of a case where the automation level is raised from LV2 or lower to LV3. This LV3 may be an area-limited LV3 or a traffic jam-limited LV3.

As shown in FIG. 11, until the point when autonomous driving of LV3 becomes possible (see LV3AB in FIG. 11), the automation level is LV2 or lower. As for in-vehicle notification, after autonomous driving of LV3 becomes possible, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see CHPR in FIG. 11) proposing switching to autonomous driving without monitoring obligation. In response to this notification, the driver approves the increase in the automation level, and normal approval (see AFAP in FIG. 11) is performed.

After normal approval, the system moves to a period in which the automation level transitions from LV2 or lower to LV3 (see USH in FIG. 11). At the timing of the transition to this period, the in-vehicle presentation control unit 102 starts an in-vehicle notification (see DSI in FIG. 11) indicating that the system is transitioning to automated driving without monitoring obligation. Also, at the timing of the transition to this period, the exterior notification control unit 105 starts an advance rise notification (see PLV3D in FIG. 11). Until the advance rise notification is initiated, the system may be configured to issue an LV2 or lower notification (see LV2D in FIG. 11), or may not issue an exterior notification (see LO in FIG. 11).

After that, the vehicle goes through a period in which the automation level transitions from LV2 or lower to LV3 (see USH in FIG. 11), and the automation level becomes LV3. The advance notification of the increase continues until the automation level transition to LV3 is completed. After the automation level transition to LV3 is completed, the vehicle exterior notification control unit 105 starts an LV3 mid-notification (see LV3D in FIG. 11). In other words, if there is no prior approval for autonomous driving without monitoring obligation, when approval is given by the driver of the vehicle in a state in which autonomous driving without monitoring obligation is possible and autonomous driving without monitoring obligation is started, the vehicle exterior notification control unit 105 causes an LV3 mid-notification, which is an exterior notification indicating that autonomous driving without monitoring obligation is in progress. In addition, the in-vehicle presentation control unit 102 starts an in-vehicle notification (see LV3I in FIG. 11) indicating that the vehicle has transitioned to autonomous driving without monitoring obligation at the same timing as the LV3 mid-notification is started.

In the example of FIG. 11, the vehicle exterior notification control unit 105 performs an LV3 mid-notification after performing an advance ascent notification, but this is not necessarily limited to the above. For example, the vehicle exterior notification control unit 105 may perform an LV3 mid-notification without performing an advance ascent notification.

In addition, the vehicle exterior notification control unit 105 may be configured to, when prior approval for autonomous driving without monitoring obligation has not been given, issue an exterior notification indicating that autonomous driving without monitoring obligation is in progress before autonomous driving without monitoring obligation starts after approval from the driver of the vehicle in a state in which autonomous driving without monitoring obligation is possible. According to this, when autonomous driving without monitoring obligation is to start, it is possible to notify the surroundings that autonomous driving without monitoring obligation will be performed before autonomous driving without monitoring obligation starts, when it has been decided that autonomous driving without monitoring obligation will start. Therefore, according to the above configuration, it is possible to notify the surroundings of the vehicle that autonomous driving without monitoring obligation will be performed at an earlier timing than when prior approval has not been given. As a result, it is possible to notify the surroundings of the vehicle that the automation level will be increased, who would like to know about the increase in automation level as soon as possible, earlier.

Now, with reference to FIG. 12, an example of the timing of external and internal vehicle notifications when it is possible to raise the automation level to LV3 and prior approval is not given will be described. The example in FIG. 12 shows an example of a case where the automation level is raised from LV2 or lower to LV3. This LV3 may be an area-limited LV3 or a traffic jam-limited LV3.

As shown in FIG. 12, until the point when autonomous driving of LV3 becomes possible (see LV3AB in FIG. 12), the automation level is LV2 or lower. As for in-vehicle notification, after autonomous driving of LV3 becomes possible, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see CHPR in FIG. 12) proposing switching to autonomous driving without monitoring obligation. In response to this notification, the driver approves the increase in the automation level, and normal approval (see AFAP in FIG. 12) is performed.

After normal approval, the system moves to a period in which the automation level transitions from LV2 or lower to LV3 (see USH in FIG. 12). At the timing of the transition to this period, the in-vehicle presentation control unit 102 starts an in-vehicle notification (see DSI in FIG. 12) indicating that the system is transitioning to automated driving without monitoring obligation. Also, at the timing of the transition to this period, the exterior notification control unit 105 starts an LV3 mid-level notification (see LV3D in FIG. 12) without an advance notification of an increase, although the system is not in automated driving without monitoring obligation. Until the LV3 mid-level notification is initiated, the system may be configured to issue an LV2 or lower mid-level notification (see LV2D in FIG. 12), or may not issue an exterior notification (see LO in FIG. 12).

After that, the vehicle goes through a period in which the automation level transitions from LV2 or lower to LV3 (see USH in FIG. 12), and the automation level of the vehicle becomes LV3. After the automation level transition to LV3 is complete, the in-vehicle presentation control unit 102 starts an in-vehicle notification (see LV3I in FIG. 12) indicating that the vehicle has transitioned to automated driving without monitoring obligation.

Here, an example has been described in which the automation level increases from LV2 or lower to LV3, but this is not necessarily limited to this. For example, it may also be applied to cases in which the automation level increases between other automation levels. In this case, for example, if prior approval has been given, an external alarm may be issued to notify the driver of the possibility of the automation level increasing before the automation level can be increased. On the other hand, if prior approval has not been given, an external alarm may be issued to notify the driver of the increased automation level after the automation level can be increased.

In addition, when the automation level is lowered, it is preferable that the vehicle exterior notification control unit 105 changes the timing of the vehicle exterior notification depending on the cause of the lowering. In this case, the autonomous driving-related state may be determined by identifying the lowering of the automation level and the cause of the lowering of the automation level.

In the following, an example will be described in which the timing of the vehicle exterior notification is changed depending on the cause of the automation level drop when the automation level is lowered. When the automation level is lowered due to an override, the vehicle exterior notification control unit 105 preferably switches the vehicle exterior notification from before the automation level was lowered after the assistance period described above. When the automation level is lowered due to an override, it is not confirmed that the automation level will be lowered until the vehicle's system determines that a driver handover is possible. Therefore, by switching the vehicle exterior notification after the automation level has been lowered after the assistance period, it is possible to switch the vehicle exterior notification after the automation level has been confirmed to be lowered. This makes it possible to notify the surroundings of the vehicle of the automation level being lowered at an earlier timing while preventing erroneous vehicle exterior notifications from being issued.

Now, with reference to FIG. 13, an example of the timing of external and internal alerts when the automation level of the vehicle drops due to an override will be described. DAC in FIG. 13 indicates the driver's behavior. This also applies to the subsequent figures. The example in FIG. 13 shows an example of a case where the automation level drops from LV3 to LV2 or lower. This LV3 can be either an area-limited LV3 or a traffic jam-limited LV3.

In the example of Figure 13, the situation of the host vehicle is such that it is possible to continue maintaining an automation level of LV3 (see LV3P in Figure 13). When the driver executes an override (see OR in Figure 13), the automation level transitions from LV3 to an automation level below LV2 with assistance (see ASP in Figure 13). The assistance referred to here is assistance that provides driving assistance that is less than LV3 but more than LV2.

After the assistance period has elapsed and the automation level has shifted from LV2 or lower with assistance to LV2 or lower without assistance, the configuration may be such that an LV2 or lower intermediate notification (see LV2D in FIG. 13) is started, or an external notification is not issued (see LO in FIG. 13). Here, if a configuration that issues an LV2 or lower intermediate notification is adopted, the LV3 intermediate notification will switch to an LV2 or lower intermediate notification. If a configuration that does not issue an external notification is adopted, the LV3 intermediate notification will switch to no external notification. At the timing when the LV3 intermediate notification is switched, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see LV2I in FIG. 13) indicating that the automation level has shifted to driving at LV2 or lower.

When the automation level is to be lowered due to a planned driver change by the system, the vehicle exterior notification control unit 105 preferably switches the vehicle exterior notification to the state before the decrease before a driver change request is made. The timing at which the automation level will be decreased due to a planned driver change can be predicted more accurately. Therefore, it becomes possible to notify those around the vehicle that the automation level of the automated driving will be decreased by switching the vehicle exterior notification before the automation level actually decreases. As a result, it becomes possible to notify those around the vehicle who would like to know about the decrease in the automation level as soon as possible that the automation level will be decreased earlier.

Furthermore, when the automation level is to be lowered and the cause of the lowering is a planned driver change by the system, it is more preferable that the vehicle exterior notification control unit 105 issues an exterior notification to notify in advance that the automation level will be lowered before a driver change request is made, and when the automation level is lowered, switches the exterior notification to a mode appropriate for the aftermath of the lowering. According to this, it is possible to notify those around the vehicle that the automation level of automated driving will be lowered in advance before the automation level actually lowers. On the other hand, when the automation level actually lowers, the vehicle exterior notification is switched to a mode appropriate for the aftermath of the lowering, so that an exterior notification about the lowering of the automation level can be issued only when the automation level actually lowers.

Now, with reference to FIG. 14, an example of the timing of external and internal vehicle notifications when the automation level of the vehicle drops due to a planned driver changeover will be described. The example in FIG. 14 shows a case where the automation level drops from LV3 to LV2 or lower. This LV3 may be an area-limited LV3 or a traffic jam-limited LV3, but may be limited to area-limited LV3. This is because it is easier to predict the timing when a driver changeover will be required with area-limited LV3 than with traffic jam-limited LV3.

In the example of FIG. 14, it is assumed that there is a point in time (see LV3IM in FIG. 14) when it becomes impossible to continue maintaining the automation level of LV3 as the situation of the vehicle. This point in time is hereinafter referred to as the maintenance limit point. As an example, the timing of moving from the ST section to outside the ST section during automated driving of the area-limited LV3 corresponds to the maintenance limit point. When a planned driving change is performed, the in-vehicle presentation control unit 102 makes a driving change request (see TOR in FIG. 14), and upon receiving this driving change request, the driver makes a driving change (see TO in FIG. 14). When a planned driving change is performed, the system side can recognize that a driving change is necessary before a driving change request is made. Therefore, the vehicle exterior notification control unit 105 starts an exterior notification (see PLVDD in FIG. 14) that notifies in advance that the automation level may be lowered before a driving change request is made. The exterior notification that notifies in advance that the automation level may be lowered is hereinafter referred to as a descent advance notification.

When the driver takes over driving, the automation level goes down to LV2 or lower after a period during which the automation level transitions from LV3 to LV2 or lower (see DSH in FIG. 14). In a planned driving handover, the lowering of the automation level is completed before the maintenance limit point. After the driving handover is completed, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see CCI in FIG. 14) indicating that the driving handover has been completed before the maintenance limit point. The exterior notification control unit 105 may be configured to start an LV2 or lower notification (see LV2D in FIG. 14) when the vehicle reaches the maintenance limit point, or may be configured not to issue an exterior notification (see LO in FIG. 14). These exterior notifications may be issued, for example, after an in-vehicle notification indicating that the driving handover has been completed.

When external notifications are made by turning on and off lamps, the distinction between LV2 or lower notifications, descent advance notifications, and LV3 notifications may be expressed by differences in the manner in which the lamps are turned on and off. For example, a descent advance notification may be expressed in an intermediate color between the LV2 or lower notifications and the LV3 notifications. In addition, the distinction may be expressed by differences in the blinking period, the ratio of on time to off time, etc. When adopting a configuration in which external notifications are not made during autonomous driving at LV2 or lower, the distinction may be made by making the descent advance notification blink and the LV3 notification light on.

When the automation level is to be lowered due to an unplanned driver change by the system, the vehicle exterior notification control unit 105 preferably switches the vehicle exterior notification between before and after the decrease when a driver change request is made or after the driver change request is made. It is difficult to predict when the automation level will be lowered due to an unplanned driver change. Therefore, it is not certain whether the automation level will actually be lowered until a driver change request is made. In response to this, the vehicle exterior notification is switched between before and after the decrease when a driver change request is made or after the driver change request is made, so that it is possible to switch the vehicle exterior notification after the decrease in the automation level is confirmed. This makes it possible to notify the surroundings of the vehicle of the decrease in the automation level at an earlier timing while preventing erroneous vehicle exterior notifications from being made.

Now, with reference to FIG. 15, an example of the timing of external and internal vehicle notifications when the automation level of the vehicle drops due to an unplanned driving changeover will be described. The example in FIG. 15 shows a case where the automation level drops from LV3 to LV2 or lower. This LV3 may be either an area-limited LV3 or a traffic jam-limited LV3, but may be limited to traffic jam-limited LV3. This is because unplanned driving changes are more likely to occur with traffic jam-limited LV3 than with area-limited LV3.

In the example of FIG. 15, it is assumed that there is a maintenance limit point (see LV3IM in FIG. 15) at which it becomes impossible to continue to maintain the automation level of LV3 as the situation of the vehicle. As an example, the maintenance limit point corresponds to the timing at which the conditions of the congestion-limited LV3 are no longer satisfied during the automated driving of the congestion-limited LV3. Even when an unplanned driving change is performed, the in-vehicle presentation control unit 102 makes a driving change request (see TOR in FIG. 15), and upon receiving this driving change request, the driver makes a driving change (see TO in FIG. 15). When an unplanned driving change is performed, it is difficult for the system to recognize that a driving change is necessary before making a driving change request. Therefore, when a driving change request is made, the vehicle exterior notification control unit 105 starts a descent advance notification (see PLVDD in FIG. 15) that notifies in advance of the possibility of a decrease in the automation level. In other words, the descent advance notification is started at the same timing as the driving change request is made. The descent advance notification may be started after the driving change request is made.

When the driver takes over driving, the automation level goes down to LV2 or lower after a period during which the automation level transitions from LV3 to LV2 or lower (see DSH in FIG. 15). In an unplanned driving handover, the automation level starts to drop from the maintenance limit point. After the driving handover is completed, the in-vehicle presentation control unit 102 issues an in-vehicle notification (see CCI in FIG. 15) indicating that the driving handover has been completed. The exterior notification control unit 105 may be configured to start an LV2 or lower notification (see LV2D in FIG. 15) after the driving handover is completed, or may be configured not to issue an exterior notification (see LO in FIG. 15). These exterior notifications may be issued, for example, after the in-vehicle notification indicating that the driving handover has been completed.

When the automation level is lowered and the cause of the lowering is a type of factor that instantly lowers the automation level (hereinafter, a sudden release factor), the vehicle exterior notification control unit 105 preferably performs a vehicle exterior notification at the timing when the sudden release factor occurs and continues the vehicle exterior notification for a predetermined period of time or more. The predetermined period of time may be any time that can be set. Examples of sudden release factors include braking operations, significant steering operations that exceed a threshold, and sudden changes in driving due to sensor loss. When a sudden release factor occurs and the automation level of the vehicle is lowered, if the vehicle exterior notification is only for an instant, the surroundings are likely to miss the vehicle exterior notification. In contrast, according to the above configuration, when a sudden release factor occurs and the automation level of the vehicle is lowered, the vehicle exterior notification continues for a predetermined period of time or more. Therefore, the surroundings are less likely to miss the vehicle exterior notification. As the vehicle exterior notification, a vehicle exterior notification indicating that the automation level is lowering may be performed. For example, the same expression as the above-mentioned advance notification of descent may be used. Note that "instantly lowering the automation level" can also be rephrased as "lowering the automation level without a request for a driver shift."

Here, an example of the timing of the vehicle exterior notification when the automation level of the vehicle drops due to a sudden release factor will be described with reference to FIG. 16. FIG. 16 shows an example in which the sudden release factor is a brake operation. In the example of FIG. 16, an example in which the automation level drops from LV3 to LV2 or lower is shown. Co in FIG. 16 indicates the state of the vehicle. DAC in FIG. 16 indicates the driver's behavior. OI in FIG. 16 indicates the vehicle exterior notification. When the driver performs a brake operation (see BO in FIG. 13), a sudden release factor occurs (see RFO in FIG. 16). In other words, when the driver performs a brake operation (see BO in FIG. 13), the automation level transitions from LV3 to an automation level below LV2. The vehicle exterior notification control unit 105 starts a descent notification (see DN in FIG. 15) to notify the driver that the automation level has been lowered at the timing when the brake operation occurs. The descent notification may be expressed in the same manner as the descent advance notification, for example. The vehicle exterior notification control unit 105 then continues this descent notification for a predetermined period of time or more. After ending the descent notification, the vehicle exterior notification control unit 105 may be configured to start an LV2 or lower mid-level notification (see LV2D in FIG. 16), or may be configured not to issue an exterior notification (see LO in FIG. 16).

When the cause of the automation level drop is a sudden release factor, it is preferable for the vehicle exterior notification control unit 105 to continue the vehicle exterior notification for a longer period of time than when the cause of the automation level drop is a planned driver change, as shown in FIG. 17. FIG. 17 is a diagram showing an example of varying the duration of the vehicle exterior notification depending on the cause of the automation level drop. PCO in FIG. 17 shows a case where the cause of the automation level drop is a planned driver change. RFO in FIG. 17 shows a case where the cause of the automation level drop is a sudden release factor. The arrows in FIG. 17 indicate the duration of the vehicle exterior notification.

Here, an example has been described in which the automation level drops from LV3 to LV2 or lower, but this is not necessarily limited to this. For example, it may also be applied to cases in which the automation level drops between other automation levels. In this case, if the cause of the drop in the automation level is a factor that can be predicted before the drop, an external alarm may be issued to notify the driver of the possibility of the automation level being lowered before the automation level is lowered. On the other hand, if the cause of the drop in the automation level is a factor that cannot be predicted until just before the drop, when the automation level is lowered, an external alarm may be issued to notify the driver of the new automation level.

According to the configuration of the first embodiment, it is possible to change the timing of the outside notification, which is a notification of information related to the autonomous driving to the outside of the vehicle, depending on the state of the vehicle related to the autonomous driving. Therefore, as described above, it is possible to cause the outside notification to be performed at a timing that is more favorable for the surroundings of the vehicle, depending on the state of the vehicle related to the autonomous driving. As a result, when the vehicle is performing autonomous driving, it is possible to cause the notification of information related to the autonomous driving to be performed to the outside of the vehicle in a manner that is more favorable for the surroundings of the vehicle, depending on the state of the vehicle related to the autonomous driving.

(Embodiment 2)
The configuration is not limited to that of the first embodiment, and may be that of the following second embodiment. An example of the configuration of the second embodiment will be described below with reference to the drawings. The vehicle system 1 of the second embodiment is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1 includes an HCU 10a instead of the HCU 10. In the second embodiment, the vehicle at least performs autonomous driving without a monitoring obligation as autonomous driving.

<General configuration of HCU 10a>
18, the HCU 10a includes an information acquisition unit 101, an in-vehicle presentation control unit 102, an approval receiving unit 103, a state identification unit 104a, and an outside-vehicle notification control unit 105a as functional blocks for controlling the in-vehicle presentation device 18 and the outside-vehicle notification device 19. The HCU 10a is similar to the HCU 10 of the first embodiment, except that the HCU 10a includes a state identification unit 104a and an outside-vehicle notification control unit 105a instead of the state identification unit 104 and the outside-vehicle notification control unit 105. This HCU 10a also corresponds to a vehicle notification control device. In addition, the execution of processing of each functional block of the HCU 10a by a computer also corresponds to the execution of a vehicle notification control method.

The state identification unit 104a is similar to the state identification unit 104 of embodiment 1, except for some differences in the autonomous driving-related states it identifies. The following describes the differences from the state identification unit 104 of embodiment 1. The state identification unit 104b identifies at least the start of autonomous driving without monitoring obligation and the duration of driving in autonomous driving without monitoring obligation as autonomous driving-related states. The state identification unit 104b may identify the start of autonomous driving without monitoring obligation and the duration of driving in autonomous driving without monitoring obligation by monitoring the autonomous driving ECU 17.

The vehicle exterior notification control unit 105a is similar to the vehicle exterior notification control unit 105 of the first embodiment, except for some differences in processing. The following describes the differences from the vehicle exterior notification control unit 105 of the first embodiment. When the state identification unit 104a identifies the start of automatic driving without monitoring obligation, the vehicle exterior notification control unit 105a continues the vehicle exterior notification (see OI in FIG. 19) for a first predetermined time and then ends it, as shown in FIG. 19. The first predetermined time may be set arbitrarily. In FIG. 19, the first predetermined time is represented as t1. The vehicle exterior notification here may be, for example, a vehicle exterior notification indicating that automatic driving without monitoring obligation is in progress. As an example, the vehicle exterior notification may be a lamp that is turned on. The color of the lamp may be a color according to the automation level. On the other hand, the vehicle exterior notification control unit 105a causes the vehicle exterior notification to be performed again when the driving duration in automatic driving without monitoring obligation identified by the state identification unit 104a exceeds a second predetermined time, as shown in FIG. 19. The second predetermined time is longer than the first predetermined time. In FIG. 19, the second predetermined time is represented as t2. This makes it possible to perform another vehicle exterior notification depending on the duration of the automatic driving without monitoring obligation, even if the vehicle exterior notification is ended after the automatic driving without monitoring obligation has started. Therefore, it is possible to make it easier for the surroundings to recognize that the vehicle is in automatic driving without monitoring obligation, even if the vehicle exterior notification is ended after the automatic driving without monitoring obligation has started.

Even after terminating the vehicle exterior notification, if autonomous driving without monitoring obligation continues, the vehicle exterior notification control unit 105a preferably causes the vehicle exterior notification to be performed periodically again. In this way, even if the vehicle exterior notification is terminated after continuing for a first predetermined time, it is possible to make it easier for those around the vehicle to recognize that the vehicle is in autonomous driving without monitoring obligation by causing the vehicle exterior notification to be performed periodically. The interval for performing the periodic vehicle exterior notification may be arbitrarily settable.

(Embodiment 3)
The configuration is not limited to that of the first embodiment, and may be that of the following third embodiment. An example of the configuration of the third embodiment will be described below with reference to the drawings.

<Overall configuration of vehicle system 1b>
The vehicle system 1b shown in FIG. 20 can be used in an autonomous vehicle. The vehicle system 1b is used in an autonomous vehicle that at least performs autonomous driving without a monitoring obligation. As shown in FIG. 20, the vehicle system 1b includes an HCU 10b, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17b, an in-vehicle presentation device 18, an outside-vehicle notification device 19b, a user input device 20, and an interior camera 21. The vehicle system 1b is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1b includes an HCU 10b, an autonomous driving ECU 17b, and an outside-vehicle notification device 19b instead of the HCU 10, the autonomous driving ECU 17, and the outside-vehicle notification device 19, and includes an interior camera 21. The vehicle using the vehicle system 1b is not necessarily limited to an automobile, but the following description will be given taking the case of using the vehicle system 1b as an example.

The automatic driving ECU 17b is similar to the automatic driving ECU 17 of the first embodiment, except that the control execution unit executes at least LCA (Lane Change Assist) control. LCA control is a control that automatically changes the lane of the vehicle from the own lane to an adjacent lane. In the LCA control, a planned driving trajectory that smoothly connects the target position of the own lane and the center of the adjacent lane is generated based on the recognition result of the driving environment by the driving environment recognition unit. Then, the lane is changed from the own lane to the adjacent lane by automatically controlling the steering angle of the steering wheel of the own vehicle according to the planned driving trajectory. In the LCA control, if a situation occurs in which the lane change is not possible before the lane change is completed after the lane change is started, the lane change may be interrupted midway and the vehicle may wait. The automatic driving ECU 17b may execute LTC (Lane Tracing control) control in the control execution unit. The LTC control is a control that maintains the vehicle running within the lane. In LTC control, steering control is performed to keep the vehicle traveling within the lane. When starting a lane change using LCA control, LTC control is temporarily suspended to allow the vehicle to leave the lane. Then, once the lane change is complete, LTC control is resumed.

The vehicle exterior notification device 19b has an exterior display 191b and an audio output device 192. The vehicle exterior display 191b is similar to the vehicle exterior notification device 19 of embodiment 1, except that the vehicle exterior display 191b has an exterior display 191b instead of the exterior display 191. The vehicle exterior display 191b is similar to the vehicle exterior display 191 of embodiment 1, except that it is preferable that the vehicle exterior display 191b is provided at least on the side and rear of the vehicle. For example, the vehicle exterior display 191b on the side of the vehicle may be configured to be provided at the left and right corners of the front bumper and/or rear bumper. The vehicle exterior display 191b on the side of the vehicle may be configured to be provided on the left and right side surfaces of the vehicle. The vehicle exterior display 191b on the rear of the vehicle may be configured to be provided, for example, near the center of the vehicle width direction at the rear of the vehicle. The vehicle exterior display 191b provided at the left and right corners of the rear bumper as the vehicle exterior display 191b at the rear of the vehicle may be used as the vehicle exterior display 191b at the rear instead of at the side of the vehicle.

The interior camera 21 captures an image of a predetermined range within the vehicle cabin. The interior camera 21 may capture an image of at least an area including the driver's seat of the vehicle. In other words, the interior camera 21 captures an image of the driver of the vehicle. The interior camera 21 is composed of, for example, a near-infrared light source and a near-infrared camera, and a control unit that controls these. The interior camera 21 captures an image of an occupant of the vehicle irradiated with near-infrared light by the near-infrared light source using the near-infrared camera. The image captured by the near-infrared camera is subjected to image analysis by the control unit. The control unit performs image analysis on the captured image to detect facial features of the occupant. The control unit may detect the facial direction of the occupant, the line of sight direction of the occupant, etc. based on the detected features of the upper body including the face of the occupant.

<General configuration of HCU 10b>
Next, the schematic configuration of the HCU 10b will be described with reference to FIG. 21. As shown in FIG. 21, the HCU 10b includes an information acquisition unit 101, an in-vehicle presentation control unit 102b, an approval acceptance unit 103, a state identification unit 104b, an outside-vehicle notification control unit 105b, and a monitoring identification unit 106 as functional blocks for controlling the in-vehicle presentation device 18 and the outside-vehicle notification device 19b. The HCU 10b is similar to the HCU 10 of the first embodiment, except that the HCU 10b includes a state identification unit 104b, an in-vehicle presentation control unit 102b, and an outside-vehicle notification control unit 105b instead of the state identification unit 104, the in-vehicle presentation control unit 102, and the outside-vehicle notification control unit 105, and includes the monitoring identification unit 106. This HCU 10b also corresponds to a vehicle notification control device. In addition, the execution of the processing of each functional block of the HCU 10b by a computer also corresponds to the execution of a vehicle notification control method.

The in-car presentation control unit 102b is similar to the in-car presentation control unit 102 of the first embodiment, except for some differences in processing. The differences from the in-car presentation control unit 102 of the first embodiment will be described later.

The state identification unit 104b is similar to the state identification unit 104 of the first embodiment, except for some differences in the autonomous driving-related states it identifies. The following describes the differences from the state identification unit 104 of the first embodiment. The state identification unit 104b identifies at least the start of autonomous driving without monitoring obligation and the implementation status of lane change during autonomous driving without monitoring obligation as autonomous driving-related states. It is preferable that the state identification unit 104b also identifies the surrounding conditions of the vehicle after lane change during autonomous driving without monitoring obligation as autonomous driving-related states. The state identification unit 104b may monitor the autonomous driving ECU 17 to identify the start of autonomous driving without monitoring obligation, the implementation status of lane change during autonomous driving without monitoring obligation, and the surrounding conditions of the vehicle after lane change.

The monitoring identification unit 106 identifies whether the driver of the vehicle is monitoring the surroundings. The monitoring identification unit 106 may identify whether the driver is monitoring the surroundings from the driver's facial direction, line of sight, etc. detected by the indoor camera 21.

The vehicle exterior notification control unit 105b is similar to the vehicle exterior notification control unit 105 of the first embodiment, except for some different processing. The following describes the differences from the vehicle exterior notification control unit 105 of the first embodiment. When the state identification unit 104b identifies the start of automatic driving without monitoring obligation, the vehicle exterior notification control unit 105b continues the vehicle exterior notification for a first predetermined time and then ends it, similar to the vehicle exterior notification control unit 105a of the second embodiment. On the other hand, the vehicle exterior notification control unit 105b causes the vehicle exterior notification to be performed again based on the state identification unit 104b identifying that a lane change is to be performed during automatic driving without monitoring obligation, or that a lane change has been performed during automatic driving without monitoring obligation. This makes it possible to cause the vehicle exterior notification to be performed again when a lane change is to be performed, even if the vehicle exterior notification is ended after the start of automatic driving without monitoring obligation. Therefore, even if the vehicle exterior notification is terminated after the start of autonomous driving without monitoring obligation, it is possible to make it easier for the surroundings to recognize that the vehicle is in autonomous driving without monitoring obligation at a time when the surroundings should pay more attention to the behavior of the vehicle. The vehicle exterior notification here may be, for example, an exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation. As an example, the vehicle exterior notification may be the lighting of a lamp. Lane changes during autonomous driving without monitoring obligation may be configured to be performed by implementing the LCA control described above.

When the state identification unit 104b identifies that a lane change has been performed during autonomous driving without a monitoring obligation and that another vehicle is present within a predetermined distance in front of or behind the vehicle after the lane change is completed, it is preferable that the vehicle exterior notification control unit 105b performs the vehicle exterior notification again. On the other hand, when the state identification unit 104b identifies that a lane change has been performed during autonomous driving without a monitoring obligation but does not identify that another vehicle is present within a predetermined distance in front of or behind the vehicle after the lane change is completed, it is preferable that the vehicle exterior notification control unit 105b does not perform the vehicle exterior notification again. The predetermined distance referred to here may be set arbitrarily. For example, the predetermined distance may be within the sensing range of the perimeter monitoring sensor 15. This makes it possible to perform the vehicle exterior notification again only when there is another vehicle that is likely to affect the behavior of the vehicle due to the lane change. Therefore, it is possible to suppress vehicle exterior notifications that are less necessary.

Now, with reference to FIG. 22, an example of an external notification in response to the surrounding conditions of the vehicle after completing a lane change during autonomous driving without a monitoring obligation will be described. In FIG. 22, the case where there is another vehicle within a specified distance in front of or behind the vehicle is shown as having a vehicle in front or behind. On the other hand, the case where there is no other vehicle within a specified distance in front of or behind the vehicle is shown as having no vehicle in front or behind. As shown in FIG. 22, the external notification control unit 105b causes another external notification to be issued when there are vehicles in front or behind the vehicle, but does not cause another external notification to be issued when there are no vehicles in front or behind the vehicle.

When the state identification unit 104b identifies that a lane change is to be performed during autonomous driving without a monitoring obligation, the vehicle exterior notification control unit 105b may start an exterior notification again while the lane change is being performed. The vehicle exterior notification control unit 105b may then end the exterior notification when the lane change is completed, or end the exterior notification after a certain period of time has elapsed since the lane change is completed. This makes it easier for those around the vehicle to recognize that the vehicle is in autonomous driving without a monitoring obligation even before the vehicle completes the lane change. The certain period of time referred to here may be set arbitrarily. The implementation of a lane change may be steering for a lane change, or may be implementing LCA control. The completion of a lane change may be the completion of steering for a lane change, or may be the completion of LCA control.

Here, an example of the timing of the vehicle exterior notification during lane change during autonomous driving without monitoring obligation will be described with reference to Figs. 23 to 24. The examples of Figs. 23 to 24 show an example of the flow after autonomous driving without monitoring obligation starts. The arrows in Figs. 23 to 24 indicate the duration of the vehicle exterior notification. t1 in Figs. 23 to 24 indicates the first predetermined time. LCS in Figs. 23 to 24 indicates the start timing of lane change. LCE in Figs. 23 to 24 indicates the end timing of lane change. t3 in Fig. 24 indicates the above-mentioned certain time. In the following figures, the same symbols indicate the same content, and the explanation will be omitted. As shown in Figs. 23 to 24, when autonomous driving without monitoring obligation starts, the vehicle exterior notification is performed for the first predetermined time. After that, when lane change starts, the vehicle exterior notification is started again. This re-vehicle exterior notification may be ended when lane change is completed, as shown in Fig. 23. Additionally, the second external notification may be terminated after a certain period of time has elapsed since the lane change was completed, as shown in FIG. 24.

When the state identification unit 104b identifies that a lane change will be performed during autonomous driving without monitoring obligation, the vehicle exterior notification control unit 105b may start an exterior notification again before the lane change begins. This makes it easier for those around the vehicle to recognize that the vehicle is in autonomous driving without monitoring obligation before the lane change begins when the vehicle is changing lanes. The start of a lane change may be the start of steering for a lane change, or the start of LCA control. The LCA control is started before the start of steering for a lane change. The state identification unit 104b may identify that a lane change will be performed before the lane change is actually performed, based on the determination result of the action determination unit of the autonomous driving ECU 17b.

Here, an example of the timing of an external notification when changing lanes during autonomous driving without monitoring obligation will be described with reference to FIG. 25. The example of FIG. 25 also shows an example of the flow after autonomous driving without monitoring obligation starts. The arrows in FIG. 25 also show the duration of the external notification. As shown in FIG. 25, when autonomous driving without monitoring obligation starts, the external notification is performed for a first predetermined time. Thereafter, the external notification is started again before the lane change starts. This second external notification may be ended, for example, when the lane change is completed. Note that the second external notification may be ended after a certain time has elapsed since the lane change is completed, as shown in FIG. 24.

In addition, the vehicle exterior notification control unit 105b may start a second vehicle exterior notification when the state identification unit 104b identifies that a lane change has been performed during autonomous driving without a monitoring obligation. In this case, the vehicle exterior notification may be terminated after the aforementioned fixed time has elapsed since the second vehicle exterior notification was started.

When the state identification unit 104b identifies that a lane change is being performed during autonomous driving without a monitoring obligation, the vehicle exterior notification control unit 105b preferably changes the manner of the vehicle exterior notification depending on whether the monitoring identification unit 106 identifies that the driver is monitoring the surroundings or that the driver is not monitoring the surroundings. This makes it possible to more clearly notify those around the vehicle whether the driver is monitoring the surroundings when changing lanes during autonomous driving without a monitoring obligation.

When the state identification unit 104b identifies that a lane change is being performed during autonomous driving without a monitoring obligation, and the monitoring identification unit 106 identifies that the driver is monitoring the surroundings, it is preferable for the vehicle exterior notification control unit 105b not to issue an exterior notification. On the other hand, when the monitoring identification unit 106 identifies that the driver is not monitoring the surroundings, it is preferable for the vehicle exterior notification control unit 105b to issue an exterior notification. This makes it possible to omit a re-exterior notification when the driver is monitoring the surroundings and there is less need for those around to pay attention to the behavior of the vehicle. Therefore, it is possible to suppress exterior notifications that are less necessary. Note that the turn signal lamp of the vehicle flashes when the vehicle is changing lanes.

Here, using FIG. 26, an example of changing the vehicle exterior notification depending on whether the driver is monitoring the surroundings when changing lanes during automated driving without monitoring obligation will be described. As shown in FIG. 26, when the driver is monitoring the surroundings while changing lanes, the vehicle exterior notification control unit 105b does not turn on the lamp as the vehicle exterior notification. On the other hand, as shown in FIG. 26, when the driver is not monitoring the surroundings while changing lanes, the vehicle exterior notification control unit 105b turns on the lamp as the vehicle exterior notification. Also, as shown in FIG. 26, the turn signal lamp is flashing regardless of whether the driver is monitoring the surroundings while changing lanes.

In the above explanation, the vehicle exterior notification when changing lanes has been exemplified by turning on a lamp, but this is not necessarily limited to this. For example, the vehicle exterior notification when changing lanes may be a blinking lamp.

When the state identification unit 104b identifies that the vehicle is in a standby state in which the lane change has been stopped and the vehicle is waiting while the vehicle is in the middle of a lane change during automatic driving without a monitoring obligation, the vehicle exterior notification control unit 105b preferably causes the vehicle exterior display 191b provided on the side of the vehicle to issue an exterior notification indicating that the vehicle is in a standby state. When the vehicle is in a standby state for a lane change, other vehicles beside the vehicle have a higher need to pay attention to the behavior of the vehicle. In contrast, the above configuration makes it possible to make other vehicles that have a higher need to pay attention to the behavior of the vehicle more easily recognize that the vehicle is in a standby state. The vehicle exterior notification indicating that the vehicle is in a standby state (hereinafter, standby notification) may be in a different form from the above-mentioned vehicle exterior notification (hereinafter, basic notification) that is issued again when a lane change is performed. For example, if the basic notification is a light on, the standby notification may be a flashing lamp. If the basic notification is a flashing lamp, the standby notification may be a flashing lamp in a different light color from the basic notification.

The vehicle exterior notification control unit 105b may be configured not to change the vehicle exterior notification on the vehicle exterior display 191b provided on a part other than the side of the vehicle, depending on whether the state identification unit 104b has identified the above-mentioned standby state. For example, the vehicle exterior notification control unit 105b may be configured not to change the vehicle exterior notification on the vehicle exterior display 191b provided on the rear of the vehicle, depending on whether the state identification unit 104b has identified the above-mentioned standby state. This makes it possible to make it easier to recognize that the vehicle is in a standby state, focusing on other vehicles that have a greater need to pay attention to the behavior of the vehicle.

When the state identification unit 104b identifies the aforementioned standby state, the vehicle exterior notification control unit 105b preferably causes only the vehicle exterior display 191b, of the vehicle exterior displays 191b provided on both the left and right sides of the vehicle, that is provided on the side where the vehicle is changing lanes, to issue an exterior notification indicating the standby state. When the vehicle is in a state of standby for lane change, there is a particular need for other vehicles to the side of the vehicle that are causing the vehicle to change lanes to pay attention to the behavior of the vehicle. In contrast, the above configuration makes it possible for other vehicles that have a particular need to pay attention to the behavior of the vehicle to easily recognize that the vehicle is in a standby state.

Here, an example of changing the vehicle exterior notification depending on the lane change situation will be described with reference to FIG. 27. When a lane change is performed during autonomous driving without a monitoring obligation, but the vehicle is not in the standby state described above (hereinafter, non-standby state), the vehicle exterior notification control unit 105b may be configured not to issue a standby notification as shown in FIG. 27. When the vehicle is in the standby state described above and the vehicle is to change lanes to the right, the vehicle exterior notification control unit 105b may issue a standby notification using the vehicle exterior display 191b provided on the right side of the vehicle as shown in FIG. 27. When the vehicle is in the standby state described above and the vehicle is to change lanes to the left, the vehicle exterior notification control unit 105b may issue a standby notification using the vehicle exterior display 191b provided on the left side of the vehicle as shown in FIG. 27.

The in-vehicle presentation control unit 102b preferably issues an in-vehicle notification indicating the implementation status of the lane change, rather than an in-vehicle notification indicating the automation level of the vehicle, based on the state identification unit 104b identifying a lane change during autonomous driving without a monitoring obligation, or an implementation of a lane change during autonomous driving without a monitoring obligation. This makes it possible to prominently inform the driver of the implementation status of the lane change when the vehicle changes lanes during autonomous driving without a monitoring obligation. An example of an in-vehicle notification indicating the automation level of the vehicle is the external notification lamp image shown by OLI in FIG. 7.

Now, with reference to FIG. 28, an example of an in-vehicle notification indicating the implementation status of a lane change will be described. FIG. 28 is a diagram showing an example of an in-vehicle notification indicating the implementation status of a lane change in the foreground image described in FIG. 5. The LCI in FIG. 28 indicates an image showing the implementation status of the lane change of the vehicle (hereinafter, LC image). In FIG. 28, an arrow icon indicating the direction in which the vehicle will change lanes is shown as an example of an LC image. For example, when the vehicle is in the standby state described above, an icon indicating cancellation may be displayed as the LC image.

(Embodiment 4)
The configuration of the vehicle system 1 of the fourth embodiment may be adopted instead of the configuration of the first embodiment. An example of the configuration of the fourth embodiment will be described below with reference to the drawings. The vehicle system 1 of the fourth embodiment is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1 of the fourth embodiment includes an HCU 10c instead of the HCU 10.

<General configuration of HCU 10c>
With regard to the control of the in-vehicle presentation device 18 and the vehicle exterior notification device 19, the HCU 10c includes, as functional blocks, an information acquisition unit 101, an in-vehicle presentation control unit 102, an approval receiving unit 103, a state identification unit 104c, and a vehicle exterior notification control unit 105c, as shown in Fig. 29. The HCU 10c is similar to the HCU 10 of the first embodiment, except that the HCU 10c includes a state identification unit 104c and a vehicle exterior notification control unit 105c instead of the state identification unit 104 and the vehicle exterior notification control unit 105. This HCU 10c also corresponds to a vehicle notification control device. In addition, the execution of the processing of each functional block of the HCU 10c by a computer also corresponds to the execution of a vehicle notification control method.

The state identification unit 104c is similar to the state identification unit 104 of embodiment 1, except for some differences in the autonomous driving-related states it identifies. The differences from the state identification unit 104 of embodiment 1 will be described below. The state identification unit 104c identifies at least the surrounding conditions of the host vehicle during autonomous driving as the autonomous driving-related states. The state identification unit 104c may identify the surrounding conditions of the host vehicle during autonomous driving by monitoring the autonomous driving ECU 17.

The vehicle exterior notification control unit 105c is similar to the vehicle exterior notification control unit 105 of the first embodiment, except for some differences in processing. The following describes the differences from the vehicle exterior notification control unit 105 of the first embodiment. When the state identification unit 104c identifies a situation in which the inter-vehicle distance between the vehicle in autonomous driving and the vehicle behind the vehicle is less than the threshold value and continues for a specified time or more, the vehicle exterior notification control unit 105c issues an external notification. The external notification here may be, for example, an external notification indicating that the vehicle is in autonomous driving. As an example, the external notification may be a lamp that is turned on. The color of the lamp may be a color according to the automation level. The rear vehicle referred to here is the vehicle immediately behind the vehicle in question. The threshold value may be set arbitrarily. For example, the threshold value may be a distance less than the inter-vehicle distance recommended for following driving. The specified time may be set arbitrarily. The specified time may be, for example, about several tens of seconds. When the vehicle is in autonomous driving, the system of the vehicle complies with the speed limit. On the other hand, if the vehicle behind the vehicle is not autonomous, the driver of the vehicle behind may not observe the speed limit, and the driver of the vehicle behind may close the distance between the vehicle and the vehicle. With the above configuration, by issuing an external notification in such a case, it becomes possible to make the driver of the vehicle behind aware that the vehicle is not allowed to increase its speed because the vehicle is autonomously driving and observing the speed limit.

Here, an example of the timing of the vehicle exterior notification according to the surrounding conditions of the vehicle will be described with reference to FIG. 30. The example of FIG. 30 shows an example of the flow after the start of automatic driving. The arrow in FIG. 30 indicates the duration of the vehicle exterior notification. t4 in FIG. 30 indicates the above-mentioned specified time. BT in FIG. 30 indicates the timing when the inter-vehicle distance between the vehicle and the vehicle behind the vehicle becomes less than the threshold. AT in FIG. 30 indicates the timing when the inter-vehicle distance between the vehicle and the vehicle behind the vehicle becomes equal to or greater than the threshold. As shown in FIG. 30, the vehicle exterior notification is started when the inter-vehicle distance between the vehicle and the vehicle behind the vehicle remains less than the threshold for a specified period of time or more. The vehicle exterior notification may be ended when the inter-vehicle distance between the vehicle and the vehicle behind the vehicle becomes equal to or greater than the threshold. Note that the vehicle exterior notification control unit 105c may be configured to end the vehicle exterior notification using the elapsed time from the start of the vehicle exterior notification as a trigger.

(Embodiment 5)
The configuration is not limited to that of the first embodiment, but may be that of the following fifth embodiment. An example of the configuration of the fifth embodiment will be described below with reference to the drawings.

<General Configuration of Vehicle System 1d>
The vehicle system 1d shown in FIG. 31 can be used in an autonomous vehicle. As shown in FIG. 31, the vehicle system 1d includes an HCU 10d, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17d, an in-vehicle presentation device 18, an outside-vehicle notification device 19d, and a user input device 20. The vehicle system 1d is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1d includes an HCU 10d, an autonomous driving ECU 17d, and an outside-vehicle notification device 19d instead of the HCU 10, the autonomous driving ECU 17, and the outside-vehicle notification device 19. The vehicle using the vehicle system 1d is not necessarily limited to an automobile, but the following description will be given taking the case of using the vehicle system 1d as an example.

The autonomous driving ECU 17d is similar to the autonomous driving ECU 17 of the first embodiment, except that the control execution unit executes ACC (Adaptive Cruise Control). ACC control is a control that realizes constant speed driving of the host vehicle at a set vehicle speed, or driving following a preceding vehicle. In driving following, acceleration/deceleration control is performed to maintain the inter-vehicle distance between the host vehicle and the nearest preceding vehicle at a target inter-vehicle distance. The target inter-vehicle distance may be set according to the speed of the host vehicle, etc.

The vehicle exterior notification device 19d has an exterior display 191d and an audio output device 192. The vehicle exterior display 191d is similar to the vehicle exterior notification device 19 of the first embodiment, except that the vehicle exterior display 191d has an exterior display 191d instead of the exterior display 191. The vehicle exterior display 191d is similar to the vehicle exterior display 191 of the first embodiment, except that the vehicle exterior display 191d is provided at least in the front of the vehicle. For example, the vehicle exterior display 191d in the front of the vehicle may be provided in the left and right corners of the front bumper. The vehicle exterior display 191d in the front of the vehicle may be provided, for example, near the center of the front of the vehicle in the vehicle width direction.

<General configuration of HCU 10d>
Next, the schematic configuration of the HCU 10d will be described with reference to Fig. 32. As shown in Fig. 32, the HCU 10d includes an information acquisition unit 101, an in-vehicle presentation control unit 102, an approval acceptance unit 103, a state identification unit 104d, and an outside-vehicle notification control unit 105d as functional blocks for controlling the in-vehicle presentation device 18 and the outside-vehicle notification device 19d. The HCU 10d is similar to the HCU 10 of the first embodiment, except that the HCU 10d includes a state identification unit 104d and an outside-vehicle notification control unit 105d instead of the state identification unit 104 and the outside-vehicle notification control unit 105. This HCU 10d also corresponds to a vehicle notification control device. In addition, the execution of the processing of each functional block of the HCU 10d by a computer also corresponds to the execution of a vehicle notification control method.

The state identification unit 104d is similar to the state identification unit 104 of embodiment 1, except for some differences in the autonomous driving-related states it identifies. The differences from the state identification unit 104 of embodiment 1 will be described below. The state identification unit 104d identifies at least the following status of the host vehicle during autonomous driving as an autonomous driving-related state. The state identification unit 104d may identify the following status of the host vehicle during autonomous driving by monitoring the autonomous driving ECU 17. The following status is the status of the host vehicle following a preceding vehicle. The host vehicle following a preceding vehicle during autonomous driving may be configured to be performed by implementing the ACC control described above.

The vehicle exterior notification control unit 105d is similar to the vehicle exterior notification control unit 105 of the first embodiment, except for some different processing. The following describes the differences from the vehicle exterior notification control unit 105 of the first embodiment. When the state identification unit 104d identifies a situation in which the vehicle in autonomous driving has started to follow a preceding vehicle, the vehicle exterior notification control unit 105d causes an exterior notification to be issued from an exterior display 191d provided at the front of the vehicle. This makes it possible to make the driver of the preceding vehicle aware that the vehicle has started to follow the preceding vehicle at the timing when the vehicle begins to follow the preceding vehicle. Since the vehicle exterior notification is issued from the exterior display 191d provided at the front of the vehicle, the driver of the preceding vehicle can recognize the exterior notification through the rearview mirror.

Now, with reference to FIG. 33, an example of the timing of the vehicle exterior notification according to the following situation of the host vehicle will be described. The example of FIG. 33 shows an example of the flow after the start of autonomous driving. The arrows in FIG. 33 indicate the duration of the vehicle exterior notification. SF in FIG. 33 indicates the timing when the host vehicle starts following the preceding vehicle. EF in FIG. 33 indicates the timing when the host vehicle stops following the preceding vehicle. As shown in FIG. 33, the vehicle exterior notification is started when the host vehicle starts following the preceding vehicle. The vehicle exterior notification may be ended when the host vehicle stops following the preceding vehicle. Note that the vehicle exterior notification control unit 105d may be configured to end the vehicle exterior notification using the elapsed time from the start of the vehicle exterior notification as a trigger.

The vehicle exterior notification control unit 105d preferably provides vehicle exterior notification by flashing when the vehicle speed is being adjusted, and by lighting when the vehicle is traveling at a constant speed. This makes it easier for the driver of the vehicle ahead of the vehicle to distinguish and recognize whether the vehicle following the vehicle ahead is adjusting its speed or traveling at a constant speed.

Here, using FIG. 34, an example of changing the vehicle exterior notification when the vehicle exterior notification is being implemented while following a preceding vehicle will be described. As shown in FIG. 34, the vehicle exterior notification control unit 105d blinks a lamp as a vehicle exterior notification while the vehicle speed of the vehicle is being adjusted. On the other hand, as shown in FIG. 34, the vehicle exterior notification control unit 105d turns on a lamp as a vehicle exterior notification while the vehicle is traveling at a constant speed.

(Embodiment 6)
The configuration of the vehicle system 1 of the sixth embodiment may be adopted instead of the configuration of the first embodiment. An example of the configuration of the sixth embodiment will be described below with reference to the drawings. The vehicle system 1 of the sixth embodiment is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1 of the sixth embodiment includes an HCU 10e instead of the HCU 10.

<General configuration of HCU 10e>
35, the HCU 10e includes an information acquisition unit 101, an in-vehicle presentation control unit 102e, an approval receiving unit 103, a state identification unit 104e, and an outside-vehicle notification control unit 105e as functional blocks for controlling the in-vehicle presentation device 18 and the outside-vehicle notification device 19. The HCU 10e is similar to the HCU 10 of the first embodiment, except that the HCU 10e includes the in-vehicle presentation control unit 102e, the state identification unit 104e, and the outside-vehicle notification control unit 105e instead of the in-vehicle presentation control unit 102, the state identification unit 104, and the outside-vehicle notification control unit 105. This HCU 10e also corresponds to a vehicle notification control device. In addition, the execution of the processing of each functional block of the HCU 10e by a computer also corresponds to the execution of a vehicle notification control method.

The in-car presentation control unit 102e is similar to the in-car presentation control unit 102 of the first embodiment, except for some different processing. The differences from the in-car presentation control unit 102 of the first embodiment will be described later.

The state identification unit 104e is similar to the state identification unit 104 of embodiment 1, except for some differences in the autonomous driving-related states it identifies. The differences from the state identification unit 104 of embodiment 1 will be described below. The state identification unit 104e identifies at least the traffic conditions of the host vehicle at an intersection during autonomous driving as an autonomous driving-related state. The state identification unit 104e may identify the traffic conditions of the host vehicle at an intersection during autonomous driving by monitoring the autonomous driving ECU 17.

The vehicle exterior notification control unit 105e is similar to the vehicle exterior notification control unit 105 of the first embodiment, except for some differences in processing. The following describes the differences from the vehicle exterior notification control unit 105 of the first embodiment. When the state identification unit 104e identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during automatic driving, the vehicle exterior notification control unit 105e issues an exterior notification indicating that a temporary stop is scheduled (hereinafter, a temporary stop scheduled exterior notification). A situation in which a temporary stop is required before a crosswalk when turning right or left at an intersection is a situation in which a pedestrian is present at the crosswalk, or a pedestrian is present who is estimated to be entering the crosswalk. The temporary stop scheduled exterior notification is started before the vehicle actually stops. The temporary stop scheduled exterior notification may be an exterior notification different from the exterior notification indicating that automatic driving is in progress. For example, a configuration may be adopted in which a voice output device 192 outputs a voice informing the driver that a temporary stop is scheduled. Alternatively, a configuration may be adopted in which information informing the driver that a temporary stop is scheduled is displayed on the exterior display 191.

When the state identification unit 104e identifies that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during autonomous driving, the in-vehicle presentation control unit 102e issues an in-vehicle notification indicating that a temporary stop is planned (hereinafter, in-vehicle notification of a planned temporary stop). The in-vehicle notification of a planned temporary stop is started before the actual temporary stop is made. The in-vehicle notification of a planned temporary stop may be issued, for example, by a display on the display 181. For example, an icon, text, or the like may be displayed in the foreground image described above to indicate that a temporary stop is planned.

When the state identification unit 104e identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during autonomous driving, it is preferable to start the external notification of a planned temporary stop by the external notification control unit 105e after the in-vehicle notification of a planned temporary stop by the in-vehicle presentation control unit 102e. This is because the external notification of a planned temporary stop is more likely to confuse the person to be notified if it is given earlier than the in-vehicle notification of a planned temporary stop. On the other hand, the end of the external notification of a planned temporary stop and the end of the in-vehicle notification of a planned temporary stop may be set to the same timing.

Here, an example of the timing of the external notification of a planned stop and the internal notification of a planned stop when a temporary stop is required before a crosswalk when turning right or left at an intersection during autonomous driving will be described with reference to FIG. 36. SPOI in FIG. 36 indicates the external notification of a planned stop, and SPII indicates the internal notification of a planned stop. The arrow of SPOI in FIG. 36 indicates the duration of the external notification of a planned stop. The arrow of SPII in FIG. 36 indicates the duration of the internal notification of a planned stop. PS in FIG. 36 indicates the start timing of the temporary stop before a crosswalk. As shown in FIG. 36, when a temporary stop is required before a crosswalk when turning right or left at an intersection during autonomous driving, the external notification of a planned stop is made after the internal notification of a planned stop. On the other hand, the end timing of the external notification of a planned stop and the internal notification of a planned stop are set to the same timing. Note that in the example of FIG. 36, an example is shown in which the external notification of a planned stop and the internal notification of a planned stop are ended at the start timing of the temporary stop of the host vehicle before the crosswalk, but this is not necessarily limited to this. The timing for ending the external warning of a planned stop and the internal warning of a planned stop may be different.

When the state identification unit 104e identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during autonomous driving, the vehicle exterior notification control unit 105e preferably issues an exterior notification indicating that the vehicle is temporarily stopping (hereinafter, a temporary stop exterior notification). The temporary stop exterior notification may be an exterior notification different from an exterior notification indicating that the vehicle is currently in autonomous driving. The temporary stop exterior notification may be an exterior notification different from an exterior notification indicating a planned temporary stop. For example, the vehicle exterior notification may be configured to output a sound from the audio output device 192 indicating that the vehicle is temporarily stopping. Alternatively, the vehicle exterior display 191 may be configured to display information indicating that the vehicle is temporarily stopping.

When the state identification unit 104e identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during autonomous driving, the in-vehicle presentation control unit 102e preferably issues an in-vehicle notification indicating that the vehicle is temporarily stopping (hereinafter, "in-vehicle notification of a temporary stop"). The in-vehicle notification of a temporary stop may be an in-vehicle notification different from the in-vehicle notification of a planned temporary stop. The in-vehicle notification of a temporary stop may be issued, for example, by display on the display 181. For example, an icon, text, or the like indicating that the vehicle is temporarily stopping may be displayed in the foreground image described above.

The vehicle exterior notification control unit 105e and the vehicle interior presentation control unit 102e may start the stop sign exterior notification and the stop sign interior notification at the same time. This is because the stop sign exterior notification and the stop sign interior notification, which inform the driver that the vehicle is temporarily stopped, are unlikely to confuse the recipient even if they start at the same time. For example, the stop sign exterior notification and the stop sign interior notification may end when the vehicle ends its temporary stop in front of the crosswalk.

Here, using FIG. 37, an example of the timing of the external stop notification and the in-vehicle stop notification when the vehicle stops temporarily before a crosswalk while turning right or left at an intersection during autonomous driving will be described. POI in FIG. 37 indicates the external stop notification, and PII indicates the in-vehicle stop notification. The arrow of POI in FIG. 37 indicates the duration of the external stop notification. The arrow of PII in FIG. 37 indicates the duration of the in-vehicle stop notification. PS in FIG. 37 indicates the start timing of the temporary stop before the crosswalk. PE in FIG. 37 indicates the end timing of the temporary stop before the crosswalk. As shown in FIG. 37, when the vehicle stops temporarily before a crosswalk while turning right or left at an intersection during autonomous driving, the in-vehicle stop notification and the external stop notification are started at the same time. Furthermore, the external stop notification and the in-vehicle stop notification are also ended when the temporary stop ends.

(Embodiment 7)
The following configuration of embodiment 7 may be used. In the configuration of embodiment 7, the vehicle exterior notification devices 19, 19b, and 19d that perform vehicle exterior notification are at least vehicle exterior indicators 191, 191b, and 191d. In the configuration of embodiment 7, when the vehicle uses the high beam out of the high beam and low beam as the headlights of the vehicle, the vehicle exterior notification control units 105, 105a, 105b, 105c, 105d, and 105e increase the brightness of the vehicle exterior notification compared to when the low beam is used. This makes it possible to make the vehicle exterior notification easier to see when the high beam is used while preventing the vehicle exterior notification from being too dazzling when the low beam is used. The high beam is also called a driving headlight. The low beam is also called a passing headlight. Compared to the low beam, the optical axis of the high beam is tilted upward of the vehicle.

(Embodiment 8)
The following configuration of the eighth embodiment may be used. In the eighth embodiment, the vehicle exterior alarm devices 19, 19b, and 19d that perform vehicle exterior alarms are at least the vehicle exterior display devices 191, 191b, and 191d. In the eighth embodiment, the vehicle exterior alarm control units 105, 105a, 105b, 105c, 105d, and 105e increase the brightness of the vehicle exterior alarm when the vehicle's lane is an overtaking lane, compared to when the vehicle is not an overtaking lane. The state identification units 104, 104a, 104b, 104c, 104d, and 104e may identify the vehicle's lane by monitoring the automatic driving ECUs 17, 17b, and 17d. When the vehicle is in automatic driving, the system of the vehicle complies with the speed limit even if the vehicle is in an overtaking lane, so that the driver of the following vehicle may feel that the vehicle's speed is slow. In contrast, according to the configuration of embodiment 8, when the lane in which the vehicle is traveling is an overtaking lane, the vehicle exterior alarm is made easier to see, making it easier to resolve this misunderstanding.

(Embodiment 9)
In addition, the vehicle exterior indicators 191, 191b, and 191d may be configured to use lamps that are turned on for purposes other than vehicle exterior notification, which is a notification of information related to automatic driving, toward the outside of the vehicle. In other words, existing lamps may be configured to be used for vehicle exterior notification as well. Examples of existing lamps include width lights, turn lamps, tail lights, brake lights, backlights, license plate lights, and rear fog lights. The tail lights may also be used as brake lights. As existing lamps that are also used for vehicle exterior notification, lamps that are lit infrequently for purposes other than vehicle exterior notification are preferred. This is to make it difficult to cause a situation in which vehicle exterior notification cannot be performed at the timing when it should be performed. As existing lamps that are also used for vehicle exterior notification, for example, backlights, width lights, license plate lights, and rear fog lights are preferred. As existing lamps that are also used for vehicle exterior notification, confusion can be avoided by, for example, making the hue of the light different between vehicle exterior notification and purposes other than vehicle exterior notification.

(Embodiment 10)
In the above embodiment, a configuration has been shown in which the vehicle exterior notification can be performed by both the vehicle exterior display devices 191, 191b, 191d and the audio output device 192, but this is not necessarily limited to the above. For example, the vehicle exterior notification may be performed only by the vehicle exterior display device 191 out of the vehicle exterior display device 191 and the audio output device 192. Also, the vehicle exterior notification may be performed only by the audio output device 192 out of the vehicle exterior display device 191 and the audio output device 192.

(Embodiment 11)
In the above-described embodiment, a configuration in which an in-vehicle notification can be performed by both the display device 181 and the audio output device 182 has been described, but this is not necessarily limited to the above. For example, a configuration in which an in-vehicle notification can be performed by only the display device 181 out of the display device 181 and the audio output device 182 may be used. Also, a configuration in which an in-vehicle notification can be performed by only the audio output device 182 out of the display device 181 and the audio output device 182 may be used.

(Embodiment 12)
In the above embodiment, when the automation level is increased, the timing of the vehicle exterior notification is changed depending on whether or not prior approval has been obtained. However, this is not necessarily limited to this. For example, when the automation level is increased, if the increase in the automation level can be predicted in advance, an exterior notification indicating that the automation level will increase or that the automation level has increased may be issued before the increase in the automation level. On the other hand, when the automation level is increased, if the increase in the automation level cannot be predicted in advance, an exterior notification indicating that the automation level has increased may be issued when the automation level is increased.

(Embodiment 13)
In the above embodiment, the functions of the state identification unit 104, 104a, 104b, 104c, 104d, 104e and the vehicle exterior notification control unit 105, 105a, 105b, 105c, 105d, 105e are performed by the HCU 10, 10a, 10b, 10c, 10d, 10e, but this is not necessarily limited to the above. For example, the functions of the state identification unit 104, 104a, 104b, 104c, 104d, 104e and the vehicle exterior notification control unit 105, 105a, 105b, 105c, 105d, 105e may be performed by an ECU other than the HCU 10, 10a, 10b, 10c, 10d, 10e. As an example, the functions of the state identification units 104, 104a, 104b, 104c, 104d, and 104e and the exterior alarm control units 105, 105a, 105b, 105c, 105d, and 105e may be performed by the autonomous driving ECUs 17, 17b, and 17d.

Note that the present disclosure is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. The technical scope of the present disclosure also includes embodiments obtained by appropriately combining the technical means disclosed in different embodiments. The control unit and the method described in the present disclosure may be realized by a dedicated computer that constitutes a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the device and the method described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the device and the method described in the present disclosure may be realized by one or more dedicated computers that are configured by combining a processor that executes a computer program with one or more hardware logic circuits. Furthermore, the computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by the computer.

(Disclosed technical idea)
This specification discloses multiple technical ideas described in the following multiple dependent claims. Some of the claims may be described in a multiple dependent form, in which the subsequent claim alternatively refers to the preceding claim. Furthermore, some of the claims may be described in a multiple dependent form, in which the subsequent claim alternatively refers to the preceding claim. The claims described in these multiple dependent forms define multiple technical ideas.
(Technical Concept 1)
A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
The vehicle exterior notification control unit is a vehicle notification control device that changes the timing of the vehicle exterior notification depending on the autonomous driving-related state identified by the state identification unit.
(Technical Concept 2)
A vehicle notification control device according to Technical Concept 1,
The state identification unit identifies, as the autonomous driving-related state, at least whether or not an increase in the automation level has been approved in advance by a driver of the vehicle before the increase is possible;
The vehicle exterior notification control unit is a vehicle notification control device that changes the timing of providing the vehicle exterior notification depending on whether or not the prior approval has been given when it becomes possible to increase the automation level using the autonomous driving-related state identified by the state identification unit.
(Technical Concept 3)
A vehicle notification control device according to Technical Concept 2,
The autonomous driving method can be used in a vehicle capable of area-limited autonomous driving, in which autonomous driving is permitted in a limited area and the driver is not required to monitor the area.
The vehicle exterior notification control unit is a vehicle notification control device that, using the autonomous driving-related state identified by the state identification unit, if the prior approval has been given, causes the vehicle exterior notification to be issued when the vehicle enters the area from outside the area, providing advance notice of the possibility that non-monitoring autonomous driving, which is autonomous driving without the driver's monitoring obligation, may begin before the vehicle enters the area.
(Technical Concept 4)
A vehicle notification control device according to Technical Concept 3,
The vehicle exterior notification control unit is a vehicle notification control device that switches to the vehicle exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation when the vehicle enters the area and the area-limited autonomous driving begins.
(Technical Concept 5)
A vehicle notification control device according to any one of Technical Ideas 2 to 4,
The autonomous driving system can be used in a vehicle capable of limited autonomous driving in a specific situation, in which autonomous driving is permitted without the driver's obligation to monitor the vehicle only in a specific situation that is a specific surrounding situation,
The vehicle exterior notification control unit is a vehicle notification control device that, using the autonomous driving-related state identified by the state identification unit, if prior approval has been given, causes the vehicle exterior notification to be issued to notify in advance of the possibility that monitoring-free autonomous driving, which is autonomous driving without the driver's monitoring obligation, may begin when some of the conditions of the specific situation are met.
(Technical Concept 6)
A vehicle notification control device according to Technical Concept 5,
The vehicle exterior notification control unit is a vehicle notification control device that switches to the vehicle exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation when all of the conditions of the specific situation are met and the specific situation limited autonomous driving has started.
(Technical Concept 7)
A vehicle notification control device according to any one of Technical Ideas 2 to 6,
The autonomous driving method can be used in a vehicle capable of autonomous driving without a monitoring obligation, in which autonomous driving without a monitoring obligation of the driver is permitted,
The vehicle exterior notification control unit uses the autonomous driving-related state identified by the state identification unit to, when prior approval has not been given for the autonomous driving without monitoring obligation, issue the vehicle exterior notification indicating that the autonomous driving without monitoring obligation is in progress when approval is given by the driver of the vehicle in a state where the autonomous driving without monitoring obligation is possible and the autonomous driving without monitoring obligation is started.
(Technical Concept 8)
A vehicle notification control device according to any one of Technical Ideas 2 to 6,
The autonomous driving method can be used in a vehicle capable of autonomous driving without a monitoring obligation, in which autonomous driving without a monitoring obligation of the driver is permitted,
The vehicle exterior notification control unit uses the autonomous driving-related state identified by the state identification unit to, when prior approval has not been given for the autonomous driving without monitoring obligation, issue the vehicle exterior notification indicating that the autonomous driving without monitoring obligation is in progress after approval has been given by the driver of the vehicle in a state where the autonomous driving without monitoring obligation is possible, but before the autonomous driving without monitoring obligation begins.This is a vehicle notification control device.
(Technical Concept 9)
A vehicle notification control device according to any one of technical concepts 1 to 8,
The state identification unit identifies at least a factor that causes a decrease in the automation level as the autonomous driving-related state,
The vehicle exterior notification control unit is a vehicle notification control device that changes the timing of the vehicle exterior notification when the automation level decreases, depending on the cause of the decrease, using the autonomous driving-related state identified by the state identification unit.
(Technical Concept 10)
A vehicle notification control device according to Technical Concept 9,
A vehicle notification control device that can be used in a vehicle in which the automation level is lowered through an assistance period in which a system of the vehicle provides more driving assistance than the automation level after the automation level is lowered when the automation level is lowered by an override, which is an operation intervention by a driver of the vehicle,
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is the override, switches the vehicle exterior notification to the state before the lowering after the automation level has lowered through the auxiliary period.
(Technical Concept 11)
A vehicle notification control device according to Technical Idea 9 or 10,
A vehicle notification control device that can be used in a vehicle in which, when the automation level is lowered due to a driving change determined by a system of the vehicle, a driving change request is made to request a driver of the vehicle to change the driving, and then the automation level is lowered.
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is due to a planned driving change, switches the vehicle exterior notification to the state before the lowering before the driving change request is made.
(Technical Concept 12)
A vehicle notification control device according to Technical Concept 11,
The vehicle exterior notification control unit, using the automatic driving-related state identified by the state identification unit, when the automation level is to be lowered and the cause of the lowering is the planned driving change, issues the vehicle exterior notification to notify in advance that the automation level will be lowered before the driving change request is made, and when the automation level is lowered, switches the vehicle exterior notification to a mode appropriate for after the lowering.
(Technical Concept 13)
A vehicle notification control device according to any one of technical concepts 9 to 12,
A vehicle notification control device that can be used in a vehicle in which, when the automation level is lowered due to a driving change determined by a system of the vehicle, a driving change request is made to request a driver of the vehicle to change the driving, and then the automation level is lowered.
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is due to an unplanned driving change, switches the vehicle exterior notification to the state before the lowering when a driving change request is made or after the driving change request is made.
(Technical Concept 14)
A vehicle notification control device according to any one of technical concepts 9 to 12,
A vehicle notification control device that can be used in a vehicle in which the automation level is lowered by a brake operation by a driver of the vehicle,
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is the type of factor that instantly lowers the automation level, issues the vehicle exterior notification at the time the cause occurs and continues the vehicle exterior notification for a predetermined period of time or more.
(Technical Concept 15)
A vehicle notification control device according to Technical Concept 14,
The vehicle exterior notification control unit is a vehicle notification control device that continues the vehicle exterior notification for a longer period of time when the cause of the decrease in automation level is the type of factor that instantly decreases the automation level, compared to when the cause of the decrease in automation level is due to the planned driving change.
(Technical Concept 16)
A vehicle notification control device according to any one of technical concepts 1 to 15,
The automated driving method can be used in a vehicle capable of automated driving without a monitoring obligation, which is an automated driving method without a monitoring obligation of the driver of the vehicle,
The state identification unit (104a) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and a duration of the driving under the autonomous driving without a monitoring obligation,
The vehicle exterior notification control unit (105a) is a vehicle notification control device that, when the state identification unit identifies the start of the autonomous driving without monitoring obligation, continues the vehicle exterior notification for a first predetermined time and then terminates it, while, when the continuous driving time in the autonomous driving without monitoring obligation identified by the state identification unit exceeds a second predetermined time that is longer than the first predetermined time, causes the vehicle exterior notification to be performed again.
(Technical Concept 17)
A vehicle notification control device according to any one of technical concepts 1 to 16,
The automated driving method can be used in a vehicle capable of automated driving without a monitoring obligation, which is an automated driving method without a monitoring obligation of the driver of the vehicle,
The state identification unit (104b) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation,
The vehicle exterior notification control unit (105b), when the state identification unit identifies the start of the autonomous driving without monitoring obligation, continues the vehicle exterior notification for a first predetermined time and then ends it, while re-issuing the vehicle exterior notification based on the state identification unit identifying that a lane change will be made during the autonomous driving without monitoring obligation or that a lane change has been made during the autonomous driving without monitoring obligation.
(Technical Concept 18)
A vehicle notification control device according to Technical Concept 17,
The state identification unit also identifies, as the autonomous driving-related state, a surrounding situation of the vehicle after a lane change during the autonomous driving without a monitoring obligation,
The vehicle exterior notification control unit causes the vehicle exterior notification to be issued again when the state identification unit determines that a lane change has been performed during the autonomous driving without monitoring obligation and that another vehicle is present within a specified distance in front of or behind the vehicle after the lane change is completed, whereas the vehicle exterior notification control device does not cause the vehicle exterior notification to be issued again when the state identification unit determines that a lane change has been performed during the autonomous driving without monitoring obligation but does not determine that another vehicle is present within a specified distance in front of or behind the vehicle after the lane change is completed.
(Technical Concept 19)
A vehicle notification control device according to Technical Concept 17,
The vehicle exterior notification control unit, when the state identification unit identifies that a lane change is to be performed during the automatic driving without monitoring obligation, starts the vehicle exterior notification again while the lane change is being performed, and ends the vehicle exterior notification when the lane change is completed, or ends the vehicle exterior notification after a certain time has elapsed since the lane change is completed.
(Technical Concept 20)
A vehicle notification control device according to Technical Concept 17,
The vehicle exterior notification control unit is a vehicle notification control device that, when the state identification unit determines that a lane change will be performed during the automatic driving without monitoring obligation, starts the vehicle exterior notification again before the lane change begins.
(Technical Concept 21)
A vehicle notification control device according to any one of Technical Ideas 17 to 20,
A monitoring identification unit (106) is provided for identifying whether or not a driver of the vehicle is monitoring the surroundings,
The vehicle exterior notification control device is a vehicle notification control device that, when the state identification unit identifies that a lane change is being performed during the autonomous driving without monitoring obligation, changes the manner of the vehicle exterior notification depending on whether the monitoring identification unit identifies that the driver is monitoring the surroundings or determines that the driver is not monitoring the surroundings.
(Technical Concept 22)
A vehicle notification control device according to Technical Concept 21,
The vehicle exterior notification control device is a vehicle notification control device that, when the state identification unit identifies that a lane change is being performed during the autonomous driving without monitoring obligation, does not issue the vehicle exterior notification if the monitoring identification unit identifies that the driver is monitoring the surroundings, but issues the vehicle exterior notification if the monitoring identification unit identifies that the driver is not monitoring the surroundings.
(Technical Concept 23)
A vehicle notification control device according to any one of Technical Ideas 17 to 22,
The vehicle exterior warning device (191b) is provided at least on a side of the vehicle and performs the vehicle exterior warning by at least one of display and light emission.
The vehicle exterior notification control unit is a vehicle notification control device that, when the state identification unit identifies that the vehicle is in a standby state in which a lane change is stopped in the middle of being performed during the automatic driving without monitoring obligation and the vehicle is waiting, causes the vehicle exterior notification device provided on the side of the vehicle to make an exterior notification indicating that the vehicle is in the standby state.
(Technical Concept 24)
A vehicle notification control device according to Technical Concept 23,
The vehicle exterior alarm device is provided at least on both the left and right sides of the vehicle,
The vehicle exterior notification control unit is a vehicle notification control device that, when the state identification unit identifies that the vehicle is in a standby state in which a lane change is interrupted and the vehicle is waiting while changing lanes during the automatic driving without monitoring obligation, causes the vehicle exterior notification device, of the vehicle exterior notification devices provided on both the left and right sides of the vehicle, to issue an exterior notification indicating that the vehicle is in the standby state, only from the vehicle exterior notification device provided on the side on which the lane change is to be made.
(Technical Concept 25)
A vehicle notification control device according to any one of technical concepts 1 to 24,
The state identification unit (104c) identifies at least a surrounding situation of the vehicle during the autonomous driving as the autonomous driving-related state,
The vehicle exterior notification control unit (105c) is a vehicle notification control device that issues the vehicle exterior notification when the state identification unit identifies a situation in which the inter-vehicle distance between the vehicle during autonomous driving and a vehicle behind the vehicle is less than a threshold value for a specified period of time or more.
(Technical Concept 26)
A vehicle notification control device according to any one of technical concepts 1 to 25,
The vehicle exterior alarm device (191d) is provided at least in a front portion of the vehicle and performs the vehicle exterior alarm by at least one of display and light emission.
The state identification unit (104d) identifies at least a following state of the vehicle during the autonomous driving as the autonomous driving related state,
The vehicle exterior notification control unit (105d) is a vehicle notification control device that causes the vehicle exterior notification device provided at the front of the vehicle to issue the vehicle exterior notification when the state identification unit identifies a situation in which the vehicle during autonomous driving has started following a preceding vehicle.
(Technical Concept 27)
A vehicle notification control device according to Technical Concept 26,
The vehicle exterior alarm device performs the vehicle exterior alarm by at least emitting light,
The vehicle exterior notification control unit performs the vehicle exterior notification by flashing while the vehicle speed is being adjusted, and performs the vehicle exterior notification by lighting while the vehicle is traveling at a constant speed.
(Technical Concept 28)
A vehicle notification control device according to any one of technical concepts 1 to 27,
A vehicle notification control device including an interior notification control unit (102, 102b, 102e) that controls an interior notification device (18, 181, 182) that issues an interior notification to the interior of the vehicle, which is an notification indicating that the exterior notification is being issued.
(Technical Concept 29)
A vehicle notification control device according to Technical Concept 28,
The automated driving method can be used in a vehicle capable of automated driving without a monitoring obligation, which is an automated driving method without a monitoring obligation of the driver of the vehicle,
The state identification unit (104b) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation,
When the state identification unit identifies the start of the autonomous driving without monitoring obligation, the vehicle exterior notification control unit (105b) continues the vehicle exterior notification for a first predetermined time and then ends the vehicle exterior notification, and, based on the state identification unit identifying that a lane change will be performed during the autonomous driving without monitoring obligation or that a lane change has been performed during the autonomous driving without monitoring obligation, causes the vehicle exterior notification to be performed again,
The in-vehicle notification control unit (102b) is a vehicle notification control device that, based on the state identification unit's identification that a lane change will be performed during the autonomous driving without monitoring obligation, or that a lane change has been performed during the autonomous driving without monitoring obligation, does not issue the in-vehicle notification indicating the automation level of the vehicle, but instead issues the in-vehicle notification indicating the status of the lane change.
(Technical Concept 30)
A vehicle notification control device according to Technical Idea 28 or 29,
The vehicle exterior warning device (191) performs the vehicle exterior warning at least by displaying,
The vehicle interior notification device (181) displays at least an image showing the vehicle,
The in-vehicle notification control unit is a vehicle notification control device that performs the in-vehicle notification by displaying an image showing the vehicle displayed by the in-vehicle notification device in an area in which the outside notification is performed by the outside notification device, in a manner similar to the outside notification.
(Technical Concept 31)
A vehicle notification control device according to any one of Technical Ideas 28 to 30,
The state identification unit (104e) identifies at least a traffic state of the vehicle at an intersection during the autonomous driving as the autonomous driving-related state,
the vehicle exterior notification control unit (105e) performs the vehicle exterior notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during the autonomous driving,
The in-vehicle notification control unit (102e) is a vehicle notification control device that issues an in-vehicle notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during the autonomous driving mode.
(Technical Concept 32)
A vehicle notification control device according to Technical Concept 31,
When the state identification unit identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during autonomous driving, the vehicle exterior notification control unit starts the exterior notification after the interior notification by the interior notification control unit, and the exterior notification by the exterior notification control unit and the interior notification by the interior notification control unit end at the same timing.
(Technical Concept 33)
A vehicle notification control device according to Technical Concept 31 or 32,
the vehicle exterior notification control unit, when the state identification unit identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, causes the vehicle exterior notification indicating that the vehicle is stopping temporarily;
the in-vehicle notification control unit, when the state identification unit identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, causes the in-vehicle notification indicating that the vehicle is stopping temporarily;
A vehicle notification control device which starts the vehicle exterior notification indicating that the vehicle is temporarily stopped by the vehicle exterior notification control unit and the vehicle interior notification indicating that the vehicle is temporarily stopped by the vehicle interior notification control unit at the same time.
(Technical Concept 34)
A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, the timing of the vehicle exterior notification is changed depending on the autonomous driving-related state identified in the state identification step.

1, 1b, 1d Vehicle system, 10, 10a, 10b, 10c, 10d, 10e HCU (vehicle alarm control unit), 18 In-vehicle presentation device (in-vehicle alarm device), 19, 19b, 19d Vehicle exterior alarm device, 102, 102b, 102e In-vehicle presentation control unit (in-vehicle alarm control unit), 104, 104a, 104b, 104c, 104d, 104e State identification unit, 105, 105a, 105b, 105c, 105d, 105e Vehicle exterior alarm control unit, 106 Monitoring identification unit, 181 Display (in-vehicle alarm device), 182 Audio output device (in-vehicle alarm device), 191, 191b, 191d Vehicle exterior display (vehicle exterior alarm device), 192 Audio output unit (vehicle exterior alarm device)

Claims (48)

A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
the vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
The state identification unit identifies, as the autonomous driving-related state, at least whether or not a prior approval, which is approval from a driver of the vehicle, has been given for an increase in the automation level before the increase becomes possible;
The vehicle exterior notification control unit is a vehicle notification control device that changes the timing of providing the vehicle exterior notification depending on whether or not the prior approval has been given when it becomes possible to increase the automation level using the autonomous driving-related state identified by the state identification unit. 2. The vehicle notification control device according to claim 1 ,
The autonomous driving method can be used in a vehicle capable of area-limited autonomous driving, in which autonomous driving is permitted in a limited area and the driver is not required to monitor the area.
The vehicle exterior notification control unit is a vehicle notification control device that, using the autonomous driving-related state identified by the state identification unit, if the prior approval has been given, causes the vehicle exterior notification to be issued when the vehicle enters the area from outside the area, providing advance notice of the possibility that non-monitoring autonomous driving, which is autonomous driving without the driver's monitoring obligation, may begin before the vehicle enters the area. 3. The vehicle notification control device according to claim 2 ,
The vehicle exterior notification control unit is a vehicle notification control device that switches to the vehicle exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation when the vehicle enters the area and the area-limited autonomous driving begins. 2. The vehicle notification control device according to claim 1 ,
The autonomous driving system can be used in a vehicle capable of autonomous driving under specific circumstances, in which autonomous driving is permitted in a specific situation that is a specific surrounding situation and in which the driver is not required to monitor the vehicle.
The vehicle exterior notification control unit is a vehicle notification control device that, using the autonomous driving-related state identified by the state identification unit, if prior approval has been given, causes the vehicle exterior notification to be issued to notify in advance of the possibility that monitoring-free autonomous driving, which is autonomous driving without the driver's monitoring obligation, may begin when some of the conditions of the specific situation are met. 5. The vehicle notification control device according to claim 4 ,
The vehicle exterior notification control unit is a vehicle notification control device that switches to the vehicle exterior notification indicating that the vehicle is in autonomous driving without monitoring obligation when all of the conditions of the specific situation are met and the specific situation limited autonomous driving has started. 2. The vehicle notification control device according to claim 1 ,
The autonomous driving method can be used in a vehicle capable of autonomous driving without a monitoring obligation, in which autonomous driving without a monitoring obligation of the driver is permitted,
The vehicle exterior notification control unit uses the autonomous driving-related state identified by the state identification unit to, when prior approval has not been given for the autonomous driving without monitoring obligation, issue the vehicle exterior notification indicating that the autonomous driving without monitoring obligation is in progress when approval is given by the driver of the vehicle in a state where the autonomous driving without monitoring obligation is possible and the autonomous driving without monitoring obligation is started. 2. The vehicle notification control device according to claim 1 ,
The autonomous driving method can be used in a vehicle capable of autonomous driving without a monitoring obligation, in which autonomous driving without a monitoring obligation of the driver is permitted,
The vehicle exterior notification control unit uses the autonomous driving-related state identified by the state identification unit to, when prior approval has not been given for the autonomous driving without monitoring obligation, issue the vehicle exterior notification indicating that the autonomous driving without monitoring obligation is in progress after approval has been given by the driver of the vehicle in a state where the autonomous driving without monitoring obligation is possible, but before the autonomous driving without monitoring obligation begins.This is a vehicle notification control device. A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
the vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
The state identification unit identifies at least a factor that causes a decrease in the automation level as the autonomous driving-related state,
The vehicle exterior notification control unit is a vehicle notification control device that changes the timing of the vehicle exterior notification when the automation level decreases, depending on the cause of the decrease, using the autonomous driving-related state identified by the state identification unit . 9. The vehicle notification control device according to claim 8 ,
A vehicle notification control device that can be used in a vehicle in which the automation level is lowered through an assistance period in which a system of the vehicle provides more driving assistance than the automation level after the automation level is lowered when the automation level is lowered by an override, which is an operation intervention by a driver of the vehicle,
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is the override, switches the vehicle exterior notification to the state before the lowering after the automation level has lowered through the auxiliary period. 9. The vehicle notification control device according to claim 8 ,
A vehicle notification control device that can be used in a vehicle in which, when the automation level is lowered due to a driving change determined by a system of the vehicle, a driving change request is made to request a driver of the vehicle to change the driving, and then the automation level is lowered.
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is due to a planned driving change, switches the vehicle exterior notification to the state before the lowering before the driving change request is made. The vehicle notification control device according to claim 10 ,
The vehicle exterior notification control unit, using the automatic driving-related state identified by the state identification unit, when the automation level is to be lowered and the cause of the lowering is the planned driving change, issues the vehicle exterior notification to notify in advance that the automation level will be lowered before the driving change request is made, and when the automation level is lowered, switches the vehicle exterior notification to a mode appropriate for after the lowering. 9. The vehicle notification control device according to claim 8 ,
A vehicle notification control device that can be used in a vehicle in which, when the automation level is lowered due to a driving change determined by a system of the vehicle, a driving change request is made to request a driver of the vehicle to change the driving, and then the automation level is lowered.
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is due to an unplanned driving change, switches the vehicle exterior notification to the state before the lowering when a driving change request is made or after the driving change request is made. 9. The vehicle notification control device according to claim 8 ,
A vehicle notification control device that can be used in a vehicle in which the automation level is lowered by a brake operation by a driver of the vehicle,
The vehicle exterior notification control unit is a vehicle notification control device that, when the automation level is lowered using the automatic driving-related state identified by the state identification unit and the cause of the lowering is the type of factor that instantly lowers the automation level, issues the vehicle exterior notification at the time the cause occurs and continues the vehicle exterior notification for a predetermined period of time or more. The vehicle notification control device according to claim 13 ,
The vehicle exterior notification control unit is a vehicle notification control device that continues the vehicle exterior notification for a longer period of time when the cause of the decrease in automation level is the type of factor that instantly decreases the automation level, than when the cause of the decrease in automation level is a planned change in driving by the driver of the vehicle. A vehicle notification control device that can be used in a vehicle capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of a vehicle driver , and capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
the vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
The state identification unit (104a) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and a duration of the driving under the autonomous driving without a monitoring obligation,
The vehicle exterior notification control unit (105a) is a vehicle notification control device that, when the state identification unit identifies the start of the autonomous driving without monitoring obligation, continues the vehicle exterior notification for a first predetermined time and then terminates it, while, when the continuous driving time in the autonomous driving without monitoring obligation identified by the state identification unit exceeds a second predetermined time that is longer than the first predetermined time, causes the vehicle exterior notification to be performed again . A vehicle notification control device that can be used in a vehicle capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of a vehicle driver , and capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
the vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
The state identification unit (104b) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation,
The vehicle exterior notification control unit (105b), when the state identification unit identifies the start of the autonomous driving without monitoring obligation, continues the vehicle exterior notification for a first predetermined time and then ends it, while re-issuing the vehicle exterior notification based on the state identification unit identifying that a lane change will be made during the autonomous driving without monitoring obligation or that a lane change has been made during the autonomous driving without monitoring obligation . The vehicle notification control device according to claim 16 ,
The state identification unit also identifies, as the autonomous driving-related state, a surrounding situation of the vehicle after a lane change during the autonomous driving without a monitoring obligation,
The vehicle exterior notification control unit causes the vehicle exterior notification to be issued again when the state identification unit determines that a lane change has been performed during the autonomous driving without monitoring obligation and that another vehicle is present within a specified distance in front of or behind the vehicle after the lane change is completed, whereas the vehicle exterior notification control unit does not cause the vehicle exterior notification to be issued again when the state identification unit determines that a lane change has been performed during the autonomous driving without monitoring obligation but does not determine that another vehicle is present within a specified distance in front of or behind the vehicle after the lane change is completed. The vehicle notification control device according to claim 16 ,
The vehicle exterior notification control unit, when the state identification unit identifies that a lane change is to be performed during the automatic driving without monitoring obligation, starts the vehicle exterior notification again while the lane change is being performed, and ends the vehicle exterior notification when the lane change is completed, or ends the vehicle exterior notification after a certain time has elapsed since the lane change is completed. The vehicle notification control device according to claim 16 ,
The vehicle exterior notification control unit is a vehicle notification control device that, when the state identification unit determines that a lane change will be performed during the automatic driving without monitoring obligation, starts the vehicle exterior notification again before the lane change begins. The vehicle notification control device according to claim 16 ,
A monitoring identification unit (106) is provided for identifying whether or not a driver of the vehicle is monitoring the surroundings,
The vehicle exterior notification control device is a vehicle notification control device that, when the state identification unit identifies that a lane change is being performed during the autonomous driving without monitoring obligation, changes the manner of the vehicle exterior notification depending on whether the monitoring identification unit identifies that the driver is monitoring the surroundings or determines that the driver is not monitoring the surroundings. The vehicle notification control device according to claim 20 ,
The vehicle exterior notification control device is a vehicle notification control device that, when the state identification unit identifies that a lane change is being performed during the autonomous driving without monitoring obligation, does not issue the vehicle exterior notification if the monitoring identification unit identifies that the driver is monitoring the surroundings, but issues the vehicle exterior notification if the monitoring identification unit identifies that the driver is not monitoring the surroundings. The vehicle notification control device according to claim 16 ,
The vehicle exterior warning device (191b) is provided at least on a side of the vehicle and performs the vehicle exterior warning by at least one of display and light emission.
The vehicle exterior notification control unit is a vehicle notification control device that, when the state identification unit identifies that the vehicle is in a standby state in which a lane change is stopped in the middle of being performed during the automatic driving without monitoring obligation and the vehicle is waiting, causes the vehicle exterior notification device provided on the side of the vehicle to make an exterior notification indicating that the vehicle is in the standby state. The vehicle notification control device according to claim 22 ,
The vehicle exterior alarm device is provided at least on both the left and right sides of the vehicle,
The vehicle exterior notification control unit is a vehicle notification control device that, when the state identification unit identifies that the vehicle is in a standby state in which a lane change is interrupted and the vehicle is waiting while being changed lane during the automatic driving without monitoring obligation, causes the vehicle exterior notification device, of the vehicle exterior notification devices provided on both the left and right sides of the vehicle, to issue the vehicle exterior notification indicating that the vehicle is in the standby state, only from the vehicle exterior notification device provided on the side that is to cause the lane change to be performed. A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
the vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
The state identification unit (104c) identifies at least a surrounding situation of the vehicle during the autonomous driving as the autonomous driving-related state,
The vehicle exterior notification control unit (105c) is a vehicle notification control device that issues the vehicle exterior notification when the state identification unit identifies a situation in which the inter-vehicle distance between the vehicle during autonomous driving and a vehicle behind the vehicle is less than a threshold value for a specified period of time or more. A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
the vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
The vehicle exterior alarm device (191d) is provided at least in a front portion of the vehicle and performs the vehicle exterior alarm by at least one of display and light emission.
The state identification unit (104d) identifies at least a following state of the vehicle during the autonomous driving as the autonomous driving related state,
The vehicle exterior notification control unit (105d) is a vehicle notification control device that causes the vehicle exterior notification device provided at the front of the vehicle to issue the vehicle exterior notification when the state identification unit identifies a situation in which the vehicle during autonomous driving has started following a preceding vehicle . The vehicle notification control device according to claim 25 ,
The vehicle exterior alarm device performs the vehicle exterior alarm by at least emitting light,
The vehicle exterior notification control unit performs the vehicle exterior notification by flashing while the vehicle speed is being adjusted, and performs the vehicle exterior notification by lighting while the vehicle is traveling at a constant speed. The vehicle notification control device according to any one of claims 1 to 26 ,
A vehicle notification control device including an interior notification control unit (102, 102b, 102e) that controls an interior notification device (18, 181, 182) that issues an interior notification to the interior of the vehicle, which is an notification indicating that the exterior notification is being issued. The vehicle notification control device according to claim 27 ,
The automated driving method can be used in a vehicle capable of automated driving without a monitoring obligation, which is an automated driving method without a monitoring obligation of the driver of the vehicle,
The state identification unit (104b) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation,
When the state identification unit identifies the start of the autonomous driving without monitoring obligation, the vehicle exterior notification control unit (105b) continues the vehicle exterior notification for a first predetermined time and then ends the vehicle exterior notification, and, based on the state identification unit identifying that a lane change will be performed during the autonomous driving without monitoring obligation or that a lane change has been performed during the autonomous driving without monitoring obligation, causes the vehicle exterior notification to be performed again,
The in-vehicle notification control unit (102b) is a vehicle notification control device that, based on the state identification unit's identification that a lane change will be performed during the autonomous driving without monitoring obligation, or that a lane change has been performed during the autonomous driving without monitoring obligation, does not issue the in-vehicle notification indicating the automation level of the vehicle, but instead issues the in-vehicle notification indicating the status of the lane change. The vehicle notification control device according to claim 27 ,
The vehicle exterior warning device (191) performs the vehicle exterior warning at least by displaying,
The vehicle interior notification device (181) displays at least an image showing the vehicle,
The in-vehicle notification control unit is a vehicle notification control device that performs the in-vehicle notification by displaying an image showing the vehicle displayed by the in-vehicle notification device in an area in which the outside notification is performed by the outside notification device, in a manner similar to the outside notification. The vehicle notification control device according to claim 27 ,
The state identification unit (104e) identifies at least a traffic state of the vehicle at an intersection during the autonomous driving as the autonomous driving-related state,
the vehicle exterior notification control unit (105e) performs the vehicle exterior notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during the autonomous driving,
The in-vehicle notification control unit (102e) is a vehicle notification control device that issues an in-vehicle notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during the autonomous driving mode. The vehicle notification control device according to claim 30 ,
When the state identification unit identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during autonomous driving, the vehicle exterior notification control unit starts the exterior notification after the interior notification by the interior notification control unit, and the exterior notification by the exterior notification control unit and the interior notification by the interior notification control unit end at the same timing. The vehicle notification control device according to claim 30 ,
the vehicle exterior notification control unit, when the state identification unit identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, causes the vehicle exterior notification indicating that the vehicle is stopping temporarily;
the in-vehicle notification control unit, when the state identification unit identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, causes the in-vehicle notification indicating that the vehicle is stopping temporarily;
A vehicle notification control device which starts the vehicle exterior notification indicating that the vehicle is temporarily stopped by the vehicle exterior notification control unit and the vehicle interior notification indicating that the vehicle is temporarily stopped by the vehicle interior notification control unit at the same time. A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
The vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
A vehicle notification control device including an interior notification control unit (102, 102b, 102e) that controls an interior notification device (18, 181, 182) that issues an interior notification to the interior of the vehicle, which is an notification indicating that the exterior notification is being issued. A vehicle notification control device that can be used in a vehicle capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of a vehicle driver , and capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
The vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
an interior notification control unit (102, 102b, 102e) for controlling an interior notification device (18, 181, 182) for making an interior notification, which is a notification indicating that the exterior notification is being made, toward a passenger compartment of the vehicle;
The state identification unit (104b) identifies, as the autonomous driving-related state, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation,
When the state identification unit identifies the start of the autonomous driving without monitoring obligation, the vehicle exterior notification control unit (105b) continues the vehicle exterior notification for a first predetermined time and then ends the vehicle exterior notification, and, based on the state identification unit identifying that a lane change will be performed during the autonomous driving without monitoring obligation or that a lane change has been performed during the autonomous driving without monitoring obligation, causes the vehicle exterior notification to be performed again,
The in-vehicle notification control unit (102b) is a vehicle notification control device that, based on the state identification unit's identification that a lane change will be performed during the autonomous driving without monitoring obligation, or that a lane change has been performed during the autonomous driving without monitoring obligation, does not issue the in-vehicle notification indicating the automation level of the vehicle, but instead issues the in-vehicle notification indicating the status of the lane change . A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
The vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
an interior notification control unit (102, 102b, 102e) for controlling an interior notification device (18, 181, 182) for making an interior notification, which is a notification indicating that the exterior notification is being made, toward a passenger compartment of the vehicle ;
The vehicle exterior warning device (191) performs the vehicle exterior warning at least by displaying,
The vehicle interior notification device (181) displays at least an image showing the vehicle,
The in-vehicle notification control unit is a vehicle notification control device that performs the in-vehicle notification by displaying an image showing the vehicle displayed by the in-vehicle notification device in an area in which the outside notification is performed by the outside notification device, in a manner similar to the outside notification . A vehicle notification control device that can be used in a vehicle that is capable of automatic driving and is capable of switching an automation level, which is the degree of the automatic driving,
A state identification unit (104, 104a, 104b, 104c, 104d, 104e) for identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control unit (105, 105a, 105b, 105c, 105d, 105e) that controls an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
The vehicle exterior notification control unit changes a timing for performing the vehicle exterior notification in accordance with the autonomous driving-related state identified by the state identification unit ,
an interior notification control unit (102, 102b, 102e) for controlling an interior notification device (18, 181, 182) for making an interior notification, which is a notification indicating that the exterior notification is being made, toward a passenger compartment of the vehicle;
The state identification unit (104e) identifies at least a traffic state of the vehicle at an intersection during the autonomous driving as the autonomous driving-related state,
the vehicle exterior notification control unit (105e) performs the vehicle exterior notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during the autonomous driving,
The in-vehicle notification control unit (102e) is a vehicle notification control device that issues an in-vehicle notification indicating that a temporary stop is planned when the state identification unit identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during the autonomous driving mode . The vehicle notification control device according to claim 36 ,
When the state identification unit identifies that a temporary stop is required before a crosswalk when turning right or left at an intersection during autonomous driving, the vehicle exterior notification control unit starts the exterior notification after the interior notification by the interior notification control unit, and the exterior notification by the exterior notification control unit and the interior notification by the interior notification control unit end at the same timing. The vehicle notification control device according to claim 36 ,
the vehicle exterior notification control unit, when the state identification unit identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, causes the vehicle exterior notification indicating that the vehicle is stopping temporarily;
the in-vehicle notification control unit, when the state identification unit identifies that the vehicle has stopped temporarily before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, causes the in-vehicle notification indicating that the vehicle is stopping temporarily;
A vehicle notification control device which starts the vehicle exterior notification indicating that the vehicle is temporarily stopped by the vehicle exterior notification control unit and the vehicle interior notification indicating that the vehicle is temporarily stopped by the vehicle interior notification control unit at the same time. A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed in accordance with the autonomous driving related state identified in the state identification step ,
In the state identification step, as the autonomous driving-related state, at least whether or not an increase in the automation level has been approved in advance by a driver of the vehicle before the increase is possible is identified;
In the vehicle exterior notification control process, the vehicle notification control method changes the timing of the vehicle exterior notification depending on whether or not the prior approval has been given when it becomes possible to increase the automation level using the autonomous driving-related state identified in the state identification process . A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed in accordance with the autonomous driving related state identified in the state identification step ,
In the state identification step, at least a factor causing a decrease in the automation level is identified as the autonomous driving-related state,
The vehicle alarm control process uses the autonomous driving-related state identified in the state identification process to change the timing of the vehicle alarm when the automation level decreases, depending on the cause of the decrease. A vehicle notification control method that can be used in a vehicle that is capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of a driver of the vehicle , and is capable of switching an automation level, which is the degree of the automatic driving,
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed in accordance with the autonomous driving related state identified in the state identification step ,
In the state identification step, at least the start of the autonomous driving without a monitoring obligation and the duration of the autonomous driving without a monitoring obligation are identified as the autonomous driving-related state,
In the vehicle exterior notification control process, when the start of the autonomous driving without monitoring obligation is identified in the state identification process, the vehicle exterior notification is continued for a first predetermined time and then terminated, while the vehicle exterior notification is repeated if the continued driving time in the autonomous driving without monitoring obligation identified in the state identification process exceeds a second predetermined time that is longer than the first predetermined time. A vehicle notification control method that can be used in a vehicle that is capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of a driver of the vehicle , and is capable of switching an automation level, which is the degree of the automatic driving,
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed in accordance with the autonomous driving related state identified in the state identification step ,
In the state identification step, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation are identified as the autonomous driving-related state,
In the vehicle exterior notification control process, when the start of the autonomous driving without monitoring obligation is identified in the state identification process, the vehicle exterior notification is continued for a first predetermined time period and then terminated, while the vehicle exterior notification is repeated based on the state identification process identifying a lane change being performed during the autonomous driving without monitoring obligation or that a lane change has been performed during the autonomous driving without monitoring obligation . A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving,
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed in accordance with the autonomous driving related state identified in the state identification step ,
In the state identification step, at least a surrounding situation of the vehicle during the autonomous driving is identified as the autonomous driving-related state,
In the vehicle exterior notification control process, the vehicle exterior notification is performed when the state identification process identifies a situation in which the inter-vehicle distance between the autonomously driving vehicle and a vehicle behind the vehicle is less than a threshold value for a specified period of time or longer. A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed in accordance with the autonomous driving related state identified in the state identification step ,
The vehicle exterior alarm device (191d) is provided at least in a front portion of the vehicle and performs the vehicle exterior alarm by at least one of display and light emission.
In the state identification step, at least a following state of the vehicle during the autonomous driving is identified as the autonomous driving-related state,
In the vehicle exterior notification control process, when the state identification process identifies a situation in which the vehicle in the autonomous driving state has begun to follow a preceding vehicle, the vehicle exterior notification control method causes the vehicle exterior notification device provided at the front of the vehicle to issue the vehicle exterior notification . A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed according to the autonomous driving-related state identified in the state identification step ,
A vehicle notification control method including an interior notification control step of controlling an interior notification device (18, 181, 182) that issues an interior notification, which is a notification indicating that the exterior notification is being made, toward the interior of the vehicle . A vehicle notification control method that can be used in a vehicle that is capable of automatic driving without a monitoring obligation, which is automatic driving without a monitoring obligation of a driver of the vehicle , and is capable of switching an automation level, which is the degree of the automatic driving,
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed according to the autonomous driving-related state identified in the state identification step ,
an interior notification control step of controlling an interior notification device (18, 181, 182) that issues an interior notification to an interior of the vehicle, the interior notification being a notification indicating that the exterior notification is being issued;
In the state identification step, at least a start of the autonomous driving without a monitoring obligation and an implementation status of a lane change during the autonomous driving without a monitoring obligation are identified as the autonomous driving-related state,
In the vehicle exterior notification control step, when the start of the autonomous driving without monitoring obligation is identified in the state identification step, the vehicle exterior notification is continued for a first predetermined time and then terminated, while the vehicle exterior notification is issued again based on the fact that a lane change will be performed during the autonomous driving without monitoring obligation or that a lane change has been performed during the autonomous driving without monitoring obligation identified in the state identification step,
In the in-vehicle notification control process, based on the state identification process that identifies a lane change being performed during the autonomous driving without monitoring obligation, or that a lane change has been performed during the autonomous driving without monitoring obligation, the vehicle notification control method does not issue the in-vehicle notification indicating the automation level of the vehicle, but issues the in-vehicle notification indicating the status of the lane change . A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed according to the autonomous driving-related state identified in the state identification step ,
an interior notification control step of controlling an interior notification device (18, 181, 182) that issues an interior notification to an interior of the vehicle, the interior notification being a notification indicating that the exterior notification is being issued;
The vehicle exterior warning device (191) performs the vehicle exterior warning at least by displaying,
The vehicle interior notification device (181) displays at least an image showing the vehicle,
In the in-vehicle notification control process, the vehicle notification control method performs the in-vehicle notification by displaying an image showing the vehicle displayed by the in-vehicle notification device in an area in which the outside notification is performed by the outside notification device in a manner similar to the outside notification . A vehicle notification control method that can be used in a vehicle that is capable of autonomous driving and is capable of switching an automation level, which is the degree of the autonomous driving, comprising:
Executed by at least one processor,
A state identification step of identifying an autonomous driving-related state, which is a state of the vehicle related to the autonomous driving;
an exterior notification control step of controlling an exterior notification device (19, 19b, 19d, 191, 191b, 191d, 192) that performs an exterior notification, which is a notification of information related to the automatic driving, toward the outside of the vehicle;
In the vehicle exterior notification control step, a timing of performing the vehicle exterior notification is changed according to the autonomous driving-related state identified in the state identification step ,
an interior notification control step of controlling an interior notification device (18, 181, 182) that issues an interior notification to an interior of the vehicle, the interior notification being a notification indicating that the exterior notification is being issued;
In the state identification step, at least a traffic state of the vehicle at an intersection during the autonomous driving is identified as the autonomous driving-related state,
In the vehicle exterior notification control step, when it is determined in the state determination step that a temporary stop is required before a pedestrian crossing when turning right or left at an intersection during the autonomous driving, the vehicle exterior notification indicating that a temporary stop is scheduled is performed;
The in-vehicle notification control process is a vehicle notification control method in which, when the state identification process determines that it is necessary to stop before a crosswalk when turning right or left at an intersection during the autonomous driving, an in-vehicle notification is made indicating that a stop is planned .

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