JPWO2018037779A1 - Vehicle control device for recognition control - Google Patents

Abstract

The present invention realizes a recognition control target notification device in which the driver can accurately recognize the control target vehicle around the host vehicle. According to the present invention, the object recognition unit 11 recognizes an object based on the image information obtained by the external image acquisition unit 10, and cuts it out as an image. The type recognition unit 12 determines the color and the shape of the object from the extracted image. The notification content generation unit 14 generates notification content including the shape and color of the object, outputs a control signal for controlling the notification unit 15, and notifies the notification unit 15 of the shape and color of the object Report the contents. Thereby, the user can accurately recognize the state of the object in the vehicle control.

Description

  The present invention relates to a recognition control target vehicle notification device that recognizes and notifies a vehicle in the vicinity of a host vehicle.

  In recent years, in response to the increasing tendency of traffic accidents, automatic emergency braking has been made to dramatically improve the safety of vehicles, that is, to prevent safety problems from the beginning and to reduce the driving load on drivers. A part or all of the driving operation of the vehicle using information obtained from the camera and radar mounted on the vehicle such as the system, emergency avoidance system, auto cruise control system, lane keeping (lane keeping) system, and automatic parking system. Various automatic driving techniques that the system automatically performs (there are various automatic driving levels depending on the degree of contribution and involvement of the driver) have been developed.

  The system described above recognizes obstacles etc. by the image signal of the forward surveillance camera mounted on the vehicle, and predicts not only the possibility of lane departure of the vehicle, rear collision, contact with the obstacle etc. Also, it has a function to follow the vehicle ahead by using these technologies and to follow the lane information.

  Moreover, in the vehicle having the above-mentioned following movement, there is disclosed a matter in which the display mode is made different between the following movement and the non-following movement.

  Specifically, when the leading vehicle to be followed is detected, the driver displays that the preceding vehicle is recognized by displaying the leading vehicle display, the own vehicle display and the like on the screen showing the status of the following movement. Patent Document 1 describes a technique for obtaining an effect that can be recognized.

  Further, Patent Document 2 describes a technique that allows a driver to recognize that a preceding vehicle is recognized by cutting out a region of a control target from an image signal of a front surveillance camera and displaying the region as it is.

  Further, Patent Document 3 describes a technique for enhancing the same visibility by using an alternative image in accordance with the recognized orientation and posture of a solid object.

  Further, Patent Document 4 describes a technique for discriminating between a dynamic pedestrian and a static pedestrian and converting only the dynamic pedestrian into an alert signal.

JP, 2015-9777, A JP-A-2015-501455 Patent No. 5516998 gazette JP, 2012-142832, A

  However, the invention disclosed in Patent Document 1 described above is limited to cruise control, only informs the driver of the on / off state, and informs the driver of the presence of the preceding vehicle in a fixed form, and has recently diversified vehicle control mechanisms. It is difficult to say that they are fully compliant.

  Specifically, when the cruise control described in Patent Document 1 is taken as an example, only the presence of the preceding vehicle is notified, and it is not notified what the preceding vehicle specifically targets. There is a problem that the subject being followed by an automatic tracking function such as an auto cruise control system does not know that it matches the user's recognition.

  Further, the invention disclosed in Patent Document 2 solves the problem of Patent Document 1 in that the user is notified of the recognition information of the preceding vehicle using the cut out image, but the original image itself acquired by the camera is Since the amount of information to be transferred is large because it is cut out, transferred and displayed, the transfer time becomes long. In addition, since the original image is displayed in the small area, the visibility may be deteriorated depending on the acquired scene.

  Further, in the invention disclosed in Patent Document 3, when there are vehicles of different vehicle types in front of the own vehicle, their postures are almost the same. Have difficulty.

  Further, in the invention disclosed in Patent Document 4, since all the vehicles traveling forward are dynamic vehicles, all are converted into alert signals, and it is difficult for the driver to identify target vehicles. It is.

  The present invention has been made in view of the above-described problems, and an object thereof is to realize a recognition control target vehicle notification device in which a driver can accurately recognize a control target vehicle in the vicinity of the host vehicle.

  In order to solve the above-mentioned subject, the present invention is constituted as follows.

  In the recognition control target vehicle notification device, an image acquisition unit that acquires an image of the surroundings of the own vehicle, a type recognition unit that recognizes the type of recognition control target vehicle from the image acquired by the image acquisition unit, and the recognition by the type recognition unit A notification information generation unit that generates notification information based on the type of the recognition control target vehicle, and a notification unit that notifies the notification information generated by the notification information generation unit.

  According to the present invention, it is possible to realize a recognition control target vehicle notification device in which the driver can accurately recognize the control target vehicle in the vicinity of the host vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic block diagram of the system configuration of the vehicle by which the recognition control object vehicle alerting | reporting apparatus which concerns on this invention was mounted. It is an operation | movement flow of the automatic driving | operation in the Example of this invention. It is a figure explaining an example of informing operation at the time of recognizing vehicles in a practical example which operates during automatic driving. It is a figure explaining an example of notice operation | movement at the time of changing during automatic driving in the state which has recognized the vehicle in the practical example which operate | moves whether it is automatic driving or not. It is a figure explaining an example of table management at the time of data and handling a color and shape to inform. It is an explanatory view explaining an outline of a level of automatic operation.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic configuration diagram of a system configuration of a vehicle equipped with a recognition control target vehicle notification device according to the present invention.

  In FIG. 1, a vehicle (such as an automobile) 1 mainly acquires information on the periphery of the vehicle 1, and a recognition control target notification system 2 for notifying the acquired information, and an automatic operation for automatically driving the vehicle 1. A driving system 3 is mounted. The automatic driving by the automatic driving system 3 will be described later.

  The recognition control target notification system 2 mainly acquires (recognizes) an automatic driving information acquisition unit 13 that acquires, from the automatic driving system 3, automatic driving information related to whether or not the vehicle 1 is in automatic driving by the automatic driving system 3. Based on the type of the recognition control target vehicle recognized by the type recognition unit, the target recognition unit 11 that recognizes the recognition control target vehicle from the image, the type recognition unit 12 that recognizes the type (shape, color, etc.) of the recognized target vehicle A notification content generation unit (notification information generation unit) 14 for generating notification content, a notification unit 15 for notifying (displaying, outputting sound, etc.) the generated notification content, and an external image of a camera etc. And the notification content generation unit (notification information generation unit) 14 is obtained from the information obtained from the outside image acquisition unit 10 and the automatic driving information acquisition unit 13. The control signal is generated and output based on the automatic driving information.

  FIG. 2 is an operation flow of automatic operation in the embodiment of the present invention.

  In FIG. 2, in step S201, the external image recognition acquisition unit 10 determines whether the camera state is normalized. If it is determined that the state is not normal, the process proceeds to step S209, the notification unit 15 or the like notifies an abnormality, and the process returns to the start.

  If it is determined in step S201 that the camera state is normal, the process proceeds to step S202, and the external image recognition unit 10 acquires an image of the surroundings of the vehicle. Next, in step S203, each unit of the control target recognition system 2 performs initial setting. Then, in step S204, the object recognition unit 11 detects a white line of the road, and detects a three-dimensional object on the road in step S205. Then, in step S206, a control target vehicle among the preceding vehicles is selected, and the process proceeds to step S207.

  Step S207 is a processing step for setting the vehicle to be controlled to a notification that can be easily identified by the driver, and comprises steps S211 to S215 shown on the right side of FIG.

  In step S211, the external world image acquisition unit 10 acquires the surrounding vehicle information, and the automatic driving information acquiring unit 13 acquires the automatic driving information regarding whether the vehicle 1 is in the automatic driving by the automatic driving system 3 or not, The image information and the automatic driving information are transmitted to the target recognition unit 11.

  Note that acquisition of image information by the external world image acquisition unit 10 and acquisition of automatic driving information by the automatic driving information acquisition unit 13 may be performed periodically, or may be performed at a predetermined timing. Further, it is needless to say that the acquisition timing of the image information by the external world image acquisition unit 10 and the acquisition timing of the automatic driving information by the automatic driving information acquisition unit 13 may be different.

  Subsequently, the object recognition unit 11 of the recognition control object notification system 2 recognizes an object present in the vehicle periphery information based on the transmitted vehicle periphery information, cuts it out as an image, and transmits the image to the type recognition unit 12 ( Step S212).

  The type recognition unit 12 determines the shape of the object based on the extracted image transmitted from the target recognition unit 11 (step S213).

  When the type recognition unit 12 determines the shape of the object, the type recognition unit 12 further determines the color of the object based on the clipped image transmitted from the object recognition unit 11 (step S214).

  Of course, the determination of the shape and the determination of the color may be different in accordance with the acquisition of the surrounding information by the external world image acquiring unit 10.

  If the type recognition unit 12 determines the shape and color of the object after cutting out the object, the type recognition unit 12 transmits the object information and the determination result to the notification content generation unit 14 (step S215).

  The notification content generation unit 14 having received the determination result from the type recognition unit 12 generates notification content according to the transmitted shape and color information (step S216).

  The notification unit 15 that has received the determination result from the notification content generation unit 14 notifies the driver of the vehicle 1 of an icon including the cutout image of the object, the shape of the object, and the color as a control signal (step S208).

  Examples of the notification unit 15 include a meter, a liquid crystal screen, a display (LED) lamp, a voice (including a buzzer) generating device, a vibration generating device, and the like. It is conceivable that display changes such as a liquid crystal display, light such as an LED lamp, sound such as sound, and generation of vibration occur.

  By repeating the process as described above, it is possible to appropriately notify the recognition target to the notification unit 15 provided in the vehicle 1.

  In the embodiment described above, the notification unit 15 notifies the driver of the vehicle 1 as a clipped image of an object to be recognized or an icon including the shape and color of the object by display or voice. A control signal of only one of the sounds may be generated and notified, or a recognition target may be notified by display and sound. As an example of the voice, the shape and color of the target vehicle are described.

  In addition, for display, only the shape or color of the recognition target may be displayed, and for the sound, only the shape or color of the recognition target may be notified.

  Moreover, although alerting | reporting with respect to a recognition target object was demonstrated, a notification target object can be divided into two. One is a recognition target object that only acquires an image by the external world image acquisition unit 10 and holds information of the target object when the target recognition unit 11 determines the target object. The other one is a control target which holds information of a recognition target and which is to control the vehicle 1.

  The notification may be made for both the recognition object and the control object, or only one of them may be notified. Moreover, when notifying both, the notification content may be changed.

  Further, information obtained from the automatic driving information acquisition unit 13 may be used as a condition when the notification content generation unit 14 generates the notification content.

  For example, the notification content may be generated only when the automatic driving information acquisition unit 13 determines that automatic driving is being performed by the automatic driving system 3, and the notification content may be transmitted to the notification unit 15. In addition, the notification content to be generated is changed depending on whether the automatic driving information acquisition unit 13 determines that automatic driving is not being performed by the automatic driving system 3 and the case where it is determined that automatic driving is being performed. You may make it transmit.

  When using information obtained from the automatic driving information acquisition unit 13, the vehicle 1 is automatically driven by the automatic driving system 3 from the preparation state (that is, the state of manual driving by the driver) before performing the automatic driving by the automatic driving system 3. Although it is determined whether or not the driving is switched, the switching to the automatic driving may be performed manually by a switch operation of the driver of the vehicle 1 or may be performed automatically by the system. .

  By the way, the above-mentioned automatic driving system 3 is realized by various automatic driving functions for the purpose of reduction of traffic accidents, alleviation of traffic congestion, reduction of environmental load, mobility support for elderly people, etc., improvement of driving comfort. It is possible to obtain automatic driving information for determining whether or not the automatic driving is in progress based on the information obtained from the respective automatic driving functions. In addition, each of these automatic driving functions is generally classified into a plurality of automatic driving levels (for example, five levels from level 0 to 4) according to the degree of contribution or involvement of the driver (see FIG. 6). ).

  Here, in the present specification, the term “automatic driving” means driving in which the system performs all or part of the driving operation of the vehicle, and, for example, in the example shown in FIG. Driving basically means driving in which the driver performs a driving operation of the vehicle, and in the example shown in FIG. 6, for example, the automatic driving level 0 corresponds.

  The automatic driving level and the automatic driving function, their classification and the like shown in FIG. 6 are merely examples, and it goes without saying that the present invention is not limited to this.

  As described above, among the automatic driving by the automatic driving system 3, there are automatic driving of various automatic driving levels, and the driver still needs the control target notification and the driver needs the control target notification. It is thought that there is no automatic driving.

  For example, during automatic driving by automatic driving system 3, at the time of AEB (automatic emergency brake) operation at automatic driving level 1, in order to avoid contact with objects around vehicle 1, notification is given on the recognition target and control target It is considered that it may be done.

  Here, with the automatic driving level 0, the driver performs acceleration, steering, and braking, and as the automatic driving function, it is around view, back view, blind spot view, LDW (lane deviation warning), flutter warning, FCW (forward collision warning ).

  The automatic driving level 1 is a state where the vehicle performs either acceleration (deceleration), steering, or braking, and is a safe driving support system. The automatic driving functions include AEB, emergency avoidance system, automatic parking system, ACC (auto cruise), LKS (lane maintenance system), LDP (lane departure prevention support system).

  The automatic driving level 2 is a semi-automatic driving system in which the vehicle performs a plurality of operations among acceleration (deceleration), steering, and braking at the same time, and the driver must always stop moving. The automatic driving function is a combination of automatic driving level 0 and automatic driving level 1.

  The automatic driving level 3 is a semi-automatic driving system in which the vehicle performs acceleration (deceleration), steering, and braking, and the driver responds only in an emergency. The automatic driving function is semi-automatic. However, under some circumstances, it is a hybrid of the functions of automatic operation level 0 and automatic operation level 1.

  The automatic driving level 4 is a completely automatic driving system in which acceleration (deceleration), steering, and braking are all performed except by the driver and the driver is not involved at all. The automatic driving function is fully automatic.

  It should be noted that in the automatic operation levels 2 to 4, even when only the alarm is activated at the time of AEB operation, it is considered better to notify the recognition object and the control object as in the automatic operation level 1.

  In addition, when other functions (automatic parking function etc.) of automatic operation level 1 are activated, when the steering wheel and accelerator control are left to the system (system responsibility), notification is given on the recognition object and the control object Although it may be considered as good, it is considered that when the steering wheel and the accelerator control are left to the driver (driver's responsibility), it is not necessary to do anything for the recognition object and the control object.

  In addition, at automatic driving level 2 and automatic driving level 3, for example, ACC (auto cruise control) and LDP (lane deviation prevention support system) alone control temporary steering wheel and accelerator (for example, return vehicle 1 into the lane) In the case of a combination with LKS (Lane Keeping System), which may be able to leave all the steering wheel and accelerator control to the system, it is considered that notification may be performed on the recognition object and the control object. Be

  Further, at the automatic driving level 4, since the system performs all the driving operations of the vehicle 1 (complete automatic driving), it is considered that notification may be performed on the recognition target and the control target.

  As described above, among the automatic driving by the automatic driving system 3, there are the automatic driving in which the driver still needs notification on the recognition target and the control target, and the automatic driving in which the driver does not require the control target notification. . Therefore, based on the automatic driving information transmitted from the automatic driving information acquiring unit 13, the informing content generating unit 14 determines the automatic driving function of those automatic driving levels or the automatic driving system 3, and When it is determined that the automatic driving level or the automatic driving function is the predetermined automatic driving level or the automatic driving function (that is, the vehicle 1 is switched to the predetermined automatic driving level or the automatic driving of the automatic driving function) Alternatively, a control signal for performing control target notification may be output.

  FIGS. 3 to 5 are diagrams for specifically explaining the informing operation, and FIG. 3 is a diagram for explaining an example of the informing operation when a vehicle is recognized in a practical example which operates during automatic driving. These are figures explaining an example of notice operation | movement at the time of changing during automatic driving | running | working in the state which has recognized the vehicle in the practical example which operate | moves whether it is automatic driving | running or not. Moreover, FIG. 5 is a figure explaining an example of table management at the time of data and handling the shape and color to alert | report.

  As shown in FIG. 3, when a forward vehicle is recognized in a practical example that operates only during automatic driving, nothing is displayed on the notification unit 15 as surrounding information before starting the automatic driving (notification (notification) Display content S301 of the section 15.

If the driver or controlled object notification system 2 activates the automatic driving system at a certain point to switch the vehicle 1 from the manual driving to the automatic driving mode and the automatic driving information acquisition unit 13 acquires the information switched to the automatic driving Based on the surrounding information 16 obtained by the external world image obtaining unit 10, the object recognition unit 11 recognizes the vehicle present in the front from the obtained surrounding information.
Then, among the recognized vehicles, a vehicle image of the recognition control target vehicle is cut out as a cutout image 17.

  Thereafter, based on the cut-out image 17, the type recognition unit 12 determines the shape from the shape information 18 and determines the color from the color information 19. Then, the notification content generation unit 14 generates the notification content based on the determination information of the type recognition unit 12 (in FIG. 3, the notification content indicates a plurality of notification contents as an example, but the notification content to be generated is The notification unit 15 is notified of the notification content (which is one of the illustrated examples). As shown in the display content S302, the notification unit 15 displays the vehicle type shape image 15A to which the color is applied. In addition, although the mark 15B which shows an own vehicle position is shown by display content S302 of the alerting | reporting part 15, this is not necessarily required. In addition, the notification unit 15 notifies by voice that, for example, "a yellow passenger car ahead has been set as a tracking target".

  Although the example mentioned above is an example which alert | reports a tracking object to alerting | reporting part 15 in automatic driving | running | working mode, also in the state which is not automatic driving | running mode, a front vehicle can also be displayed on alerting | reporting part 15.

  FIG. 4 is a diagram for explaining an example of the notification operation in the case of transitioning during automatic driving in a state in which the vehicle is recognized, and an example of displaying the forward vehicle on the notification unit 15 even in the non-automatic operation mode FIG.

  In FIG. 4, target vehicle information (information of a vehicle recognized other than the recognition control target vehicle) recognized in the vicinity is displayed even before the start of the automatic driving (display content S401 of the notification unit 15).

  However, in the case of the display content S401, although the preceding vehicle is recognized, it is not notified up to which color it is.

  When the driver or the control target notification system 2 switches from a manual operation to an automatic operation mode at a certain point, the automatic operation information acquisition unit 13 acquires information switched to the automatic operation, and the surroundings obtained by the external world image acquisition unit 10 Based on the information, the object recognition unit 11 recognizes a vehicle present in the front and sides from the acquired surrounding information 16 and cuts out a vehicle image as an image 17.

  Based on the cut-out image 17, the type recognition unit 12 determines the shape and color, the notification content generation unit 14 generates content to be notified based on these pieces of information, and notifies the notification unit 15 of the notification content.

  The notification content to the notification unit 15 may be configured to notify the shape and the color to all the recognized vehicles (display content S402 (displays information of other vehicles recognized other than the recognition control target vehicle)) ), It is possible to notify only the shape of the target for which only recognition has been made and not to notify the color, but to notify only the control target vehicle of the shape and the color (display content S403 (for the recognition control target vehicle, the shape and the color For vehicles that are generated and recognized other than the recognition control target vehicle, any one of the shape and the color is generated and notified)).

  In the example shown in FIGS. 3 and 4, as a method of notification, FIG. 3 shows a case of notifying only object information necessary for control, and FIG. 4 shows an object recognized as an object necessary for control. The case of notifying both of

  Further, FIG. 3 shows the case where the notification operation is performed when shifting to the automatic driving operation, and FIG. 4 shows the case where the notification operation is performed even before the automatic operation. Either of the cases shown in FIGS. 3 and 4 may be used.

  Next, with reference to FIG. 5, data table management of color and shape of a control target vehicle will be described.

  As shown in FIG. 5, when the notification content is generated in the notification unit 15, data for transmission of color or shape is handled. At that time, when color information is generated, the table may have a color and a numerical value indicating the color as a pair (example 1), or colors such as RGB may be individually provided (example) 2).

  Similarly, for shape information, a shape and a numerical value may be given as a pair (example 3). In addition, the color and the shape information may be paired to have a numerical value (example 4).

  As described above, according to the embodiment of the present invention, it is possible to realize a recognition control target vehicle notification device in which the driver can accurately recognize the recognition control target vehicle around the own vehicle.

  That is, according to the recognition control target notification system 2 of one embodiment of the present invention, the target recognition unit 11 recognizes an object based on the image information obtained by the external image acquisition unit 10 and cuts it out as an image The type recognition unit 12 determines the color and shape of the object from the cut out image, and the notification content generation unit 14 generates notification content consisting of the shape and color of the object, and controls the control signal to control the notification unit 15 The user can accurately recognize the state of the object in the vehicle control by outputting the notification content and notifying the notification unit 15 of the notification content including the shape and the color of the object.

  Further, the notification content generation unit 14 acquires automatic driving information regarding whether or not automatic driving is being performed by the automatic driving system 3, and changes the content to be notified based on the automatic driving information, so that the user recognizes the It is possible to accurately recognize the state of an object in vehicle control.

The present invention is not limited to the above-described embodiment, but includes various modifications.
For example, the above-described embodiment is described in detail to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the described configurations.

  Further, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. In addition, it is possible to add, delete, and replace other configurations for part of the configurations of the embodiment.

  Further, control lines and information lines indicate what is considered to be necessary for the description, and not all control lines and information lines in the product are necessarily shown. In practice, almost all configurations may be considered to be mutually connected.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle 2, 2 ... control object alerting | reporting system, 3 ... Automatic driving system, 10 ... External image information acquisition part, 11 ... Target recognition part, 12 ... Type recognition part, 13 ... Automatic driving information acquisition unit, 14 ... Notification content generation unit (notification information generation unit), 15 ... Notification unit, 16 ... Peripheral information, 17 ... Cut out image, 18 ... Shape Information, 19 ... informing contents

Claims (16)

An image acquisition unit for acquiring an image of the surroundings of the host vehicle;
A type recognition unit that recognizes the type of the recognition control target vehicle from the image acquired by the image acquisition unit;
A notification information generation unit that generates notification information based on the type of the recognition control target vehicle recognized by the type recognition unit;
A notification unit for notifying the notification information generated by the notification information generation unit;
A recognition control target vehicle notification device comprising: In the recognition control target vehicle notification device according to claim 1,
The automatic driving information acquiring unit for acquiring the automatic driving information is provided, and the notification information generating unit generates the notification information based on the type recognized by the type recognition unit and the automatic driving information acquired by the automatic driving information acquiring unit. A recognition control target vehicle notification device characterized by generating. In the recognition control target vehicle notification device according to claim 1,
The notification control target vehicle notification device is characterized in that the notification information generated by the notification information generation unit is a color of the recognition control target vehicle recognized by the type recognition unit. In the recognition control target vehicle notification device according to claim 1,
A recognition control target vehicle notification device characterized in that the notification information generated by the notification information generation unit is a shape of a recognition control target vehicle recognized by the type recognition unit. In the recognition control target vehicle notification device according to claim 1,
The notification control target vehicle notification device is characterized in that the notification information generated by the notification information generation unit is a voice that describes the type of the recognition control target vehicle recognized by the type recognition unit. In the recognition control target vehicle notification device according to any one of claims 3, 4 and 5.
The recognition control target vehicle notification device, wherein the notification information generation unit outputs a control signal for causing the notification unit to notify the notification information to the notification unit. In the recognition control target vehicle notification device according to claim 1,
The type recognition unit recognizes the shape and color of the recognition control target vehicle from the image acquired by the image acquisition unit, and the notification information generated by the notification information generation unit is the recognition control object recognized by the type recognition unit. A recognition control target vehicle notification device characterized by the shape and color of a vehicle. In the recognition control target vehicle notification device according to claim 6,
The type recognition unit recognizes the shape and color of the recognition target vehicle from the image acquired by the image acquisition unit, and the notification information generated by the notification information generation unit corresponds to the recognition control target vehicle recognized by the type recognition unit. A recognition control target vehicle notification device, which is a voice for explaining the shape, color, and type of the recognition control target vehicle. In the recognition control target vehicle notification device according to claim 6,
The recognition control target vehicle notification device characterized in that the notification information generation unit generates notification information only when the automatic driving information acquisition unit indicates that automatic driving of the vehicle is being performed. In the recognition control target vehicle notification device according to claim 6,
When the notification information generation unit indicates that the automatic driving information acquisition unit does not perform automatic driving of the own vehicle, the type recognition unit recognizes the recognition control target vehicle and a vehicle other than the recognition control target vehicle If the automatic driving information acquisition unit indicates that the automatic driving of the vehicle is being performed, the type recognition unit generates one of the shape and color of A recognition control target vehicle notification device generating a shape and a color of a recognition control target vehicle and a vehicle recognized other than the recognition control target vehicle and notifying the notification unit. In the recognition control target vehicle notification device according to claim 6,
When the notification information generation unit indicates that the automatic driving information acquisition unit does not perform automatic driving of the own vehicle, the type recognition unit recognizes the recognition control target vehicle and a vehicle other than the recognition control target vehicle If the automatic driving information acquisition unit indicates that the automatic driving of the vehicle is being performed, the type recognition unit generates one of the shape and color of A shape and color are generated for a recognition control target vehicle, and any of the shape and color is generated for a vehicle recognized other than the recognition control target vehicle, and the notification unit is notified of the generation. Vehicle control device for recognition control. In the recognition control target vehicle notification device according to any one of claims 9, 10, and 11,
The automatic driving is classified into a plurality of automatic driving levels, and the notification information generation unit outputs the control signal to the notification unit when the vehicle is an automatic driving at a predetermined automatic driving level. A recognition control target vehicle notification device characterized in that. In the recognition control target vehicle notification device according to claim 12,
The recognition control target vehicle notification device characterized in that the automatic driving of the predetermined automatic driving level includes an automatic emergency braking function for automatically braking the host vehicle. In the recognition control target vehicle notification device according to claim 12,
The recognition control target vehicle notification device characterized in that automatic driving of the predetermined automatic driving level includes any of automatic acceleration / deceleration, steering, and braking of the own vehicle. In the recognition control target vehicle notification device according to claim 12,
The automatic driving at the predetermined automatic driving level includes all of the automatic acceleration / deceleration, steering, and braking of the vehicle, and the driver of the vehicle responds only in an emergency. Vehicle notification device. In the recognition control target vehicle notification device according to claim 12,
The recognition control target vehicle notification device characterized in that automatic driving of the predetermined automatic driving level includes all of automatic acceleration / deceleration, steering, and braking of the own vehicle.

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