WO2016170764A1 - Procédé d'assistance à la conduite et dispositif d'assistance à la conduite, dispositif de commande de conduite, véhicule, et programme d'assistance à la conduite utilisant ledit procédé - Google Patents

Procédé d'assistance à la conduite et dispositif d'assistance à la conduite, dispositif de commande de conduite, véhicule, et programme d'assistance à la conduite utilisant ledit procédé Download PDF

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Publication number
WO2016170764A1
WO2016170764A1 PCT/JP2016/002049 JP2016002049W WO2016170764A1 WO 2016170764 A1 WO2016170764 A1 WO 2016170764A1 JP 2016002049 W JP2016002049 W JP 2016002049W WO 2016170764 A1 WO2016170764 A1 WO 2016170764A1
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WIPO (PCT)
Prior art keywords
vehicle
image
behavior
action
unit
Prior art date
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PCT/JP2016/002049
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English (en)
Japanese (ja)
Inventor
江村　恒一
勝長 辻
森　俊也
渉 仲井
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015252674A external-priority patent/JP6558735B2/ja
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Priority to CN201680034946.7A priority Critical patent/CN107683237B/zh
Priority to EP16782788.0A priority patent/EP3269610B1/fr
Priority to US15/565,887 priority patent/US10252726B2/en
Publication of WO2016170764A1 publication Critical patent/WO2016170764A1/fr
Priority to US16/255,338 priority patent/US11072343B2/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K31/00—Vehicle fittings, acting on a single sub-unit only, for automatically controlling vehicle speed, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle, a driving support method provided in the vehicle, a driving support device using the same, a driving control device, and a driving support program.
  • Patent Document 1 discloses a travel control device that allows a driver to visually recognize the operating state of automatic steering control or automatic acceleration / deceleration control when the host vehicle performs automatic steering control or automatic acceleration / deceleration control. Yes.
  • the present invention relates to a driving support method, a driving support device, an automatic driving control device, a vehicle, and a program using the driving support method during fully automatic driving or partial automatic driving.
  • the driving support device includes a behavior information input unit, a detection information input unit, a candidate determination unit, an image generation unit, and an image output unit.
  • the behavior information input unit acquires behavior information indicating the first behavior to be executed by the vehicle from the automatic driving control unit that determines the behavior of the vehicle in the automatic driving of the vehicle.
  • the detection information input unit acquires detection information indicating a detection result from a detection unit that detects the surrounding situation and the running state of the vehicle.
  • the candidate determining unit determines a second action that can be executed by the vehicle after the first action indicated by the action information based on the detection information.
  • An image generation part produces
  • the image output unit outputs the first image and the second image to a display unit in the vehicle.
  • the apparatus includes an automatic operation control unit, a detection information input unit, a candidate determination unit, an image generation unit, and an image output unit.
  • the automatic driving control unit determines the behavior of the vehicle in the automatic driving of the vehicle.
  • the detection information input unit acquires detection information indicating a detection result from a detection unit that detects the surrounding situation and the running state of the vehicle.
  • the candidate determination unit determines a second action that can be executed by the vehicle after the first action that the automatic driving control unit causes the vehicle to execute based on the detection information.
  • An image generation part produces
  • the image output unit outputs the first image and the second image to a display unit in the vehicle.
  • Still another aspect of the present invention is a vehicle.
  • the vehicle includes an automatic driving control unit, a detection information input unit, a candidate determination unit, an image generation unit, and an image output unit.
  • the automatic driving control unit determines the behavior of the vehicle in the automatic driving of the vehicle.
  • a detection part detects the circumference condition and running state of this vehicle.
  • the detection information input unit acquires detection information indicating a detection result.
  • the candidate determination unit determines a second action that can be executed by the vehicle after the first action that is executed by the automatic driving control unit based on the detection information.
  • An image generation part produces
  • the image output unit outputs the first image and the second image to the display unit in the vehicle so that the first image and the second image are displayed within a fixed visual field of the driver of the vehicle.
  • Still another aspect of the present invention is a driving support method.
  • a computer executes a step of acquiring behavior information, a step of acquiring detection information, a step of determining, a step of generating an image, and a step of outputting to a display unit.
  • the behavior information indicating the first behavior to be executed by the vehicle is acquired from the automatic driving control unit that determines the behavior of the vehicle in the automatic driving of the vehicle.
  • detection information indicating a detection result is acquired from a detection unit that detects a surrounding situation and a running state of the vehicle.
  • the determining step determines a second action that can be executed by the vehicle after the first action indicated by the action information based on the detection information.
  • the step of generating an image generates a first image representing the first action indicated by the action information, and generates a second image representing the second action.
  • the step of outputting to the display unit outputs the first image and the second image to the display unit in the vehicle so that the first image and the second image are displayed within a fixed visual field of the driver of the vehicle.
  • the present invention in fully automatic driving or partial automatic driving, it is possible to appropriately transmit information so that a comfortable automatic driving can be performed in which the operation of the vehicle and the driver is unlikely to conflict.
  • FIG. 10 is a diagram for explaining the operation of the operation unit for the first example of the traveling environment according to the first embodiment.
  • 6 is a diagram showing another example of display in the notification unit according to Embodiment 1.
  • FIG. 3 is a flowchart showing a processing procedure of information notification processing according to Embodiment 1; It is a figure which shows the 1st example of the driving
  • FIG. It is a figure which shows the display control with respect to the 1st example of the driving environment which concerns on Embodiment 1.
  • FIG. It is a figure which shows the 1st example of the driving
  • FIG. It is a figure which shows another display control with respect to the 1st example of the driving environment which concerns on Embodiment 1.
  • FIG. It is a figure which shows the 2nd example of the driving environment which concerns on Embodiment 1.
  • FIG. 10 is a diagram showing a third example of a travel environment according to the first embodiment. It is a figure which shows the display control with respect to the 3rd example of the driving environment which concerns on Embodiment 1.
  • FIG. It is a figure which shows the 4th example of the traveling environment which concerns on Embodiment 1.
  • FIG. It is a figure which shows the display control with respect to the 4th example of the traveling environment which concerns on Embodiment 1.
  • FIG. It is a figure which shows the 5th example of the running environment which concerns on Embodiment 1.
  • FIG. 7A It is a figure which shows the display control with respect to the 5th example of the driving environment which concerns on Embodiment 1.
  • FIG. 5A It is a figure which shows another display control with respect to the 1st example of the driving
  • FIG. 7A It is a figure which shows another display control with respect to the 2nd example of the driving
  • FIG. 7A It is a block diagram which shows the principal part structure of the vehicle containing the information alerting device which concerns on Embodiment 2 of this invention. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure which shows an example of the travel history which concerns on Embodiment 4 of this invention.
  • FIG. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. 10 is a diagram for explaining display on a touch panel according to Embodiment 2.
  • FIG. It is a figure explaining the display of the alerting
  • FIG. 10 is a diagram illustrating a clustering type driver model construction method according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating an example of a clustered driver model constructed according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating another example of a built clustering driver model according to the fourth embodiment.
  • FIG. 10 is a diagram illustrating a method of constructing an individual adaptive driver model according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating an example of a constructed individual adaptive driver model according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating an example of an operation characteristic model according to a fourth embodiment. It is a figure explaining the display of the alerting
  • FIG. 10 is a diagram illustrating a clustering type driver model construction method according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating an example of a clustered driver model constructed according to a fourth embodiment.
  • FIG. 10 is a diagram illustrating another
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure explaining the display of the alerting
  • FIG. It is a figure which shows an example of the travel history which concerns on Embodiment 4.
  • FIG. 16 is a diagram illustrating a method of using a driver model in a modified example of the driver model according to the fourth embodiment.
  • FIG. 16 is a diagram illustrating a method of using a driver model in a modified example of the driver model according to the fourth embodiment.
  • FIG. 20 is a block diagram illustrating an example of cache arrangement in a variation of the driver model according to the fourth embodiment.
  • FIG. 20 is a diagram illustrating an example of a cache creation method in a variation of the driver model according to the fourth embodiment.
  • FIG. 20 is a diagram illustrating an example of a cache creation method in a variation of the driver model according to the fourth embodiment.
  • FIG. 20 is a diagram illustrating an example of a cache creation method in a variation of the driver model according to the fourth embodiment.
  • FIG. 20 is a diagram illustrating an example of a cache creation method in a variation of the driver model according to the fourth embodiment.
  • FIG. 20 is a diagram illustrating an example of a cache creation method in a variation
  • FIG. 6 is a block diagram showing a configuration of a vehicle according to Embodiments 5 to 11 of the present invention. It is a figure which shows typically the interior of the vehicle of FIG. It is a block diagram which shows the detailed structure of the detection part of FIG. It is a figure which shows the action information input from the automatic driving
  • FIG. 10 is a block diagram illustrating a detailed configuration of a control unit of a driving support apparatus according to a fifth embodiment. It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. 10 is a sequence diagram illustrating an example of processing related to HMI control of a vehicle according to a fifth embodiment. 10 is a flowchart illustrating an example of processing of the driving support device according to the fifth embodiment. It is a block diagram which shows the detailed structure of the memory
  • FIG. 10 is a block diagram illustrating a detailed configuration of a control unit of a driving assistance apparatus according to a sixth embodiment. It is a figure which shows an example of the automatic driving
  • FIG. 16 is a sequence diagram illustrating an example of processing related to HMI control of a vehicle according to a sixth embodiment.
  • 14 is a flowchart illustrating an example of processing of a driving assistance device according to a sixth embodiment.
  • 14 is a flowchart illustrating an example of processing of a driving assistance device according to a sixth embodiment. It is a figure which shows an example of the automatic driving
  • FIG. 7 It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. 7 It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. 7 It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. It is a figure which shows an example of the automatic driving
  • FIG. 18 is a flowchart illustrating an example of processing of the driving support device according to the seventh embodiment.
  • FIG. 18 is a flowchart illustrating an example of processing of the driving support device according to the seventh embodiment. It is a figure which shows an example of the automatic driving
  • FIG. 20 is a flowchart illustrating an example of processing of the driving support device according to the eighth embodiment. It is a figure which shows an example of the automatic driving
  • 25 is a flowchart illustrating an example of processing of the driving support device according to the ninth embodiment. It is a block diagram which shows the detailed structure of the memory
  • FIG. 22 is a block diagram illustrating a detailed configuration of a control unit of a driving support apparatus according to Embodiment 10. It is a figure which shows an example of the automatic driving
  • FIG. 1 is a block diagram showing a main configuration of a vehicle 1 including an information notification device according to Embodiment 1 of the present invention.
  • the vehicle 1 is a vehicle that can automatically perform all or part of the driving control without requiring the operation of the driver.
  • the vehicle 1 includes a brake pedal 2, an accelerator pedal 3, a winker lever 4, a steering wheel 5, a detection unit 6, a vehicle control unit 7, a storage unit 8, and an information notification device 9.
  • the brake pedal 2 receives a brake operation by the driver and decelerates the vehicle 1.
  • the brake pedal 2 may receive a control result from the vehicle control unit 7 and change in an amount corresponding to the degree of deceleration of the vehicle 1.
  • the accelerator pedal 3 accepts an accelerator operation by the driver and accelerates the vehicle 1. Further, the accelerator pedal 3 may receive a control result by the vehicle control unit 7 and may change by an amount corresponding to the degree of acceleration of the vehicle 1.
  • the winker lever 4 receives a lever operation by the driver and turns on a direction indicator (not shown) of the vehicle 1.
  • the winker lever 4 may receive a control result from the vehicle control unit 7, change the winker lever 4 to a state corresponding to the direction indicating direction of the vehicle 1, and turn on a direction indicator (not shown) of the vehicle 1.
  • Steering wheel 5 receives the steering operation by the driver and changes the traveling direction of the vehicle 1. Further, the steering wheel 5 may receive a control result by the vehicle control unit 7 and may change by an amount corresponding to a change in the traveling direction of the vehicle 1.
  • the steering wheel 5 has an operation unit 51.
  • the operation unit 51 is provided on the front surface (surface facing the driver) of the steering wheel 5 and receives an input operation from the driver.
  • the operation unit 51 is a device such as a button, a touch panel, or a grip sensor, for example.
  • the operation unit 51 outputs information on the input operation received from the driver to the vehicle control unit 7.
  • the detection unit 6 detects the traveling state of the vehicle 1 and the situation around the vehicle 1. Then, the detection unit 6 outputs information on the detected traveling state and surrounding conditions to the vehicle control unit 7.
  • the detection unit 6 includes a position information acquisition unit 61, a sensor 62, a speed information acquisition unit 63, and a map information acquisition unit 64.
  • the position information acquisition unit 61 acquires the position information of the vehicle 1 as traveling state information by GPS (Global Positioning System) positioning or the like.
  • GPS Global Positioning System
  • the sensor 62 determines the collision prediction time (TTC: Time) from the position of the other vehicle existing around the vehicle 1 and the lane position information, from the type of the other vehicle and whether it is a preceding vehicle, the speed of the other vehicle, and the speed of the own vehicle. To Collision), obstacles existing around the vehicle 1 and other conditions around the vehicle 1 are detected.
  • TTC Time
  • the speed information acquisition unit 63 acquires information such as the speed or the traveling direction of the vehicle 1 from a speed sensor or the like (not shown) as the traveling state information.
  • the map information acquisition unit 64 obtains map information around the vehicle 1 such as the road on which the vehicle 1 travels, a merging point with other vehicles on the road, the currently traveling lane, the position of the intersection, and the like. Obtain as information.
  • the sensor 62 is constituted by a millimeter wave radar, a laser radar, a camera, or a combination thereof.
  • the storage unit 8 is a storage device such as a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk device, or an SSD (Solid State Drive), and the current running environment and the next (first predetermined time elapse). Memorize the correspondence between possible behavior candidates (later).
  • the current traveling environment is an environment determined by the position of the vehicle 1, the road on which the vehicle 1 is traveling, the position and speed of other vehicles existing around the vehicle 1, and the like.
  • the other vehicle may be interrupted during acceleration or deceleration depending on the position or speed of the other vehicle, and collision may occur after 1 second You may judge to sex.
  • the candidate for behavior is a candidate for behavior that the vehicle 1 can take next (after the first predetermined time) with respect to the current traveling environment.
  • the storage unit 8 has a merge path ahead of the lane in which the vehicle 1 travels, there is a vehicle that merges from the left side of the lane, and the lane can be changed to the right side of the lane in which the vehicle 1 travels.
  • three behavior candidates of acceleration of the vehicle 1, deceleration of the vehicle 1, and lane change to the right of the vehicle 1 are stored in advance.
  • the storage unit 8 allows a vehicle traveling in front of the same lane as the vehicle 1 (hereinafter referred to as “preceding vehicle”) to travel at a slower speed than the vehicle 1 and can change the lane to an adjacent lane.
  • preceding vehicle a vehicle traveling in front of the same lane as the vehicle 1
  • three behavior candidates are stored in advance: driving that overtakes the preceding vehicle, driving that changes the lane to the adjacent lane, and driving that decelerates the vehicle 1 and follows the preceding vehicle.
  • the storage unit 8 may store priorities for the respective behavior candidates. For example, the storage unit 8 may store the number of behaviors actually adopted in the same driving environment in the past, and may store the priority set higher for the behaviors that are adopted more frequently.
  • the vehicle control unit 7 can be realized, for example, as part of an LSI (Large Scale Integration) circuit or an electronic control unit (Electronic Control Unit: ECU) that controls the vehicle.
  • the vehicle control unit 7 controls the vehicle based on the traveling state information and the surrounding situation information acquired from the detection unit 6, and the brake pedal 2, the accelerator pedal 3, the blinker lever 4, and information notification corresponding to the vehicle control result.
  • the device 9 is controlled.
  • the object which the vehicle control part 7 controls is not limited to these.
  • the vehicle control unit 7 determines the current driving environment based on information on the driving state and surrounding conditions. For this determination, various conventionally proposed methods can be used.
  • the vehicle control unit 7 determines that the current driving environment is based on the information on the driving state and the surrounding situation: “There is a merge path in front of the lane in which the vehicle 1 travels, and a vehicle that merges from the left side of the lane. It is determined that the travel environment is present and can be changed to the right of the lane in which the vehicle 1 travels.
  • the vehicle control unit 7 determines that the time series of the travel environment is “a vehicle traveling in front of the same lane as the vehicle 1 travels at a slower speed than the vehicle 1 based on information on the travel state and the surrounding conditions. In addition, it is determined that the travel environment allows a lane change to the adjacent lane.
  • the vehicle control unit 7 causes the notification unit 92 of the information notification device 9 to notify information related to the traveling environment indicating the traveling state and the surrounding situation. Further, the vehicle control unit 7 reads, from the storage unit 8, behavior candidates that the vehicle 1 can take next (after the first predetermined time has elapsed) with respect to the determined traveling environment.
  • the vehicle control unit 7 determines which behavior is most suitable for the current traveling environment from the read behavior candidates, and sets the behavior most suitable for the current traveling environment as the first behavior.
  • the first behavior may be the same behavior that the vehicle is currently implementing, that is, continuing the currently implemented behavior.
  • the vehicle control part 7 sets the candidate of the behavior which a driver
  • the vehicle control unit 7 may set the most suitable behavior as the first behavior using a conventional technique that determines the most suitable behavior based on information on the running state and the surrounding situation.
  • the vehicle control unit 7 may set a preset behavior among the plurality of behavior candidates as the most suitable behavior, or store information on the behavior selected last time in the storage unit 8.
  • the behavior may be determined as the most suitable behavior, or the number of times each behavior has been selected in the past is stored in the storage unit 8, and the behavior with the largest number of times may be determined as the most suitable behavior. Good.
  • the vehicle control part 7 makes the alerting
  • vehicle control unit 7 may cause the notification unit 92 to simultaneously notify the information on the first behavior and the second behavior, and information on the running state and the surrounding situation.
  • the vehicle control unit 7 acquires information on the operation received by the operation unit 51 from the driver. After notifying the first behavior and the second behavior, the vehicle control unit 7 determines whether or not the operation unit 51 has accepted the operation within the second predetermined time. This operation is, for example, an operation for selecting one behavior from behaviors included in the second behavior.
  • the vehicle control unit 7 controls the vehicle so as to execute the first behavior when the operation unit 51 does not accept the operation within the second predetermined time, and the brake pedal 2 and the accelerator according to the vehicle control result.
  • the pedal 3 and the winker lever 4 are controlled.
  • the vehicle control unit 7 performs control corresponding to the accepted operation when the operation unit 51 accepts the operation within the second predetermined time.
  • the information notification device 9 acquires various information related to the traveling of the vehicle 1 from the vehicle control unit 7 and notifies the acquired information.
  • the information notification device 9 includes an information acquisition unit 91 and a notification unit 92.
  • the information acquisition unit 91 acquires various information related to the traveling of the vehicle 1 from the vehicle control unit 7. For example, the information acquisition unit 91 acquires the first behavior information and the second behavior information from the vehicle control unit 7 when the vehicle control unit 7 determines that there is a possibility of updating the behavior of the vehicle 1. To do.
  • the information acquisition part 91 memorize
  • the notification unit 92 notifies the driver of information related to the traveling of the vehicle 1.
  • the notification unit 92 displays information such as a car navigation system installed in the vehicle, a head-up display, a center display, a steering wheel 5 or a light emitter such as an LED (Light Emitting Diode) installed in the pillar.
  • the display part to display may be sufficient.
  • it may be a speaker that converts information into sound and notifies the driver, or may be a vibrating body provided at a position that can be sensed by the driver (for example, the driver's seat, the steering wheel 5).
  • the notification unit 92 may be a combination of these.
  • the notification unit 92 transmits information and corresponds to the notification device 1002 of FIG. 32 described later.
  • the notification unit 92 includes, for example, a head-up display (Head Up Display: HUD), an LCD (Liquid Crystal Display), an HMD (Head-Mounted Display or Helmet-Mounted Display), an eyeglass-type display (SmartGlass), and the like.
  • HUD head-up display
  • LCD Liquid Crystal Display
  • HMD Head-Mounted Display or Helmet-Mounted Display
  • eyeglass-type display SmartGlass
  • the HUD may be, for example, a windshield of the vehicle 1, or may be a separately provided glass surface, plastic surface (for example, a combiner), or the like.
  • the windshield may be, for example, a windshield, a side glass or a rear glass of the vehicle 1.
  • the HUD may be a transmissive display installed on the surface or inside of the windshield.
  • the transmissive display is, for example, a transmissive organic EL (electro-luminescence) display or a transparent display using glass that emits light when irradiated with light of a specific wavelength.
  • the driver can view the display on the transmissive display at the same time as viewing the background.
  • the notification unit 92 may be a display medium that transmits light. In either case, an image is displayed on the notification unit 92.
  • the notification unit 92 notifies the driver of information related to travel acquired from the vehicle control unit 7 via the information acquisition unit 91.
  • the notification unit 92 notifies the driver of information on the first behavior and the second behavior acquired from the vehicle control unit 7.
  • FIGS. 2A to 2C are diagrams for explaining a first example of the driving environment, the display of the notification unit 92 and the operation of the operation unit 51 corresponding thereto.
  • FIG. 2A is an overhead view showing the traveling environment of the vehicle 1. Specifically, FIG. 2A shows that there is a merge path ahead of the lane in which the vehicle 1 travels, there is a vehicle that merges from the left side of the lane, and the lane change to the right side of the lane in which the vehicle 1 travels. Indicates a possible driving environment.
  • the vehicle control unit 7 determines that the traveling environment is a traveling environment as shown in FIG. 2A based on information on the traveling state and the surrounding situation. Note that the vehicle control unit 7 may generate the overhead view shown in FIG. 2A and notify the notification unit 92 of the generated overhead view in addition to the information on the first behavior and the second behavior.
  • FIG. 2B shows an example of the display of the notification unit 92 for the traveling environment shown in FIG. 2A.
  • the display range of the notification unit 92 options on the behavior of the vehicle 1 are displayed on the right side, and information for switching to manual driving is displayed on the left side.
  • the first behavior is “lane change” shown in the highlighted display area 29b among the display areas 29a to 29c, 29g.
  • the second behavior is “acceleration” and “deceleration” shown in the display areas 29a and 29c, respectively.
  • the display area 29g displays “automatic operation end” indicating switching to manual operation.
  • FIG. 2C shows an example of the operation unit 51 provided in the steering wheel 5.
  • the operation unit 51 includes operation buttons 51 a to 51 d provided on the right side of the steering wheel 5 and operation buttons 51 e to 51 h provided on the left side of the steering wheel 5.
  • the number, shape, etc. of the operation part 51 provided in the steering wheel 5 are not limited to these.
  • display areas 29a to 29c and operation buttons 51a to 51c shown in FIG. 2B correspond to each other, and display area 29g and operation buttons 51g correspond to each other.
  • the driver presses an operation button corresponding to each display area when selecting any of the contents displayed in each display area. For example, when the driver selects the behavior “acceleration” displayed in the display area 29a, the driver presses the operation button 51a.
  • FIG. 2B only character information is displayed in each display area, but a symbol or icon relating to driving of the vehicle may be displayed as described below. As a result, the driver can grasp the display contents at a glance.
  • FIG. 3 is a diagram showing another example of display in the notification unit 92. As shown in FIG. 3, both character information and symbols indicating the information are displayed in the display areas 39a to 39c and 39g. Only symbols may be displayed.
  • FIG. 4 is a flowchart showing a processing procedure of information notification processing in the present embodiment.
  • FIG. 5A is a diagram illustrating a first example of a traveling environment
  • FIG. 5B is a diagram illustrating display control for the first example.
  • the detection unit 6 detects the traveling state of the vehicle (step S11). Next, the detection unit 6 detects the situation around the vehicle (step S12). Information on the detected traveling state of the vehicle and the situation around the vehicle is output by the detection unit 6 to the vehicle control unit 7.
  • the vehicle control unit 7 determines the current traveling environment based on the information on the traveling state and the surrounding situation (step S13). In the case of the example of FIG. 5A, the vehicle control unit 7 determines that the current driving environment is “there is a merge path in front of the lane in which the vehicle 1 travels, there is a vehicle that merges from the left side of the lane, and the vehicle 1 Is determined to be a “traveling environment in which a lane to the right of the lane in which the vehicle travels can be changed”.
  • the vehicle control unit 7 causes the notification unit 92 of the information notification device 9 to notify the determined traveling environment information (step S14).
  • the vehicle control unit 7 outputs information on the determined traveling environment to the information acquisition unit 91.
  • the notification unit 92 acquires travel environment information from the information acquisition unit 91 and displays it as character information 59.
  • the vehicle control unit 7 may notify the driver of the information on the driving environment as sound through a speaker or the like instead of displaying the information on the driving environment on the notification unit 92.
  • the vehicle control unit 7 determines whether or not the determined traveling environment has a possibility of updating the behavior. If it is determined that there is a possibility of updating, the vehicle control unit 7 further includes the first behavior, And determination of a 2nd behavior is performed (step S15). The determination as to whether or not the driving environment is likely to be updated is made based on whether or not the driving environment has changed.
  • the behavior to be implemented after the update is, for example, the vehicle decelerates when there is a possibility of a collision with another vehicle, the speed changes when the preceding vehicle disappears in ACC (Adaptive Cruise Control), the adjacent lane is empty It is possible to change lanes in the event of an accident. Whether to update or not is determined using conventional technology.
  • the vehicle control unit 7 reads, from the storage unit 8, candidate behaviors that the vehicle 1 can take next (after the first predetermined time has elapsed) with respect to the determined traveling environment. Then, the vehicle control unit 7 determines which behavior is most suitable for the current traveling environment from the behavior candidates, and sets the behavior most suitable for the current traveling environment as the first behavior. Then, the vehicle control unit 7 sets behavior candidates excluding the first behavior to the second behavior.
  • the vehicle control unit 7 reads from the storage unit 8 candidates for three behaviors: acceleration of the vehicle 1, deceleration of the vehicle 1, and lane change to the right of the vehicle 1. Then, the vehicle control unit 7 determines that the rightward lane change of the vehicle 1 is the most suitable behavior based on the speed of the vehicle joining from the left side and the situation of the right lane of the vehicle 1. The behavior is set to the first behavior. Then, the vehicle control unit 7 sets behavior candidates excluding the first behavior to the second behavior.
  • the vehicle control unit 7 causes the notification unit 92 of the information notification device 9 to notify the first behavior and the second behavior (step S16).
  • the notification unit 92 highlights and displays the character information “lane change”, which is the first behavior information, in the display area 59b, and “acceleration”, which is the second behavior information, “Deceleration” is displayed in the display areas 59a and 59c, respectively.
  • the vehicle control unit 7 determines whether or not the operation unit 51 has received an operation from the driver within the second predetermined time (step S17).
  • the vehicle control unit 7 sets the first predetermined time as the time from when it is determined that the current driving environment is the driving environment shown in FIG. And the vehicle control part 7 sets 2nd predetermined time shorter than 1st predetermined time as time when reception of operation with respect to the next behavior performed by a merge point is possible.
  • the vehicle control unit 7 determines whether the received operation is an operation for terminating automatic driving or a behavior selection operation (so-called operation). Update) is determined (step S18).
  • each display area of the notification unit 92 and each operation button of the operation unit 51 correspond to each other.
  • the driver presses the operation button 51g shown in FIG. 2C.
  • the driver presses one of the operation buttons 51a to 51c shown in FIG. 2C.
  • the vehicle control unit 7 terminates the automatic driving when the operation received by the operating unit 51 is an operation for terminating the automatic driving (that is, when it is detected that the operation button 51g is pressed) (step S19).
  • the operation received by the operation unit 51 is a behavior selection operation (that is, when any of the operation buttons 51a to 51c is pressed)
  • the vehicle control unit 7 executes the behavior corresponding to the pressed operation button.
  • the vehicle 1 is controlled (step S20).
  • the vehicle control unit 7 controls the vehicle 1 to execute the first behavior when the operation unit 51 does not accept the operation from the driver within the second predetermined time (NO in step S17). (Step S21).
  • FIG. 6A is a diagram showing a first example of the driving environment
  • FIG. 6B is a diagram showing another display control for the first example. 6A is similar to FIG. 5A, but the display control of FIG. 6B is different from the display control of FIG. 5B.
  • the vehicle control unit 7 performs acceleration of the vehicle 1, deceleration of the vehicle 1, and right side of the vehicle 1 from the storage unit 8 with respect to the traveling environment illustrated in FIG. 6A. Candidates for the three behaviors of lane change to. At that time, it is assumed that the storage unit 8 stores a behavior in which the lane change to the right side of the vehicle 1 has the highest priority.
  • the vehicle control unit 7 causes the notification unit 92 to notify the traveling environment information and the first behavior information.
  • the vehicle control part 7 produces
  • the vehicle control unit 7 causes the display areas 69a and 69c to display a display prompting the driver to adopt or reject the first behavior.
  • the vehicle control unit 7 displays a display “automatic driving end” indicating that switching to manual driving is possible in the display area 69g.
  • the vehicle control unit 7 highlights and displays “YES” corresponding to adopting the first behavior. Which of “YES” and “NO” is emphasized and displayed may be determined in advance, the option selected last time may be highlighted and displayed, or the number of times selected in the past May be stored in the storage unit 8, and the notification unit 92 may highlight and display the one with the larger number of times.
  • the vehicle control unit 7 can appropriately notify the driver of information. Moreover, the display made to alert
  • FIG. 7A is a diagram showing a second example of the driving environment
  • FIG. 7B is a diagram showing display control for the second example.
  • FIG. 7A is an overhead view showing a traveling environment.
  • the traveling environment shown in FIG. 7A is similar to FIGS. 5A and 6A in that there is a junction path ahead, but differs from FIGS. 5A and 6A in that a traveling vehicle exists on the right side of the vehicle 1. In such a case, the vehicle control unit 7 determines that the lane change cannot be performed.
  • the vehicle control unit 7 determines that the traveling environment of the vehicle 1 is as shown in FIG. 7A
  • the vehicle control unit 7 displays information on the determined traveling environment as character information 79 on the notification unit 92 as shown in FIG. 7B.
  • the vehicle control unit 7 selects the right side of the vehicle 1 among the three behavior candidates of acceleration of the vehicle 1 read from the storage unit 8, deceleration of the vehicle 1, and lane change to the right side of the vehicle 1. Since the lane cannot be changed, only the acceleration of the vehicle 1 and the deceleration of the vehicle 1 are selected.
  • the vehicle control unit 7 predicts that the vehicle 1 is too close to the joining vehicle when proceeding at this speed, and determines that the deceleration of the vehicle 1 is the most suitable behavior, that is, the first behavior.
  • the most suitable behavior is determined using a conventional technique that determines the most suitable behavior based on information on the driving state and the surrounding situation. Further, which behavior is most suitable may be determined in advance, or information on the behavior selected last time may be stored in the storage unit 8, and the behavior may be determined as the most suitable behavior. Then, the number of times each behavior has been selected in the past may be stored in the storage unit 8, and the behavior with the largest number of times may be determined as the most suitable behavior.
  • the vehicle control unit 7 displays “Deceleration” as the first behavior in the display area 79c, and displays “Acceleration” as the second behavior in the display area 79a. Further, the vehicle control unit 7 causes the display area 79g to display “automatic driving end” indicating switching to manual driving.
  • the vehicle control unit 7 can notify the driver of the behavior most suitable for the traveling environment as the first behavior according to the traveling environment.
  • the information on the first behavior may be arranged on the upper side and the information on the second behavior may be arranged on the lower side, and selection functions may be assigned to the operation buttons 51a and 51c, respectively.
  • the acceleration behavior information is arranged upward
  • the deceleration behavior information is arranged downward
  • the right lane change behavior information is arranged on the right side
  • the left lane change behavior information is arranged on the left side, respectively.
  • 51b, 51d may be assigned a selection function, or they may be switched, and a separate action priority arrangement or operation priority arrangement may be displayed.
  • the display size of the first behavior information may be increased and the display size of the second behavior information may be decreased.
  • the behavior information display corresponding to the behavior of the front / rear / left / right of the vehicle the driver can recognize and operate intuitively.
  • FIG. 8A is a diagram showing a third example of the driving environment
  • FIG. 8B is a diagram showing display control for the third example.
  • FIG. 8A is an overhead view showing the traveling environment of the vehicle 1. Specifically, FIG. 8A shows a travel environment in which the preceding vehicle travels at a speed slower than that of the vehicle 1 and the lane can be changed to the adjacent lane.
  • the vehicle control unit 7 determines that the traveling environment is a traveling environment as shown in FIG. 8A based on information on the traveling state and the surrounding situation. In this case, the vehicle control unit 7 causes the notification unit 92 to display the determined traveling environment information as character information 89.
  • the vehicle control unit 7 can select three behaviors as a candidate for the behavior corresponding to the determined traveling environment: traveling that overtakes the preceding vehicle, traveling that changes the lane to the adjacent lane, and traveling that decelerates the vehicle 1 and follows the preceding vehicle.
  • the candidate for the street behavior is read from the storage unit 8.
  • the vehicle control unit 7 allows the speed after the deceleration of the preceding vehicle to be higher than a predetermined value, so that the behavior in which the vehicle 1 decelerates and follows the preceding vehicle is most suitable, that is, the first behavior. It is determined that
  • the most suitable behavior is determined using a conventional technique that determines the most suitable behavior based on information on the driving state and the surrounding situation. Further, which behavior is most suitable may be determined in advance, or information on the behavior selected last time may be stored in the storage unit 8, and the behavior may be determined as the most suitable behavior. Then, the number of times each behavior has been selected in the past may be stored in the storage unit 8, and the behavior with the largest number of times may be determined as the most suitable behavior.
  • the vehicle control unit 7 highlights and displays the character information “follow” indicating the first behavior in the display area 89 c, and displays “passing” and “lane” indicating the second behavior. Character information “change” is displayed in the display areas 89a and 89b, respectively. Further, the vehicle control unit 7 causes the display area 89g to display “automatic driving end” indicating switching to manual driving.
  • the information on the first behavior may be arranged on the upper side and the information on the second behavior may be arranged on the lower side, and selection functions may be assigned to the operation buttons 51a and 51c, respectively.
  • the passing behavior information is arranged upward
  • the following behavior information is arranged downward
  • the right lane change behavior information is arranged on the right side
  • the left lane changing behavior information is arranged on the left side
  • the operation buttons 51a and 51c are arranged.
  • 51b, 51d may be assigned a selection function, or they may be switched, and a separate action priority arrangement or operation priority arrangement may be displayed.
  • the display size of the first behavior information may be increased and the display size of the second behavior information may be decreased.
  • FIG. 9A is a diagram showing a fourth example of the driving environment
  • FIG. 9B is a diagram showing display control for the fourth example.
  • FIG. 9A is an overhead view showing the traveling environment of the vehicle 1. Specifically, FIG. 9A shows that the traveling environment is a traveling environment in which lanes decrease in front of the same lane as the vehicle 1.
  • the vehicle control unit 7 determines that the traveling environment is a traveling environment as illustrated in FIG. 9A based on information on the traveling state and the surrounding situation. In this case, the vehicle control unit 7 causes the notification unit 92 to display the determined traveling environment information as the character information 99.
  • the vehicle control unit 7 reads out from the storage unit 8 two candidate behaviors, that is, a behavior for changing the lane to the adjacent lane and a driving for maintaining the current lane as the behavior candidates corresponding to the determined travel environment. .
  • the vehicle control unit 7 determines that the travel to change the lane to the adjacent lane is the most suitable behavior, that is, the first behavior because the TTC to the lane decrease point is shorter than a predetermined value. To do.
  • which of the two behavior candidates is the most suitable behavior is determined using a conventional technique for determining the most suitable behavior based on information on the driving state and the surrounding situation. Further, which behavior is most suitable may be determined in advance, or information on the behavior selected last time may be stored in the storage unit 8, and the behavior may be determined as the most suitable behavior. Then, the number of times each behavior has been selected in the past may be stored in the storage unit 8, and the behavior with the largest number of times may be determined as the most suitable behavior.
  • the vehicle control unit 7 highlights and displays the character information “lane change” indicating the first behavior in the display area 99b, and the characters “as is” indicating the second behavior. Information is displayed in the display area 99c. Further, the vehicle control unit 7 causes the display area 99g to display “automatic driving end” indicating switching to manual driving.
  • the first behavior information may be arranged above, the second behavior information may be arranged below, and a selection function may be assigned to each of the operation buttons 51a and 51c.
  • the change behavior information is arranged on the right side, the left lane change behavior information is arranged on the left side, and a selection function may be assigned to each of the operation buttons 51c, 51b, 51d.
  • You may display whether it is action priority arrangement
  • the display size of the first behavior information may be increased and the display size of the second behavior information may be decreased.
  • FIGS. 7B, 8B, and 9B different functions are assigned to the display areas according to different traveling environments, so that information notification or operation can be performed in a small area.
  • the vehicle control unit 7 causes the notification unit 92 to notify the behavior in accordance with the information on the traveling environment and the surrounding situation, but the present invention is not limited to this.
  • the notification unit 92 may be notified of the behavior.
  • FIG. 10A is a diagram illustrating a fifth example of the driving environment
  • FIG. 10B is a diagram illustrating display control for the fifth example.
  • FIG. 10A is an overhead view showing the traveling environment of the vehicle 1. Specifically, FIG. 10A shows a travel environment indicating that the vehicle 1 is a travel environment in which lanes can be changed to the left and right.
  • the driving environment shown in FIG. 10A is a driving environment in which normal driving is possible without changing lanes or accelerating or decelerating the vehicle, unlike the case of FIGS. 5A to 9A.
  • the vehicle control unit 7 does not have to display the travel environment information on the notification unit 92 as character information.
  • the vehicle control unit 7 stores the behavior candidate in the normal travel as the storage unit 8. Read from.
  • the acceleration of the vehicle 1, the deceleration of the vehicle 1, the lane change to the right side of the vehicle 1, Four candidate behaviors for lane change to the left are stored.
  • the vehicle control unit 7 reads out these and displays them on the display areas 109a to 109d of the notification unit 92, respectively.
  • the vehicle control unit 7 displays “automatic driving end” indicating that switching to manual driving is displayed in the display area 109g, and displays “cancel” indicating canceling behavior update in the display area 109e. Highlight and display.
  • the display in the notification unit 92 has been described as character information, but the present invention is not limited to this.
  • it may be displayed visually to the driver using a symbol indicating behavior.
  • display using symbols that are visually displayed to the driver will be described by taking the display for FIGS. 5B and 7B as an example.
  • FIG. 11 is a diagram showing another display control for the first example of the traveling environment shown in FIG. 5A.
  • the first behavior described above is a lane change to the right of the vehicle 1
  • the second behavior is acceleration of the vehicle 1 and deceleration of the vehicle 1.
  • a symbol 111 indicating “lane change” as the first behavior is displayed large in the center
  • deceleration of the vehicle 1 is displayed small to the right.
  • a symbol 114 indicating the end of automatic driving is displayed small on the left.
  • the lane change is performed.
  • FIG. 12A and 12B are diagrams showing another display control for the second example of the traveling environment shown in FIG. 7A.
  • the lane cannot be changed. Therefore, for example, “deceleration of the vehicle 1” is set to the first behavior, and “acceleration of the vehicle 1” is set to the second behavior.
  • a symbol 121 indicating “deceleration of the vehicle 1” as the first behavior is displayed large in the center, and a symbol indicating “acceleration of the vehicle 1” as the second behavior. 122 is displayed small to the right. In addition, a symbol 123 indicating the end of automatic driving is displayed small on the left.
  • the operation unit 51 receives an operation for selecting “acceleration of the vehicle 1” from the driver.
  • a symbol 122 ′ indicating “acceleration of the vehicle 1” that is the first behavior is displayed large in the center, and a symbol 121 indicating “deceleration of the vehicle 1” that is the second behavior. 'Will be displayed small to the right.
  • the driver can grasp the behavior performed by the vehicle and other behaviors that can be selected, and can continue the automatic driving with a sense of security. Alternatively, the driver can give instructions to the car smoothly.
  • the option to be notified to the notification unit, that is, the second behavior can be made variable according to the traveling environment.
  • FIG. 13 is a block diagram showing a main configuration of the vehicle 1 including the information notification device according to Embodiment 2 of the present invention.
  • the same components as those in FIG. 1 are denoted by the same reference numerals as those in FIG.
  • a vehicle 1 shown in FIG. 13 is provided with a touch panel 10 instead of the operation unit 51 of the steering wheel 5.
  • the touch panel 10 is a device composed of a liquid crystal panel or the like capable of displaying information and receiving input, and is connected to the vehicle control unit 7.
  • the touch panel 10 includes a display unit 101 that displays information based on control by the vehicle control unit 7 and an input unit 102 that receives an operation from a driver or the like and outputs the received operation to the vehicle control unit 7.
  • display control of the touch panel 10 will be described.
  • display control when the vehicle 1 is traveling in the center of three lanes and the lane can be changed to either the right lane or the left lane will be described.
  • FIGS. 14A to 14C are diagrams illustrating the display on the touch panel 10 according to the second embodiment.
  • FIG. 14A is an initial display of the display unit 101 of the touch panel 10.
  • the vehicle control unit 7 determines that the vehicle 1 can change the lane to either the right lane or the left lane, the vehicle control unit 7 causes the display unit 101 of the touch panel 10 to perform a display as illustrated in FIG. 14A.
  • the display “Touch” in the display area 121 indicates that the touch panel 10 is in a mode in which a touch operation by the driver can be received.
  • the input unit 102 receives this operation and sends information indicating that this operation has been performed to the vehicle control unit 7. Output.
  • the vehicle control unit 7 displays the display shown in FIG. 14B on the display unit 101 and displays the display shown in FIG. 14C on the notification unit 92.
  • FIG. 14B shows a display area 121a on which “Move” indicating an operation for instructing the vehicle 1 to move is displayed.
  • FIG. 14B also shows display areas 121b to 121d indicating that the vehicle 1 can travel in each of the three lanes.
  • the display areas 121b to 121d correspond to traveling in the lane indicated by arrows X, Y, and Z in FIG. 14C, respectively.
  • each display area in FIG. 14B and each arrow in FIG. 14C have the same mode (for example, color or arrangement). As a result, the display is easier to understand for the driver.
  • the behavior performed by the vehicle determined by the vehicle control may be displayed so that the behavior selectable by the driver can be distinguished.
  • the driver selects the behavior of the vehicle 1 by touching the display area corresponding to the lane to be traveled among the display areas 121b to 121d.
  • the input unit 102 accepts a driver's behavior selection operation and outputs information on the selected behavior to the vehicle control unit 7.
  • the vehicle control unit 7 controls the vehicle 1 to execute the selected behavior.
  • the vehicle 1 travels in the lane that the driver wants to travel.
  • the driver may perform a swipe operation on the touch panel 10 instead of the touch operation.
  • the driver when the driver wants to change to the lane indicated by the arrow X in FIG. 14C, the driver performs a swipe operation to the right on the touch panel 10.
  • the input unit 102 receives the swipe operation and outputs information indicating the content of the swipe operation to the vehicle control unit 7. And the vehicle control part 7 controls the vehicle 1 to perform the lane change to the lane shown by the arrow X which is the selected behavior.
  • the user may speak “behavior selection” or the like by voice. Thereby, it becomes possible to operate only by displaying the HUD without looking at the touch panel at hand.
  • the display mode of the lane corresponding to the display area of the selected touch panel may be changed so that it can be confirmed before selecting which lane is being selected. For example, at the moment when the display area b is touched, the thickness of the lane X increases, and if the hand is released immediately, the lane X is not selected and the thickness of the lane X returns to the original size, and the display area 121c is touched. If the thickness of the lane Y increases and the state is maintained for a while, the lane Y may be selected and the fact that the lane Y has blinked may be notified. Thereby, selection or determination operation can be performed without visually checking the hand.
  • vehicle control functions such as acceleration, deceleration, overtaking, and the like may be assigned to the display area according to the driving environment.
  • the driver can perform an intuitive operation.
  • the touch panel can freely change the number, shape, color, and the like of display areas for receiving operations, the degree of freedom of the user interface is improved.
  • the configuration according to the present embodiment is a configuration in which, in the configuration of FIG. 1 described in the first embodiment, the operation unit 51 further includes a grip sensor that detects whether or not the driver has gripped the steering wheel 5. .
  • 15A to 15D are diagrams for explaining the display of the notification unit 92 according to Embodiment 3 of the present invention.
  • 15A to 15D similarly to the case shown in FIG. 8A, a vehicle traveling in front of the same lane as the vehicle 1 travels at a slower speed than the vehicle 1, and the lane can be changed to the adjacent lane.
  • An example of display in a different driving environment is shown.
  • the vehicle control unit 7 When the vehicle control unit 7 determines that the traveling environment is the traveling environment illustrated in FIG. 8A, the vehicle control unit 7 first causes the notification unit 92 to execute the display illustrated in FIG. 15A.
  • FIG. 15A shows, in a first mode (for example, the first color), a symbol 131 indicating “passing” which is the first behavior among the behavior candidates to be implemented after the first predetermined time has elapsed. Has been.
  • the vehicle control unit 7 changes the symbol 131 from the first mode to the second mode different from the first mode.
  • the notification unit 92 is displayed in a mode (for example, a second color different from the first color).
  • the second predetermined time is the same as the second predetermined time described in the first embodiment.
  • the driver can select the second behavior, but when the symbol 131 is changed to the second mode, the driver Selection of the behavior of 2 becomes impossible.
  • FIG. 15A shows a steering wheel shape symbol 132 indicating that the second behavior can be selected.
  • the symbol 132 is displayed, when the driver holds the steering wheel 5, the second behavior is displayed.
  • the symbol 132 is a display indicating that the second behavior can be selected.
  • the driver can select the second behavior. It may be shown. In this case, the symbol 132 may not be displayed.
  • FIG. 15A also shows a symbol 133 indicating that automatic operation is currently in progress.
  • the symbol 133 is an auxiliary display that indicates to the driver that the vehicle is traveling in automatic driving, but the symbol 133 may not be displayed.
  • the grip sensor detects it and outputs information of the detection result to the vehicle control unit 7.
  • the vehicle control unit 7 causes the notification unit 92 to execute the display illustrated in FIG. 15B.
  • FIG. 15B similarly to FIG. 15A, a symbol 131 indicating “passing” which is the first behavior is shown in the first mode (for example, the first color). Further, a symbol 134 indicating “lane change” as the second behavior and a symbol 135 indicating “deceleration” as the second behavior are shown.
  • the driver changes the first behavior to the second behavior by operating the operation unit 51 of the steering wheel 5. For example, the driver depresses the operation button 51a or the operation button 51c (see FIG. 2C) of the operation unit 51, thereby moving to “change lane” (symbol 134) or “deceleration” (symbol 135). Update the behavior.
  • FIG. 15B shows a symbol 136 indicating that the vehicle control unit 7 is learning the behavior of the vehicle 1.
  • the vehicle control unit 7 learns the behavior selected by the driver.
  • the symbol 136 may not be displayed. In addition, learning may always be performed.
  • the vehicle control unit 7 stores the behavior selected by the driver in the storage unit 8, and when the same driving environment is subsequently set, the stored behavior is displayed on the notification unit 92 as the first behavior.
  • the vehicle control part 7 may memorize
  • FIG. 15B also shows a symbol 137 indicating that automatic operation is not being performed.
  • the vehicle control unit 7 waits until a behavior selected after the first predetermined time has elapsed is selected by the driver.
  • the vehicle control unit 7 receives information on this selection operation, and is shown in FIG. 15C.
  • the notification unit 92 executes the display.
  • FIG. 15C shows a symbol 134 ′ indicating “lane change” in the first mode.
  • the vehicle control unit 7 receives information on the selection operation for selecting “lane change”, the vehicle control unit 7 determines that the selected behavior is the next behavior to be performed, and sets the symbol 134 ′ indicating “lane change” to the first. Is displayed on the notification unit 92.
  • the symbol 131 ′ in FIG. 15C is displayed by replacing the symbol 131 displayed as the first behavior in FIG. 15B with the symbol 134.
  • the vehicle control unit 7 receives information on an operation of continuously pressing any one of the operation buttons twice, and causes the notification unit 92 to change the display shown in FIG. 15C to the display shown in FIG. 15B.
  • the vehicle control unit 7 informs FIG. 15B and FIG. 15C based on the driver's operation after the notification unit 92 executes the display shown in FIG. 15A until the second predetermined time elapses.
  • the display of the unit 92 is changed. Thereafter, the vehicle control unit 7 causes the notification unit 92 to display the display illustrated in FIG. 15D after the second predetermined time has elapsed since the notification unit 92 has executed the display illustrated in FIG. 15A.
  • the vehicle control unit 7 displays the display shown in FIG. 15D before the second predetermined time elapses. May be displayed.
  • a symbol 134 ′ indicating “lane change” selected by the driver is displayed in the second mode, and a symbol 133 indicating that the vehicle is traveling in automatic driving. Again, the displayed state is shown.
  • the vehicle control unit 7 displays the information on the notification unit 92 so that the candidate for another behavior can be confirmed only when the driver wants to update the next behavior. change.
  • the display visually recognized by the driver can be reduced, and the driver's troublesomeness can be reduced.
  • the driver model is obtained by modeling the tendency of the operation by the driver for each driving environment based on information on the frequency of each operation.
  • the driver model aggregates the traveling histories of a plurality of drivers and is constructed from the aggregated traveling histories.
  • the driving history of the driver is, for example, a history in which the behavior frequency actually selected by the driver among the behavior candidates corresponding to each driving environment is aggregated for each behavior candidate.
  • FIG. 16 is a diagram showing an example of a travel history.
  • the behavior candidates “decelerate”, “accelerate”, and “lane change” are selected three times, once, and five times, respectively. It has been shown.
  • candidate behaviors “follow”, “passing”, and “lane change” are shown twice, twice, 1 It is shown that you have selected once. The same applies to the driver y.
  • the driving history of the driver may aggregate behaviors selected during automatic driving or may aggregate behaviors actually performed by the driver during manual driving. This makes it possible to collect travel histories according to operating conditions such as automatic driving or manual driving.
  • the driver model includes a clustering type constructed by clustering the driving histories of a plurality of drivers, and a driver model of the driver x from a plurality of driving histories similar to a driving history of a specific driver (for example, driver x).
  • a specific driver for example, driver x
  • the clustering type driver model construction method aggregates the driving histories of a plurality of drivers as shown in FIG. Then, a driver model is constructed by grouping a plurality of drivers having a high degree of similarity between the traveling histories, that is, a plurality of drivers having similar driving operation tendencies.
  • FIG. 17 is a diagram illustrating a clustering type driver model construction method.
  • FIG. 17 shows the travel histories of the drivers a to f in a table format. From the driving histories of the drivers a to f, it is shown that the model A is constructed from the traveling histories of the drivers a to c, and the model B is constructed from the traveling histories of the drivers d to f.
  • the similarity of the travel histories is, for example, treating each frequency (each numerical value) in the travel histories of the driver a and the driver b as a frequency distribution, calculating a correlation value between the frequency distributions, and using the calculated correlation value as the similarity It is good.
  • each frequency each numerical value
  • the driving history of the driver a and the driver b is set as one group.
  • the calculation of similarity is not limited to this.
  • the degree of similarity may be calculated based on the number of the most frequently matched behaviors in the driving histories of the driver a and the driver b.
  • the clustering type driver model is constructed by, for example, calculating the average of each frequency in the driving history of drivers in each group.
  • FIG. 18 is a diagram illustrating an example of a built clustering driver model.
  • the average frequency of each group is derived by calculating the average of the respective frequencies.
  • the clustering type driver model is constructed with an average frequency for the behavior determined for each driving environment.
  • FIG. 19 is a diagram illustrating another example of the constructed clustering type driver model. As shown in FIG. 19, the most frequent behavior is selected for each traveling environment, and a driver model is constructed from the selected behavior.
  • the driver model as shown in FIG. 18 is stored in advance in the storage unit 8 of the vehicle 1. Further, the vehicle control unit 7 stores a travel history when the driver y has driven in the past in the storage unit 8. The driver y is detected by a camera or the like (not shown) installed in the vehicle.
  • the vehicle control unit 7 calculates the similarity between the driving history of the driver y and the driving history of each model of the driver model, and determines which model is most suitable for the driver y. For example, in the case of the driving history of the driver y shown in FIG. 16 and the driver model shown in FIG. 18, the vehicle control unit 7 determines that the model B is most suitable for the driver y.
  • the vehicle control unit 7 determines that the behavior with the highest frequency is the behavior most suitable for the driver y, that is, the first behavior in each traveling environment of the model B during actual automatic traveling.
  • the vehicle control unit 7 is based on the model B shown in FIG. “Follow-up” can be determined as the first behavior.
  • the individual adaptive type driver model construction method aggregates the driving histories of a plurality of drivers as shown in FIG.
  • the difference from the clustering type is that a driver model is constructed for each driver.
  • operator y is demonstrated.
  • the driving histories of a plurality of drivers having high similarity to the driving history of the driver y are extracted from the driving histories of the plurality of drivers collected. Then, a driver model of the driver y is constructed from the extracted driving histories of the plurality of drivers.
  • FIG. 20 is a diagram showing a method for constructing an individual adaptive driver model.
  • the driving histories of the drivers a to f are shown in a table format, as in FIG. FIG. 20 shows that the driver model of the driver y is constructed from the driving history of the driver y shown in FIG. 16 and the driving histories of the drivers c to e having high similarity.
  • the individual adaptive driver model is constructed by calculating the average of each frequency in the extracted driving history of each driver.
  • FIG. 21 is a diagram illustrating an example of a constructed individual adaptive driver model.
  • the average frequency of each behavior is derived for each driving environment.
  • the individually adaptive driver model for the driver y is constructed with an average frequency of behavior corresponding to each traveling environment.
  • the driver model of the driver y as shown in FIG. 21 is stored in advance in the storage unit 8 of the vehicle 1. Further, the vehicle control unit 7 stores a travel history when the driver y has driven in the past in the storage unit 8. The driver y is detected by a camera or the like (not shown) installed in the vehicle.
  • the vehicle control unit 7 determines that the behavior with the highest frequency is the most suitable behavior for the driver y, that is, the first behavior in each driving environment of the driver model of the driver y in actual automatic driving. Judge that there is.
  • the vehicle control unit 7 is based on the driver model shown in FIG. “Changing lane” can be determined as the first behavior.
  • the actual operation for example, the magnitude of acceleration, deceleration, or the amount of operation of the steering wheel
  • one behavior for example, lane change
  • the vehicle control unit 7 extracts a feature amount indicating the driving characteristics of the driver from the operation content of each part of the vehicle 1 of the driver, and stores it in the storage unit 8.
  • the feature amount includes, for example, a feature amount related to speed, a feature amount related to steering, a feature amount related to operation timing, a feature amount related to outside-vehicle sensing, a feature amount related to in-vehicle sensing, and the like.
  • the feature quantity related to speed includes, for example, the speed, acceleration, and deceleration of the vehicle, and these feature quantities are acquired from a speed sensor or the like that the vehicle has.
  • the feature amount related to steering includes, for example, the steering angle, angular velocity, and acceleration of the steering, and these feature amounts are acquired from the steering wheel 5.
  • the feature quantities related to the operation timing include, for example, the operation timing of the brake, accelerator, blinker lever, and steering wheel. These feature quantities are obtained from the brake pedal 2, the accelerator pedal 3, the blinker lever 4, and the steering wheel 5, respectively. Is done.
  • the feature amount related to outside-vehicle sensing includes, for example, a distance between vehicles in front, side, and rear, and these feature amounts are acquired from the sensor 62.
  • the feature amount related to in-vehicle sensing is, for example, personal recognition information indicating who the driver is and who is the passenger, and these feature amounts are acquired from a camera or the like installed in the vehicle.
  • the vehicle control unit 7 detects that the driver has manually changed the lane.
  • the detection method is performed by analyzing operation time-series data acquired from CAN (Controller Area Network) information or the like by rule-setting an operation time-series pattern for changing lanes in advance. In that case, the vehicle control part 7 acquires the feature-value mentioned above.
  • the vehicle control unit 7 stores the feature amount in the storage unit 8 for each driver, and constructs a driving characteristic model.
  • the vehicle control unit 7 may construct the above-described driver model based on the feature amount for each driver. That is, the vehicle control unit 7 extracts a feature value related to speed, a feature value related to steering, a feature value related to operation timing, a feature value related to outside-vehicle sensing, and a feature value related to in-vehicle sensing, and stores them in the storage unit 8. And based on the feature-value memorize
  • FIG. 22 is a diagram showing an example of the driving characteristic model.
  • FIG. 22 shows the feature values in a tabular format for each driver.
  • FIG. 22 also shows the number of times each behavior has been selected in the past for each driver. Although only a part of the feature amount is described, any or all of the above may be described.
  • the numerical value of speed is a numerical value indicating the actual speed in stages.
  • the numerical values for the steering wheel, brake, and accelerator are numerical values that indicate the operation amount in stages. These numerical values are obtained, for example, by calculating an average value of speed, steering wheel, brake, and accelerator operation amounts within a predetermined period in the past and expressing the average value stepwise.
  • the speed level is 8
  • the steering wheel, brake, and accelerator operation amount levels are 4, 6, and 8, respectively.
  • the vehicle control unit 7 performs driving corresponding to the driver, the behavior, and the passenger according to who the driver is, what kind of behavior is executed, and who the passenger is.
  • the characteristic model is selected from the driving characteristic models shown in FIG.
  • the vehicle control unit 7 causes the vehicle 1 to travel at a speed corresponding to the selected driving characteristic model, and controls the vehicle 1 by a combination of the steering wheel, brake, accelerator operation amounts and timing. Thereby, the automatic driving
  • FIGS. 23A to 23D are diagrams for explaining display of the notification unit 92 according to Embodiment 4 of the present invention.
  • 23A to 23D are displays for the first example of the traveling environment shown in FIG. 5A.
  • FIG. 23A is a display of the notification unit 92 in a state where the vehicle is performing normal travel that does not require lane change or vehicle acceleration / deceleration.
  • FIG. 23A shows a symbol 231 indicating that the driving characteristic of the driver is the “high deceleration” driving characteristic, and a symbol 232 indicating that the driver is currently in automatic driving.
  • the vehicle control unit 7 determines the driving characteristics of the driver based on the number of times each behavior included in the driving characteristics model shown in FIG. 22 has been selected in the past, for example.
  • the vehicle control unit 7 includes, for example, a symbol 231 as shown in FIGS. 23A to 23D for a driver who has a lot of “deceleration” based on driving characteristics (a large number of times the behavior of so-called “deceleration” is selected).
  • the display is displayed on the notification unit 92.
  • the vehicle control unit 7 determines that the driving environment is the driving environment of the first example illustrated in FIG. 5A
  • the vehicle control unit 7 determines that the driving characteristic of the driver is “high deceleration” driving characteristic. Based on the fact, the first behavior is determined to be “deceleration”, and the notification unit 92 is caused to execute the display of FIG. 23B.
  • a symbol 233 indicating “deceleration” which is the first behavior is shown in a first mode (for example, a first color). Further, a symbol 234 indicating “acceleration” as the second behavior and a symbol 235 indicating “lane change” as the second behavior are shown.
  • the vehicle control unit 7 causes the notification unit 92 to execute the display of FIG. 23C.
  • FIG. 23C shows a symbol 234 ′ indicating “acceleration” as the selected behavior in the first mode. Further, the symbol 233 ′ is displayed by replacing the symbol 233 that was displayed as the first behavior in FIG. 23B with the symbol 234.
  • the vehicle control unit 7 causes the notification unit 92 to display the display illustrated in FIG. 23D after the second predetermined time has elapsed since the notification unit 92 has executed the display illustrated in FIG. 23A.
  • a symbol 234 ′ indicating “acceleration” selected by the driver is displayed in the second mode.
  • the vehicle control unit 7 When it is determined that the next behavior to be taken is “acceleration”, the vehicle control unit 7 reads out feature amounts corresponding to the “acceleration” behavior included in the driving characteristic model, and performs “acceleration” reflecting those feature amounts. The vehicle 1 is controlled to do so.
  • FIGS. 24A to 24D are diagrams illustrating the display of the notification unit 92 according to Embodiment 4 of the present invention.
  • 24A to 24D are displays for the second example of the traveling environment shown in FIG. 7A.
  • 24A to 24D components common to those in FIGS. 23A to 23D are denoted by the same reference numerals as in FIGS. 23A to 23D, and detailed description thereof is omitted.
  • 24A to 24D are diagrams in which the symbol 235 indicating “lane change” is deleted from FIGS. 23A to 23D.
  • FIG. 7A As described above, in the second example (FIG. 7A), unlike the first example (FIG. 5A), another vehicle is traveling to the right of the vehicle 1, and therefore the lane cannot be changed. Therefore, “lane change” is not displayed in FIGS. 24B and 24C. In the example of FIG. 24C, “acceleration” is selected as in the case of FIG. 23C. Therefore, the vehicle control unit 7 changes the behavior of “acceleration” included in the driving characteristic model as in FIGS. 23A to 23D. The corresponding feature values are read out, and the vehicle 1 is controlled to perform “acceleration” reflecting those feature values.
  • 25A to 25D are diagrams for explaining the display of the notification unit 92 according to Embodiment 4 of the present invention.
  • 25A to 25D are displays for the third example of the traveling environment shown in FIG. 8A.
  • FIG. 25A is the same as FIG. 23A.
  • the vehicle control unit 7 determines that the driving environment of the third example illustrated in FIG. 8A is satisfied, the vehicle control unit 7 determines that the driving characteristic of the driver is a driving characteristic with “a lot of deceleration”.
  • the first behavior is determined as “deceleration”, and the notification unit 92 is caused to execute the display of FIG. 25B.
  • a symbol 251 indicating “deceleration” which is the first behavior is shown in a first mode (for example, a first color). Further, a symbol 252 indicating “passing” that is the second behavior and a symbol 253 indicating “lane change” that is the second behavior are shown.
  • the vehicle control unit 7 causes the notification unit 92 to execute the display in FIG. 25C.
  • FIG. 25C shows a symbol 252 ′ indicating “overtaking” as the selected behavior in the first mode. Further, the symbol 251 ′ is displayed by replacing the symbol 251 displayed as the first behavior in FIG. 25B with the symbol 252.
  • the vehicle control unit 7 causes the notification unit 92 to display the display illustrated in FIG. 25D after the second predetermined time has elapsed since the notification unit 92 has executed the display illustrated in FIG. 25A.
  • a symbol 252 ′ indicating “overtaking” selected by the driver is displayed in the second mode.
  • the vehicle control unit 7 reads out feature amounts corresponding to the “passing” behavior included in the driving characteristic model, and performs “acceleration” reflecting those feature amounts. The vehicle 1 is controlled to do so.
  • FIGS. 26A to 26D are diagrams illustrating the display of the notification unit 92 according to the fourth embodiment of the present invention.
  • 26A to 26D are displays for the first example of the traveling environment shown in FIG. 5A.
  • FIG. 26A shows an example in which the driving characteristics of the driver are “high acceleration” driving characteristics
  • FIG. 26B shows an example in which the driving characteristics of the driver are “many lane changes”. Is shown.
  • FIG. 26A shows a symbol 261 indicating that the driving characteristic of the driver is the “high acceleration” driving characteristic. Further, a symbol 262 indicating “acceleration” which is the first behavior is shown in the first mode (for example, the first color). Further, a symbol 263 indicating “lane change” as the second behavior and a symbol 264 indicating “deceleration” as the second behavior are shown.
  • the vehicle control unit 7 displays a symbol 261 as shown in FIG. 26A for a driver who has a lot of “acceleration” in the past based on driving characteristics (a large number of times the behavior of “acceleration” has been selected in the past). Is executed by the notification unit 92. Further, the vehicle control unit 7 determines that the first behavior is “acceleration” based on the driving characteristic of the driver being “high acceleration” and executes the display of FIG.
  • FIG. 26B shows a symbol 265 indicating that the driving characteristic of the driver is a driving characteristic with “many lane changes”. Further, a symbol 266 indicating “lane change” as the first behavior is shown in the first mode (for example, the first color). Further, a symbol 267 indicating “lane change” as the second behavior and a symbol 268 indicating “deceleration” as the second behavior are shown.
  • the vehicle control unit 7 gives a symbol 265 as shown in FIG. 26B to a driver who has a lot of “lane change” in the past based on driving characteristics (a large number of times the behavior of “lane change” has been selected in the past).
  • the notification unit 92 is caused to execute the display including it.
  • the vehicle control unit 7 determines that the first behavior is “lane change” based on the driving characteristics of the driver being “many lane changes” and executes the display of FIG.
  • symbols 231 and 261 265 and the like may indicate the type of driver model selected from the operation history of the driver.
  • a notification including the symbol 231 as shown in FIGS. 23A to 23D is displayed on the notification unit 92 in the driver model applied to the driver who often selects “deceleration”.
  • the first behavior is determined as “deceleration”.
  • the notification unit 92 is executed by the notification unit 92, and the first behavior is determined as “acceleration”.
  • the display including the symbol 261 as shown in FIG. 26A is executed by the notification unit 92, and the first behavior is determined to be “lane change”.
  • the driver's past driving history can be learned, and the result can be reflected in the determination of the future behavior.
  • the vehicle control unit controls the vehicle, the driving characteristics (driving preference) of the driver can be learned and reflected in the control of the vehicle.
  • automatic driving can be controlled at the timing or amount of operation that the driver or occupant prefers the vehicle, and unnecessary operation intervention by the driver during automatic driving without departing from the sense of actual driving by the actual driver. Can be suppressed.
  • a server device such as a cloud server may execute a function similar to the function executed by the vehicle control unit 7.
  • storage part 8 may exist not in the vehicle 1 but in server apparatuses, such as a cloud server.
  • the storage unit 8 may store an already constructed driver model, and the vehicle control unit 7 may determine the behavior with reference to the driver model stored in the storage unit 8.
  • the vehicle control unit 7 acquires feature amount information indicating the driving characteristics of the driver, the storage unit 8 stores the feature amount information, and the vehicle control unit 7 stores the feature amount information. Based on the feature amount information stored in the unit 8, a driver model indicating the tendency of the behavior of the vehicle selected by the driver with the frequency of each selected behavior is constructed for each traveling environment of the vehicle.
  • the vehicle control unit 7 determines a group of drivers who select a similar behavior among a plurality of drivers, and constructs a driver model for each group and for each driving environment of the vehicle.
  • the vehicle control unit 7 calculates the average value of the behavior frequency selected by each driver for each group of drivers who perform similar operations, and calculates the behavior tendency of the vehicle selected by the driver.
  • the driver model indicated by the value was constructed for each driving environment of the vehicle.
  • the vehicle control unit 7 determines the vehicle selected by the specific driver based on the behavior of the vehicle selected by another driver that tends to be similar to the behavior tendency of the vehicle selected by the specific driver.
  • a driver model indicating the tendency of behavior with the frequency of each selected behavior is constructed for each traveling environment of the vehicle.
  • the vehicle control unit 7 can construct a driver model more suitable for the driving tendency of the driver, and can perform more appropriate automatic driving for the driver based on the constructed driver model.
  • driver model (Modified example of driver model)
  • driver model demonstrated above modeled the tendency of operation (behavior) by the driver for every driving environment based on the information of the frequency of each operation, etc.
  • present invention is not limited to this. .
  • the driver model is constructed based on a travel history in which environmental parameters indicating travel environments (that is, situations) that have traveled in the past and operations (behaviors) actually selected by the driver in the travel environment are associated with each other. May be.
  • environmental parameters indicating travel environments (that is, situations) that have traveled in the past and operations (behaviors) actually selected by the driver in the travel environment are associated with each other. May be.
  • options can be determined without going through the procedure of separately detecting and classifying the driving environment and inputting (storing) the classification result into the driver model.
  • the differences in the driving environment as shown in FIGS. 23A to 23D and 24A to 24D are acquired as environment parameters and directly input (stored) in the driver model, whereby “acceleration” and “ “Deceleration” and “lane change” are options, and in FIGS. 24A to 24D, “acceleration” and “deceleration” are options.
  • the driver model described below may be referred to as a situation database.
  • FIG. 27 is a diagram illustrating an example of a travel history.
  • FIG. 27 shows a travel history in which an environment parameter indicating a travel environment in which the vehicle driven by the driver x has traveled in the past and an operation (behavior) actually selected by the driver in the travel environment are associated with each other. Has been.
  • the environmental parameters (a) to (c) of the travel history shown in FIG. 27 are the travel environments when the behavior of the vehicle is presented to the driver as shown in FIGS. 8B, 5B, and 7B, for example. Is shown.
  • the environmental parameter of the travel history is obtained from sensing information and infrastructure information.
  • Sensing information is information detected by a sensor or radar of the vehicle.
  • the infrastructure information includes GPS information, map information, information acquired through road-to-vehicle communication, and the like.
  • the environmental parameters of the travel history shown in FIG. 27 include “information on own vehicle”, “information on preceding vehicle” indicating information on a vehicle traveling in front of the lane on which the host vehicle is traveling, and information on the lane on which the host vehicle is traveling. “Side lane information” indicating side lane information, “Merge lane information” indicating the merge lane information when the host vehicle is traveling, and the location of the vehicle and its surroundings “Location information” indicating the information of Moreover, you may include the information of a back vehicle. In that case, you may use the relative speed of a back vehicle and the own vehicle, the distance between heads, the change rate of the distance between heads, etc. Moreover, you may include the information of presence of a vehicle.
  • “information on own vehicle” includes information on the speed Va of the own vehicle.
  • the “preceding vehicle information” includes information on the relative speed Vba of the preceding vehicle with respect to the own vehicle, the inter-vehicle distance DRba between the preceding vehicle and the own vehicle, and the rate of change RSb of the size of the preceding vehicle.
  • the speed Va of the host vehicle is detected by a speed sensor of the host vehicle.
  • the relative speed Vba and the inter-vehicle distance DRba are detected by a sensor or a radar.
  • “Side lane information” includes information on the side rear vehicle traveling behind the host vehicle in the side lane, information on the side front vehicle traveling ahead of the host vehicle in the side lane, and the remaining side of the host vehicle. Information on the direction lane length DRda.
  • the information on the side rear vehicle includes information on the relative speed Vca of the side rear vehicle with respect to the own vehicle, the inter-head distance Dca between the side rear vehicle and the own vehicle, and the change rate Rca of the inter-head distance.
  • the inter-head distance Dca between the side rear vehicle and the host vehicle is determined by measuring the front end portion (vehicle head) of the host vehicle and the front end portion of the side rear vehicle (in the direction along the traveling direction of the host vehicle (and the side rear vehicle)). This is the distance between The inter-vehicle distance may be calculated from the inter-vehicle distance and the vehicle length. The inter-vehicle distance may be substituted for the inter-vehicle distance.
  • the relative speed Vca and the inter-head distance Dca are detected by a sensor or a radar.
  • the information on the side front vehicle includes information on the relative speed Vda of the side front vehicle with respect to the host vehicle, the distance Dda between the head of the side front vehicle and the host vehicle, and the change rate Rda of the head distance.
  • the head-to-head distance Dda between the side front vehicle and the host vehicle is measured along the traveling direction of the host vehicle (and the side front vehicle) and the tip end portion (vehicle head) of the host vehicle and the tip portion (vehicle head) of the side front vehicle. Is the distance between.
  • the remaining side lane length DRda of the host vehicle is a parameter indicating a high possibility of lane change to the side lane. Specifically, the remaining side lane length DRda of the host vehicle is measured in the direction along the traveling direction of the host vehicle (and the side front vehicle) and the rear end portion of the side front vehicle. Is longer than the inter-vehicle distance DRba between the preceding vehicle and the host vehicle, the distance between the front end portion (vehicle head) of the host vehicle and the rear end portion of the side forward vehicle, and the front end portion of the host vehicle ( When the distance between the vehicle head) and the rear end portion of the side front vehicle is shorter than DRba, DRba is set. The remaining side lane length DRda of the host vehicle is detected by a sensor or a radar.
  • the information on the merging lane includes information on the relative speed Vma of the merging vehicle with respect to the own vehicle, the distance Dma between the merging vehicle and the own vehicle, and the rate of change Rma of the inter-vehicle distance.
  • the inter-head distance Dma between the joining vehicle and the host vehicle is measured in the direction along the traveling direction of the host vehicle (and the joining vehicle) and the leading end portion (head of the host vehicle) and the leading end portion (head of the joining vehicle) ).
  • the relative speed Vma and the inter-head distance Dma are detected by a sensor or a radar.
  • the numerical values of the speed, distance, and change rate described above are classified into a plurality of levels, and numerical values indicating the classified levels are stored. Note that the numerical values of the speed, the distance, and the change rate may be stored as they are without being classified into levels.
  • the location information is "location information of own vehicle”, “number of lanes”, “travel lane of own vehicle”, “distance to start / end points of merge section” "distance to start / end points of branch section” It includes information such as “distance to construction section start / end points”, “distance to lane decrease section start / end points”, and “distance to traffic accident occurrence point”.
  • position information “travel lane of own vehicle” (travel lane of FIG. 27) and “distance to start / end points of merge section” (in FIG. 27, “distance to merge point”) Information) is shown.
  • the distance to the start / end point of the merge section is determined in advance when the start / end point of the merge section exists within a predetermined distance. It is classified into a plurality of levels, and the numerical values of the classified levels are stored. If there is no start / end point of the merging section within the predetermined distance, “0” is stored in the “distance to the start / end point of the merging section” column.
  • the distance to the start / end point of the branch section is determined in advance. It is classified into a plurality of levels, and the numerical values of the classified levels are stored. If there is no start / end point of the branch section within the predetermined distance, “0” is stored in the “distance to the start / end point of the branch section”. In the "Distance to construction section start / end point” column, if there is a construction section start / end point within a predetermined distance, the distance to the construction section start / end point is determined in multiple levels. And the numerical value of the classified level is stored. When there is no construction section start / end point within a predetermined distance, “0” is stored in the column “Distance to construction section start / end point”.
  • the distance to the start / end point of lane decrease section is determined in advance when there is a start / end point of lane reduction section within the predetermined distance. It is classified into a plurality of levels, and the numerical values of the classified levels are stored. When there is no lane decrease section start / end point within a predetermined distance, “0” is stored in the “distance to lane decrease section start / end point” column.
  • the distance to the traffic accident occurrence point is classified into a plurality of predetermined levels. The numerical value of the selected level is stored. If there is no traffic accident occurrence point within a predetermined distance, “0” is stored in the “distance to the traffic accident occurrence point” column.
  • the position information may include information on which lanes of the road on which the vehicle is traveling are merge lanes, branch lanes, construction lanes, reduced lanes, and accident lanes.
  • the travel history shown in FIG. 27 is merely an example, and the present invention is not limited to this.
  • the travel history may further include “information on the left side lane” on the opposite side.
  • Left lane information includes information on the left rear vehicle traveling behind the host vehicle in the left lane, information on the left front vehicle traveling ahead of the host vehicle in the left lane, and the remaining left side of the host vehicle. Information on the direction lane length DRda.
  • the information on the left rear vehicle includes information on the relative speed Vfa of the left rear vehicle with respect to the host vehicle, the head distance Dfa between the left rear vehicle and the host vehicle, and the change rate Rfa of the head head distance.
  • the head-to-head distance Dfa between the left rear vehicle and the host vehicle is a front end portion (vehicle head) of the host vehicle measured in a direction along the traveling direction of the host vehicle (and the left rear vehicle) and a front end portion of the left rear vehicle ( This is the distance between
  • the information on the left front vehicle includes information on the relative speed Vga of the left front vehicle with respect to the own vehicle, the distance Dga between the left front vehicle and the own vehicle, and the rate of change Rga of the head distance.
  • the head-to-head distance Dga between the left front vehicle and the host vehicle is measured along the traveling direction of the host vehicle (and the left front vehicle) and the tip portion (vehicle head) of the host vehicle and the tip portion (vehicle head) of the left front vehicle. Is the distance between.
  • the travel history shown in FIG. 27 may include “rear vehicle information” indicating information on the rear vehicle traveling behind the host vehicle in the travel lane.
  • the information on the rear vehicle includes information on the relative speed Vea of the rear vehicle with respect to the host vehicle, the distance Dea between the rear vehicle and the host vehicle, and the rate of change Rea of the head distance.
  • the head-to-head distance Dea between the rear vehicle and the host vehicle is determined by the front end portion (vehicle head) of the host vehicle and the front end portion (vehicle head) of the rear vehicle measured in the direction along the traveling direction of the host vehicle (and the rear vehicle). Is the distance between.
  • the relative speed Vea and the inter-head distance Dea are detected by a sensor or a radar.
  • the measurable distance between vehicles or an approximate value obtained by adding a predetermined vehicle length to the distance between vehicles may be used instead of the distance between vehicle heads.
  • the distance may be calculated by adding the length of each recognized vehicle type to the distance. Regardless of whether the head-to-head distance can be measured or not, as an alternative to the head-to-head distance, a measurable head-to-head distance or an approximate value obtained by adding a predetermined vehicle length to the head-to-head distance may be used. You may calculate by adding the vehicle length for every recognized vehicle type.
  • the traveling history may include various other information related to the traveling environment of the vehicle.
  • the travel history may include information on the size or type of the preceding vehicle, the side vehicle, the joining vehicle, or the relative position with respect to the host vehicle.
  • the type of a vehicle approaching from behind may be recognized by a camera sensor, and information indicating that the vehicle is an emergency vehicle may be included when the vehicle is an emergency vehicle. Thereby, it can inform that it is information reporting for correspondence to an emergency vehicle. Or the numerical value which showed the steering wheel, the brake, the amount of accelerator operation in steps, or the passenger's information etc. as demonstrated in FIG.
  • the behaviors selected during the automatic driving may be aggregated, or the behaviors actually performed by the driver during the manual driving may be aggregated. This makes it possible to collect travel histories according to operating conditions such as automatic driving or manual driving.
  • the environmental parameter included in the travel history indicates the travel environment when the behavior of the vehicle is presented to the driver.
  • the travel environment when the driver selects the behavior May be shown.
  • both the environmental parameter indicating the driving environment when the behavior of the vehicle is presented to the driver and the environmental parameter indicating the driving environment when the driver selects the behavior may be included in the driving history. .
  • the vehicle control unit 7 generates the overhead view shown in FIGS. 2A, 5A, 6A, 7A, 8A, 9A, and 10A, or the display shown in FIG. 14C, the first behavior.
  • at least one of the information on the environmental parameter having a high contribution level and the information related to the environmental parameter (for example, an icon) that causes the second behavior to be selected is generated as the notification information.
  • the notification information may be notified to the notification unit 92 by, for example, showing the generated notification information on an overhead view.
  • the vehicle control unit 7 increases the brightness between the preceding vehicle and the host vehicle in the overhead view.
  • An area where the color is raised or the color is changed may be displayed to notify the notification unit 92 of the notification information.
  • the vehicle control unit 7 may display an icon indicating that the contribution degree of the inter-vehicle distance DRba or the change rate RSb is high in the region between the preceding vehicle and the host vehicle as the notification information. Further, the vehicle control unit 7 causes the notification unit 92 to draw a line segment connecting the preceding vehicle and the host vehicle as notification information on the overhead view, or to notify line segments connecting all the surrounding vehicles and the host vehicle. The line segment connecting the preceding vehicle and the host vehicle may be emphasized on the overhead view.
  • the vehicle control unit 7 raises the luminance between the preceding vehicle and the host vehicle in the viewpoint image seen from the driver, not the overhead view, and between the preceding vehicle and the host vehicle.
  • AR Augmented Reality
  • display may be realized by displaying differently colored areas as notification information.
  • the vehicle control unit 7 may cause the notification unit 92 to display an AR indicating an environmental parameter having a high contribution degree in the region between the preceding vehicle and the host vehicle as notification information in the viewpoint image.
  • the vehicle control unit 7 displays the line segment connecting the preceding vehicle and the host vehicle in the viewpoint image as AR information, or the line segment connecting all the surrounding vehicles and the host vehicle in the viewpoint image. May be displayed as the notification information and the line segment connecting the preceding vehicle and the host vehicle may be emphasized.
  • the vehicle control unit 7 may generate, as notification information, an image that highlights a preceding vehicle that is a target of an environmental parameter with a high contribution, and may display the image on the notification unit 92.
  • the vehicle control unit 7 generates information indicating the direction of the preceding vehicle or the like that is the target of the environmental parameter with a high contribution in the overhead view or the AR display as the notification information, and the information is the own vehicle or the vicinity of the own vehicle. May be displayed.
  • the vehicle control unit 7 reduces the display brightness of a preceding vehicle or the like that is the target of the environmental parameter with a low contribution instead of notifying the information about the environmental parameter with a high contribution or information related to the environmental parameter.
  • information on an environmental parameter having a high degree of contribution that is made inconspicuous by making it inconspicuous or information related to the environmental parameter may be generated as notification information and displayed on the notification unit 92.
  • the driver model includes a clustering type constructed by clustering the driving histories of a plurality of drivers, and a driver model of the driver x from a plurality of driving histories similar to a driving history of a specific driver (for example, driver x).
  • a specific driver for example, driver x
  • the clustering type driver model construction method the driving history of the driver as shown in FIG. 27 is aggregated in advance for each driver. Then, a driver model is constructed by grouping a plurality of drivers having a high degree of similarity between the traveling histories, that is, a plurality of drivers having similar driving operation tendencies.
  • the similarity between the driving histories is a correlation between vectors having environmental parameter values and behavior values as elements. Can be determined from the value.
  • the correlation value calculated from the driving history of the driver a and the driver b is higher than a predetermined value, the driving history of the driver a and the driver b is set as one group. The calculation of the similarity is not limited to this.
  • the individual adaptive type driver model construction method aggregates the driving histories of a plurality of drivers as shown in FIG.
  • the difference from the clustering type is that a driver model is constructed for each driver.
  • the driving history of the driver y is compared with the driving histories of other drivers, and the driving histories of a plurality of drivers with high similarity are extracted. .
  • an individually adaptive driver model for the driver y is constructed from the extracted driving histories of the plurality of drivers.
  • driver model (situation database) based on the travel history shown in FIG. 27 is not limited to the clustering type or the individual adaptation type, and may be configured to include the travel history of all drivers, for example.
  • driver model in which the driving histories of four drivers a to d are aggregated is used for the driver x.
  • the driver model is constructed by the vehicle control unit 7.
  • FIG. 28A and 28B are diagrams showing a method of using the driver model in this modification.
  • FIG. 28A is an environmental parameter indicating the current traveling environment of the vehicle driven by the driver x.
  • FIG. 28B is an example of a driver model for the driver x.
  • the behavior (operation) for the environmental parameter indicating the current driving environment is blank.
  • the vehicle control unit 7 acquires environmental parameters at predetermined intervals, and determines the next behavior from the driver model shown in FIG. 28B using any one of the environmental parameters as a trigger.
  • a trigger for example, when the distance to the start point of the merging section is a predetermined distance or less, or when the relative speed with the preceding vehicle is a predetermined value or less, it is necessary to change the operation of the vehicle.
  • An environmental parameter indicating the case may be used as a trigger.
  • the vehicle control unit 7 compares the environmental parameters shown in FIG. 28A with the environmental parameters of the respective driving histories of the driver model shown in FIG. 28B, and the behavior corresponding to the most similar environmental parameter is the first behavior. Judge that there is. In addition, some behaviors associated with other similar environmental parameters are determined as second behaviors.
  • Whether the environmental parameters are similar can be determined from the correlation value of the vectors whose elements are the numerical values of the environmental parameters. For example, when the correlation value calculated from the vector whose element is the numerical value of the environmental parameter shown in FIG. 28A and the vector whose element is the numerical value of the environmental parameter shown in FIG. 28B is higher than a predetermined value, these environmental parameters are It is determined that they are similar. Note that the method for determining whether the environmental parameters are similar is not limited to this.
  • the storage unit 8 stores information indicating a safe driving criterion, and the vehicle control unit 7 determines whether or not the driving history satisfies this criterion. Furthermore, the vehicle control unit 7 may register a travel history that satisfies this criterion in the database, and may not register a travel history that does not satisfy this criterion in the database.
  • the vehicle control unit 7 accurately determines the next behavior without determining the specific driving environment, that is, without labeling the driving environment. Can be determined.
  • the driver model may be constructed from a travel history in which a behavior selected by the driver during automatic driving and an environment parameter indicating a travel environment when the behavior is presented are associated with each other.
  • the driver model may be constructed from a travel history in which a behavior selected by the driver during automatic driving and an environmental parameter indicating a travel environment when the behavior is performed by the vehicle are associated with each other.
  • the environmental parameter indicating the future driving environment is predicted from the environmental parameter indicating the current driving environment.
  • the behavior associated with the environmental parameter most similar to the predicted environmental parameter is the first behavior, and the others Some behaviors associated with similar environmental parameters may be determined to be the second behavior.
  • the above prediction is performed, for example, by extrapolating environmental parameters at a future time from environmental parameters indicating the driving environment at the current time and a time before the current time.
  • the driver model (situation database) includes a driving history that associates a behavior selected by the driver during automatic driving with an environmental parameter indicating a driving environment when the behavior is presented, and a driver during automatic driving. May be constructed from both the travel history in which the behavior selected by and the environmental parameters indicating the travel environment when the vehicle performs the behavior are associated with each other.
  • both travel histories are stored in a format as shown in FIG. 28B, and the vehicle control unit 7 determines the next behavior from them.
  • the vehicle control unit 7 gives priority between the two, for example, associating the behavior selected by the driver during the automatic driving with the environment parameter indicating the traveling environment when the vehicle performs the behavior.
  • the next behavior may be determined preferentially from the travel history.
  • a server device such as a cloud server may execute a function similar to the function executed by the vehicle control unit 7.
  • the storage unit 8 since the storage unit 8 has an enormous number of data as the driving history is accumulated, it may be in a server device such as a cloud server instead of the vehicle 1.
  • the storage unit 8 may store an already constructed driver model, and the vehicle control unit 7 may determine the behavior with reference to the driver model stored in the storage unit 8.
  • the storage unit 8 In the configuration in which the storage unit 8 is provided in the cloud server, it is desirable to provide a cache in case the storage unit 8 cannot be accessed due to a decrease in communication speed or communication disconnection.
  • FIG. 29 is a block diagram showing an example of cache arrangement.
  • the vehicle control unit 7 stores the travel history in the storage unit 8 through the communication unit 291 and holds a part of the driver model (situation database) stored in the storage unit 8 in the cache 292 through the communication unit 291.
  • the vehicle control unit 7 accesses the driver model of the cache 292.
  • a method for creating a cache at this time a method of limiting by the presence or absence of environmental parameters, a method of using position information, a method of processing data, and the like are conceivable. Each will be described below.
  • the vehicle control unit 7 extracts driving environments having only the same environmental parameters from the driving environments stored in the storage unit 8, sorts these, and holds them in the cache 292.
  • the vehicle control unit 7 updates the primary cache at the timing when the environmental parameter obtained from the detected situation is changed. By doing so, the vehicle control unit 7 can extract a similar surrounding situation even if the communication speed decreases.
  • the environmental parameters for determining whether or not there is a change may be all of the environmental parameters listed above, or some of the environmental parameters.
  • a primary cache and a secondary cache may be prepared in the cache 292.
  • the vehicle control unit 7 holds a traveling environment having the same environmental parameter in the primary cache. Further, the vehicle control unit 7 is reduced by one from the driving environment in which one environmental parameter is added to the driving environment held in the temporary cache and from the driving environment in which the environmental parameter is held in the temporary cache. At least one of the driving environments in the state is held in the secondary cache.
  • the vehicle control unit 7 can extract a similar situation using only the data in the cache 292 even if a temporary communication interruption occurs.
  • the vehicle control unit 7 determines that the traveling environment in which only the side front vehicle 302 exists (the same The driving environment in which only the environmental parameters exist is extracted from the storage unit 8 in which all the driving environments (situations) are stored, and stored in the primary cache 304.
  • the vehicle control unit 7 is configured such that the traveling environment in which only one vehicle other than the side front vehicle 302 is added (the traveling environment in which one environmental parameter is added to the same environmental parameter) or the side front vehicle 302 is used.
  • a driving environment without a vehicle is extracted from the storage unit 8 and stored in the secondary cache 305.
  • the vehicle control unit 7 copies the driving environment corresponding to the changed ambient condition 303 from the secondary cache 305 to the primary cache 304, and the changed ambient condition 303. 2 is extracted from the storage unit 8 and stored in the secondary cache 305 by extracting a driving environment in which one environmental parameter has been added and a driving environment in which one environmental parameter has been reduced. The next cache 305 is updated. As a result, the vehicle control unit 7 can smoothly extract a similar surrounding situation by comparing the surrounding situations smoothly.
  • the vehicle control unit 7 displays from the storage unit 8 a driving environment (situation) in which the position indicated by the position information is included within a certain range centered on the vehicle position. It can be extracted and stored in the cache 292.
  • the vehicle control unit 7 updates the cache 292 when the position indicated by the position information corresponding to the traveling environment is out of the certain range. By doing so, the vehicle control unit 7 can extract a similar ambient situation as long as the position is within a certain range even if communication is interrupted for a long time.
  • the storage unit 8 stores operation histories including environmental parameters.
  • the vehicle control unit 7 divides each environmental parameter into a certain range and creates a mesh in a multidimensional space. And the vehicle control part 7 creates the table which counted the behavior contained in each mesh for every classification.
  • the vehicle control unit 7 maps the environmental parameters included in the operation history in a planar shape as shown in FIG. 31A, and divides each axis in a certain range, thereby dividing the plane into a plurality of blocks. This is called a mesh.
  • the vehicle control unit 7 counts the number of behaviors included in each mesh for each type (for example, types such as acceleration, deceleration, lane change, and overtaking).
  • FIG. 31B shows a table in which the number of behaviors included in each mesh is counted for each type.
  • the vehicle control unit 7 holds this content in the cache 292. Then, the vehicle control unit 7 determines which mesh the detected environmental parameter is located in when extracting a similar surrounding situation by comparing the surrounding situations, and the behavior included in the determined mesh The behavior having the largest number is selected, and the behavior for notifying the selected behavior is determined.
  • the vehicle control section 7 when the vehicle control unit 7 determines that the detected environmental parameter is located at the third mesh position, the vehicle control section 7 indicates a behavior (here “acceleration”) indicating the maximum number of behaviors included in the third mesh. The behavior for notifying the operation is determined.
  • the update timing of the cache 292 may be anytime, and the capacity of the cache 292 can be made constant.
  • the vehicle control unit 7 acquires feature amount information indicating the driving characteristics of the driver including information on past driving environments
  • the storage unit 8 stores the feature amount information, and stores the behavior of the vehicle.
  • the feature amount indicating the driving characteristics of the driver including information on the driving environment newly acquired from the feature amount information stored in the storage unit 8 by the vehicle control unit 7 The information similar to is determined, and the behavior corresponding to the determined information is notified.
  • Information on feature values that indicate the driving characteristics of the driver is information on the feature values when the behavior of the vehicle is presented to the driver, and when the driver selects the behavior.
  • the information is at least one piece of feature amount information.
  • feature information indicating the driver's driving characteristics including past driving environment information, feature information when the vehicle behavior is presented to the driver, and the driver selects the behavior If it is both of the feature amount information at the time, information similar to the feature amount indicating the driving characteristics of the driver including the information of the newly acquired driving environment is determined from the information of both feature amounts, The behavior corresponding to the determined information is notified.
  • feature information indicating the driver's driving characteristics including past driving environment information, feature information when the vehicle behavior is presented to the driver, and the driver selects the behavior
  • the driver's driving characteristics including the newly acquired driving environment information are preferentially selected from the feature amount information when the driver selects the behavior.
  • Information similar to the feature amount to be shown is determined, and a behavior corresponding to the determined information is notified.
  • the feature amount information indicating the driving characteristics of the driver including the past driving environment information is the information of the feature amounts indicating the driving characteristics of the driver during the automatic driving and / or manual driving of the vehicle. It was decided.
  • the vehicle control unit 7 can construct a driver model more suitable for the driving tendency of the driver, and can perform more appropriate automatic driving for the driver based on the constructed driver model.
  • the parameter indicating the driving environment By associating the parameter indicating the driving environment with the behavior, it is possible to accurately determine the next behavior without requiring processing for determining a specific driving environment, that is, without labeling the driving environment.
  • Level 1 is a driving support system that automatically performs one of acceleration, deceleration, and steering.
  • Level 2 is a driving support system that automatically performs two or more of acceleration, deceleration, and steering in harmony. is there. In either case, the driver remains involved in the driving operation.
  • the automation level 4 is a fully automatic traveling system that automatically performs all of acceleration, deceleration, and steering, and the driver is not involved in the driving operation.
  • the automation level 3 is a quasi-fully automatic traveling system in which acceleration, deceleration, and steering are all automatically performed, and a driver performs a driving operation as necessary.
  • an HMI Human Machine Interface
  • driving support device mainly at the level 3 or 4 of the automatic driving.
  • the technologies described in the fifth to eleventh embodiments have one object to support realization of a safe and comfortable automatic driving by presenting useful information to the driver during the automatic driving of the vehicle. To do.
  • the technologies described in the fifth to eleventh embodiments make it easier and easier for the driver to change the determined behavior on the vehicle side during automatic driving by presenting information with less discomfort to the driver. Can be.
  • the “behavior” of the vehicle in the following description corresponds to the “behavior” of the vehicle in the description of the first to fourth embodiments.
  • the control content related to the operation state of the vehicle or the automatic operation control is included. For example, constant speed running, acceleration, deceleration, temporary stop, stop, lane change, course change, right / left turn, parking, etc.
  • the behavior of the vehicle is classified into an action that is currently being executed (also referred to as “current action”), an action that is executed after the action that is currently being executed (also referred to as “scheduled action”), and the like.
  • the scheduled action includes an action to be executed immediately and an action scheduled to be executed regardless of the timing after the end of the currently executing action.
  • the scheduled action may include an action that is executed after the currently executed action ends.
  • FIG. 32 is a block diagram showing a configuration of the vehicle 1000, and shows a configuration related to automatic driving.
  • the vehicle 1000 can travel in an automatic driving mode, and includes a notification device 1002, an input device 1004, a wireless device 1008, a driving operation unit 1010, a detection unit 1020, an automatic driving control device 1030, and a driving support device 1040.
  • Each device shown in FIG. 32 may be connected by wired communication such as a dedicated line or CAN (Controller Area Network). Further, it may be connected by wired communication or wireless communication such as USB (Universal Serial Bus), Ethernet (registered trademark), Wi-Fi (registered trademark), or Bluetooth (registered trademark).
  • USB Universal Serial Bus
  • Ethernet registered trademark
  • Wi-Fi registered trademark
  • Bluetooth registered trademark
  • the notification device 1002 notifies the driver of information related to the traveling of the vehicle 1000.
  • the notification device 1002 is, for example, a car navigation system installed in a vehicle, a head-up display, a center display, a steering wheel, a pillar, a dashboard, a light emitter such as an LED installed around a meter panel, and the like. It may be a display unit that displays information. Alternatively, it may be a speaker that converts information into sound and notifies the driver, or is a vibrator provided at a position that can be sensed by the driver (for example, the driver's seat, steering wheel, etc.) Also good. Further, the notification device 1002 may be a combination of these.
  • Vehicle 1000 corresponds to vehicle 1 in the first to fourth embodiments.
  • the notification device 1002 corresponds to the information notification device 9 in FIGS. 1 and 13
  • the input device 1004 corresponds to the operation unit 51 in FIG. 1 and the input unit 102 in FIG. 13, and the detection unit 1020 detects in FIG. This corresponds to part 6.
  • the automatic driving control device 1030 and the driving support device 1040 correspond to the vehicle control unit 7 in FIGS. 1 and 13.
  • the description of the configuration described in the first to fourth embodiments will be omitted as appropriate.
  • the notification device 1002 is a user interface device that presents information on automatic driving of the vehicle to the occupant.
  • the notification device 1002 may be a head unit such as a car navigation system or display audio, may be a mobile terminal device such as a smartphone or a tablet, or may be a dedicated console terminal device.
  • the notification device 1002 may be a liquid crystal display, an organic EL display, or a head-up display (HUD).
  • the input device 1004 is a user interface device that receives an operation input by an occupant. For example, the input device 1004 receives information related to automatic driving of the host vehicle input by the driver. The input device 1004 outputs the received information as an operation signal to the driving support device 1040.
  • FIG. 33 schematically shows the interior of the vehicle 1000 in FIG.
  • the notification device 1002 may be a head-up display (HUD) 1002a or a center display 1002b.
  • the input device 1004 may be the first operation unit 1004a provided on the steering 1011 or the second operation unit 1004b provided between the driver seat and the passenger seat. Note that the notification device 1002 and the input device 1004 may be integrated, and may be implemented as a touch panel display, for example.
  • the vehicle 1000 may be provided with a speaker 1006 that presents information related to automatic driving to the occupant by voice.
  • the driving support device 1040 may display an image indicating information related to automatic driving on the notification device 1002 and output a sound indicating information related to automatic driving from the speaker 1006 together with or instead of the information.
  • the wireless device 1008 corresponds to a mobile phone communication system, WMAN (Wireless Metropolitan Area Network), and the like, and performs wireless communication with a device (not shown) outside the vehicle 1000.
  • the driving operation unit 1010 includes a steering 1011, a brake pedal 1012, an accelerator pedal 1013, and a blinker switch 1014.
  • the steering wheel 1011 is shown in FIGS. 1 and 13, the brake pedal 1012 is shown in FIG. 1, the brake pedal 2 shown in FIG. 13, the accelerator pedal 1013 is shown in FIG. 1, the accelerator pedal 3 shown in FIG. 13, and the winker switch 1014 is shown in FIGS. This corresponds to the winker lever 4.
  • Steering 1011, brake pedal 1012, accelerator pedal 1013, and winker switch 1014 can be electronically controlled by a winker controller, at least one of a steering ECU, a brake ECU, an engine ECU, and a motor ECU.
  • a winker controller at least one of a steering ECU, a brake ECU, an engine ECU, and a motor ECU.
  • the steering ECU, the brake ECU, the engine ECU, and the motor ECU drive the actuator in accordance with a control signal supplied from the automatic operation control device 1030.
  • the blinker controller turns on or off the blinker lamp according to a control signal supplied from the automatic operation control device 1030.
  • Detecting unit 1020 detects the surrounding state and running state of vehicle 1000. As described in part in the first to fourth embodiments, for example, the detection unit 1020 detects the speed of the vehicle 1000, the relative speed of the preceding vehicle with respect to the vehicle 1000, the distance between the vehicle 1000 and the preceding vehicle, and the side lane with respect to the vehicle 1000. The relative speed of the vehicle, the distance between the vehicle 1000 and the vehicle in the side lane, and the position information of the vehicle 1000 are detected.
  • the detection unit 1020 outputs various types of detected information (hereinafter referred to as “detection information”) to the automatic driving control device 1030 and the driving support device 1040. Details of the detection unit 1020 will be described later.
  • the automatic driving control device 1030 is an automatic driving controller that implements an automatic driving control function, and determines the behavior of the vehicle 1000 in automatic driving.
  • the automatic operation control apparatus 1030 includes a control unit 1031, a storage unit 1032, and an I / O unit (input / output unit) 1033.
  • the configuration of the control unit 1031 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.
  • the storage unit 1032 has a nonvolatile recording medium such as a flash memory.
  • the I / O unit (input / output unit) 1033 executes communication control according to various communication formats.
  • the I / O unit (input / output unit) 1033 outputs information related to automatic driving to the driving support device 1040 and inputs a control command from the driving support device 1040.
  • the I / O unit (input / output unit) 1033 inputs detection information from the detection unit 1020.
  • the control unit 1031 applies a control command input from the driving support device 1040, various information collected from the detection unit 1020 or various ECUs to the automatic driving algorithm, and controls an automatic control target such as a traveling direction of the vehicle 1000. Calculate the control value.
  • the control unit 1031 transmits the calculated control value to each control target ECU or controller. In this embodiment, it is transmitted to the steering ECU, the brake ECU, the engine ECU, and the winker controller. In the case of an electric vehicle or a hybrid car, the control value is transmitted to the motor ECU instead of or in addition to the engine ECU.
  • the driving support device 1040 is an HMI controller that executes an interface function between the vehicle 1000 and the driver, and includes a control unit 1041, a storage unit 1042, and an I / O unit (input / output unit) 1043.
  • the control unit 1041 executes various data processing such as HMI control.
  • the control unit 1041 can be realized by cooperation of hardware resources and software resources, or only by hardware resources. Processors, ROM, RAM, and other LSIs can be used as hardware resources, and programs such as an operating system, application, and firmware can be used as software resources.
  • the storage unit 1042 is a storage area that stores data that is referred to or updated by the control unit 1041. For example, it is realized by a non-volatile recording medium such as a flash memory.
  • the I / O unit (input / output unit) 1043 executes various communication controls corresponding to various communication formats.
  • the I / O unit (input / output unit) 1043 includes an operation input unit 1050, an image output unit 1051, a detection information input unit 1052, a command IF (interface) 1053, and a communication IF 1056.
  • the operation input unit 1050 receives an operation signal from the input device 1004 by the operation of the driver, the passenger, or the user outside the vehicle made to the input device 1004 and outputs the operation signal to the control unit 1041.
  • the image output unit 1051 outputs the image data generated by the control unit 1041 to the notification device 1002 for display.
  • the detection information input unit 1052 is a result of the detection process by the detection unit 1020, receives information (hereinafter referred to as “detection information”) indicating the current surrounding state and running state of the vehicle 1000 from the detection unit 1020, and performs control. Output to the unit 1041.
  • the command IF 1053 executes an interface process with the automatic driving control apparatus 1030, and includes a behavior information input unit 1054 and a command output unit 1055.
  • the behavior information input unit 1054 receives information regarding the automatic driving of the vehicle 1000 transmitted from the automatic driving control device 1030 and outputs the information to the control unit 1041.
  • the command output unit 1055 receives from the control unit 1041 a control command that instructs the automatic driving control device 1030 to specify the mode of automatic driving, and transmits the control command to the automatic driving control device 1030.
  • the communication IF 1056 executes interface processing with the wireless device 1008.
  • the communication IF 1056 transmits the data output from the control unit 1041 to the wireless device 1008, and transmits the data from the wireless device 1008 to a device outside the vehicle.
  • the communication IF 1056 receives data from a device outside the vehicle transferred by the wireless device 1008 and outputs the data to the control unit 1041.
  • the automatic driving control device 1030 and the driving support device 1040 are configured as separate devices.
  • the automatic driving control device 1030 and the driving support device 1040 may be integrated into one controller.
  • one automatic driving control device may have the functions of both the automatic driving control device 1030 and the driving support device 1040 in FIG.
  • a plurality of ECUs may be provided in the integrated controller, and one ECU may realize the function of the automatic driving control device 1030, and the other ECU may realize the function of the driving support device 1040.
  • one ECU in the integrated controller executes a plurality of OSs (Operating System), one OS realizes the function of the automatic driving control device 1030, and the other OS realizes the function of the driving support device 1040. May be.
  • OSs Operating System
  • FIG. 34 is a block diagram showing a detailed configuration of the detection unit 1020 in FIG.
  • the detection unit 1020 includes a position information acquisition unit 1021, a sensor 1022, a speed information acquisition unit 1023, and a map information acquisition unit 1024.
  • the position information acquisition unit 1021 acquires the current position of the vehicle 1000 from the GPS receiver.
  • the sensor 1022 is a general term for various sensors for detecting the situation outside the vehicle and the state of the vehicle 1000.
  • a camera, a millimeter wave radar, a LIDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), a temperature sensor, a pressure sensor, a humidity sensor, an illuminance sensor, and the like are mounted as sensors for detecting the situation outside the vehicle.
  • the situation outside the vehicle includes a road condition in which the host vehicle travels including lane information, an environment including weather, a situation around the host vehicle, and other vehicles in the vicinity (such as other vehicles traveling in the adjacent lane). Any information outside the vehicle that can be detected by the sensor may be used.
  • an acceleration sensor, a gyro sensor, a geomagnetic sensor, a tilt sensor, and the like are mounted as sensors for detecting the state of the vehicle 1000.
  • Speed information acquisition unit 1023 acquires the current speed of vehicle 1000 from the vehicle speed sensor.
  • the map information acquisition unit 1024 acquires map information around the current position of the vehicle 1000 from the map database.
  • the map database may be recorded on a recording medium in the vehicle 1000, or may be downloaded from a map server via a network when used.
  • the automatic driving control apparatus 1030 determines both the current action and the scheduled action based on the detection information output by the detection unit 1020.
  • the action information input unit 1054 of the driving support device 1040 is configured to cause the vehicle 1000 to execute the current action information indicating the current action that the automatic driving control apparatus 1030 executes on the vehicle 1000 and the current action after the current action.
  • Scheduled behavior information indicating behavior is acquired from the automatic driving control device 1030.
  • data including both current behavior information and scheduled behavior information is acquired as behavior information.
  • the current action is an action that the vehicle is currently executing.
  • the scheduled action is an action to be executed after the currently executed action is completed, for example, an action to be executed next to the current action, or an action to be executed next to the current action. May be.
  • FIG. 35 shows action information input from the automatic driving control apparatus 1030.
  • the action information includes current action information that is identification information of the current action and scheduled action information that is identification information of the scheduled action.
  • the identification information of the current action and the scheduled action may be a code that can uniquely identify the type of action.
  • the behavior information is the time from the current time until the scheduled behavior is executed, in other words, the remaining time information indicating the time from the current time until the current behavior is switched to the scheduled behavior.
  • the action information in FIG. 35 indicates that the current action is a lane change to the right, the scheduled action is acceleration, and the remaining time from the end of the current action to the start of the scheduled action is 10 seconds. ing.
  • the “current time” is the current time recognized by the automatic driving control device 1030, and may be, for example, the system time inside the automatic driving control device 1030. Moreover, the time acquired from the clock apparatus not shown which time-measures the present time inside the vehicle 1000 may be sufficient. Furthermore, it may be the time when the content of the current action is determined, the time when the content of the scheduled action to be executed in the future is determined, or the time when the behavior information is notified to the driving support device 1040.
  • FIG. 36 is a block diagram showing a detailed configuration of the control unit 1041 of the driving support device 1040.
  • the control unit 1041 includes an image generation unit 1060.
  • the image generation unit 1060 generates a current action image representing the current action based on the current action information input from the automatic driving control apparatus 1030, and generates a scheduled action image representing the scheduled action based on the scheduled action information.
  • a current action image having a size larger than the size of the scheduled action image is generated.
  • the image output unit 1051 of the driving support apparatus 1040 outputs the current action image and the scheduled action image to the notification device 1002 so that the current action image and the scheduled action image are displayed within a certain field of view of the driver of the vehicle 1000. Displaying within the driver's fixed visual field can be said to display within the same visual field of the driver. For example, the current action image and the scheduled action image may be displayed simultaneously in the vicinity position or within a predetermined distance so that the driver can view both simultaneously. Further, these images may be displayed with a temporal overlap at predetermined positions in the same screen. Further, both the current action image and the scheduled action image may be displayed in the vicinity range where the movement of the line of sight is unnecessary. Furthermore, the image generation unit 1060 may generate image data of a screen in which the current action image and the scheduled action image are arranged in such a vicinity range.
  • the image generation unit 1060 further generates a remaining time image representing the time until the scheduled action updated by the remaining time information input from the automatic driving control device 1030 is executed.
  • the image output unit 1051 further outputs the remaining time image to the notification device 1002, and displays the current action image and the scheduled action image to which the remaining time image is added within a fixed visual field of the driver of the vehicle 1000.
  • the screen including various information related to automatic driving displayed on the notification device 1002 is also referred to as “automatic driving information screen”.
  • 37A and 37B show examples of the automatic driving information screen.
  • FIG. 37A shows an example of the automatic driving information screen 1103 at the first time point
  • FIG. 37B shows an example of the automatic driving information screen 1103 at the second time point after the first time point.
  • the display mode of the current action image 1104 on the automatic driving information screen 1103 is set to be different from the display mode of the scheduled action image 1106. This prevents the driver from confusing the current behavior of the vehicle with the scheduled behavior following the current behavior.
  • the current action image 1104 is displayed with a size larger than the scheduled action image 1106.
  • the current action image 1104 is displayed at the center position within a fixed visual field of the driver of the vehicle 1000, for example, at a position near the center of the automatic driving information screen 1103.
  • the scheduled action image 1106 is displayed at a peripheral position within a fixed visual field of the driver, for example, near the end of the automatic driving information screen 1103.
  • the current action image 1104 is displayed in the main area 1100 on the automatic driving information screen 1103, while the scheduled action image 1106 is displayed in the sub area 1102 smaller than the main area 1100.
  • the remaining time image 1108 is displayed in association with the scheduled action image 1106. Specifically, the scheduled action image 1106 and the remaining time image 1108 are located in the vicinity of the same sub-region 1102. They are displayed side by side.
  • the remaining time image 1108 includes a plurality of time indicators 1109. Each time indicator 1109 is displayed in a lit state or an unlit state, and the longer the remaining time until the scheduled action is executed, the more time indicators 1109 are displayed in the lit state.
  • the time indicator 1109 in the lit state gradually changes to the unlit state as time elapses, thereby notifying the driver of the remaining time until the scheduled action is executed. For example, 5 seconds may be allocated to one time indicator 1109, and the remaining time of the maximum 25 seconds may be indicated by the five time indicators 1109. An appropriate value for the time until one time indicator 1109 is turned off may be determined by a developer's knowledge or experiment, and a user such as a driver may be able to set an arbitrary time.
  • the automatic driving control apparatus 1030 may determine an action plan that is information obtained by continuously combining a plurality of actions (single actions) as the scheduled action.
  • the action plan includes “overtaking”.
  • the action plan “passing” is composed of a combination of three single actions, specifically, a combination of (1) lane change to the right, (2) acceleration, and (3) lane change to the left. Composed.
  • the action information input unit 1054 of the driving support apparatus 1040 acquires scheduled action information indicating the action plan. Specifically, a plurality of single actions and information indicating the execution order of each single action are set in the scheduled action column (scheduled action information) of the action information shown in FIG.
  • the image generation unit 1060 arranges a plurality of images expressing a plurality of single actions included in the action plan in units of actions according to the order in which the plurality of single actions are executed.
  • a scheduled action image 1106 is generated.
  • FIG. 38 shows an example of the automatic driving information screen.
  • a scheduled action image 1106 representing an action plan indicating overtaking is displayed.
  • the scheduled action image 1106 in the figure includes three images showing three single actions, and the single action image having the earlier execution order is arranged at a lower position.
  • the automatic driving control apparatus 1030 may determine, as the scheduled action, a plurality of action candidates that can be executed next to the current action in the automatic driving as the scheduled action.
  • the scheduled behavior in this case may include, for example, two of the first candidate “acceleration” and the second candidate “deceleration”, and may further include three of the third candidate “lane change to the left”.
  • the automatic driving control apparatus 1030 determines the remaining time when each of the plurality of action candidates is executed, and further determines the priority order among the plurality of action candidates.
  • the behavior information input unit 1054 of the driving support device 1040 acquires scheduled behavior information including a plurality of behavior candidates (referred to herein as “candidate information”). Specifically, candidate information indicating a plurality of action candidates and the remaining time and priority for each action candidate is set in the scheduled action column of action information shown in FIG.
  • the image generation unit 1060 generates a current action image 1104 representing the current action indicated by the action information and a plurality of candidate images corresponding to the plurality of action candidates indicated by the action information.
  • a plurality of scheduled action images 1106 representing a plurality of action candidates and a plurality of remaining time images 1108 representing the remaining time of each action candidate are generated as a plurality of candidate images.
  • the image output unit 1051 outputs the current action image 1104 to the notification device 1002 and outputs a plurality of candidate images with a predetermined ranking. As a result, a plurality of candidate images displayed and arranged in a predetermined ranking are displayed together with the current action image 1104 within a fixed visual field of the driver.
  • Ranking among the candidate actions is performed according to the priority of each action candidate indicated in the action information, and specifically, the action candidate having a higher priority is ranked higher. As a modified example, an action candidate with a shorter remaining time until execution may have a higher rank. Further, as will be described later in the embodiment, the action candidate having a higher degree of matching with the driver's preference or operation pattern under the current surrounding conditions and running state of the vehicle 1000 may be ranked higher. .
  • the display arrangement by ranking is a non-parametric method in which a plurality of candidate images corresponding to a plurality of behavior candidates are visualized in a predetermined position in the automatic driving information screen 1103 corresponding to the ranking of each behavior candidate in order of top, bottom, left and right. It may be arranged in the form of display.
  • This order (same in other embodiments) can be said to be a priority order and a priority degree of display on the screen or a proposal to the driver, and can also be said to be a recommended order and a recommended degree.
  • the candidate images of higher-ranking action candidates may be arranged on the right side (the left side may be determined in advance) in the sub area 1102 of the automatic driving information screen 1103.
  • the display arrangement by ranking may be a parametric display in which the ranking is visualized by a histogram or the like.
  • each candidate image may be displayed in a form to which an object indicating the order generated by the image generation unit 1060 is added.
  • This object may be a histogram image having a shape corresponding to the ranking, a numeric image indicating the ranking itself, or the like, or may be generated by the image generation unit 1060. Examples of parametric display are also shown in FIGS. 63A and 63B described later.
  • the higher-ranking action candidate candidate images may be displayed with a more conspicuous appearance (design), for example, the display size may be increased, or the colors may be displayed with a higher visibility. .
  • FIG. 39 shows an example of the automatic driving information screen.
  • a first scheduled action image 1106a representing the first action candidate “acceleration” and a second scheduled action image 1106b representing the second action candidate “deceleration” are displayed.
  • a first remaining time image 1108a indicating the remaining time until the first action candidate is executed is displayed, and a second remaining time image 1108b indicating the remaining time until the second action candidate is executed are displayed.
  • the priority of “acceleration” is higher, and the first scheduled action image 1106a representing “acceleration” is displayed on the right side indicating that the ranking is higher.
  • the order of the first scheduled action image 1106a and the remaining time image 1108 is presented in a non-parametric display form.
  • the ranking may be presented in a parametric format in which a histogram having a shape corresponding to the ranking is added to each of the first scheduled behavior image 1106a and the second scheduled behavior image 1106b.
  • the driver it is possible to allow the driver to know in advance a plurality of action candidates that can be executed in the future by automatic driving of the vehicle, and to provide further security to the driver. Further, as will be described in a later embodiment, when the driver can select the scheduled action, the driver can select the future action of the vehicle in automatic driving from a plurality of candidates. Moreover, the selection of candidates by the driver can be supported by showing the rank among candidates to the driver.
  • FIG. 40 is a sequence diagram illustrating an example of processing related to HMI control of the vehicle 1000.
  • Detection unit 1020 detects the surrounding situation and running state of vehicle 1000, and outputs detection information indicating the detection result to automatic driving control device 1030 (P1).
  • the automatic driving control apparatus 1030 determines the remaining time until execution of the current action, the scheduled action, and the scheduled action of the vehicle according to the detection information acquired from the detection unit 1020. Then, by outputting an action instruction for instructing execution of the current action to the driving operation unit 1010, the vehicle 1000 is caused to execute the current action (P2). Furthermore, the automatic driving control apparatus 1030 transmits the current action information, the scheduled action information, and the remaining time information to the driving support apparatus 1040 (P3).
  • the driving support apparatus 1040 generates a current action image, a scheduled action image, and a remaining time image based on the current action information, the scheduled action information, and the remaining time information acquired from the automatic driving control apparatus 1030, and displays them on the notification device 1002. (P4). Specifically, the image generation unit 1060 of the driving support device 1040 further determines the display positions on the screen of the current action image, the scheduled action image, and the remaining time image. The image output unit 1051 of the driving support device 1040 outputs display position information indicating the display position of each image together with the current action image, the scheduled action image, and the remaining time image to the notification device 1002, and the images are shown in FIGS. 37A to 37B, etc. The automatic driving information screen arranged at the position indicated by is displayed.
  • the image generation unit 1060 of the driving support device 1040 generates image data of the entire automatic driving information screen in which the current action image is arranged at the center position and the scheduled action image and the remaining time image are arranged at the peripheral positions. Also good.
  • the image output unit 1051 of the driving support device 1040 may output and display the generated image data of the automatic driving information screen to the notification device 1002.
  • the driving support device 1040 measures the time from P4 (P5), and outputs the updated remaining time image reflecting the passage of time to the notification device 1002, thereby updating the mode of the remaining time image on the automatic driving information screen. (P6).
  • the remaining time image after the update is, for example, an image obtained by changing a time indicator that has been in a lit state until then to an unlit state.
  • the driving support device 1040 repeats the remaining time image update processing until new current behavior information, scheduled behavior information, and remaining time information are acquired from the automatic driving control device 1030 (S7 to S8).
  • the detection unit 1020 periodically detects the surrounding state and the running state of the vehicle 1000, and outputs detection information indicating the detection result to the automatic driving control device 1030 (P9).
  • the automatic driving control device 1030 newly determines the current action, the scheduled action, and the remaining time until the scheduled action according to the detection information. Then, by outputting an action instruction for instructing execution of the newly determined current action to the driving operation unit 1010, the vehicle 1000 is caused to execute the newly determined current action (P10).
  • the automatic driving control apparatus 1030 transmits the newly determined current action, scheduled action, new current action information indicating the remaining time, scheduled action information, and remaining time information to the driving support apparatus 1040 (P11).
  • the driving support device 1040 Based on the new current behavior information, new planned behavior information, and new remaining time information acquired from the automatic driving control device 1030, the driving support device 1040 creates a new current behavior image, new planned behavior image, and new remaining information. A time image is generated and displayed on the notification device 1002 (P12).
  • the automatic driving control device 1030 and the driving support device 1040 may be integrated into one automatic driving control device.
  • one automatic driving control device may execute both the automatic driving control device 1030 and the driving support device 1040. The same applies to the following embodiments.
  • FIG. 41 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the behavior information input unit 1054 acquires the behavior information output from the automatic driving control device 1030 (Y in S100)
  • the image generation unit 1060 displays the current behavior indicated by the behavior information and the current behavior stored in the storage unit 1042 in advance. Is matched. Further, it is determined whether or not the scheduled action indicated by the action information matches the scheduled action stored in the storage unit 1042 in advance.
  • the image generation unit 1060 represents the current action indicated by the action information.
  • a current action image is generated (S103).
  • the image output unit 1051 outputs and displays the current action image to the notification device 1002 (S104), and the image generation unit 1060 stores the current action indicated by the action information in the storage unit 1042 (S105). If the current action indicated by the action information matches the current action stored in advance in the storage unit 1042, that is, if there is no update of the current action (N in S102), S103 to S105 are skipped.
  • the image generation unit 1060 represents the scheduled action indicated by the action information.
  • a scheduled action image is generated.
  • the image generation unit 1060 generates a remaining time image representing the remaining time indicated by the behavior information (S107).
  • the image output unit 1051 outputs and displays the scheduled action image and the remaining time image to the notification device 1002 (S108), and the image generation unit 1060 stores the scheduled action indicated by the action information in the storage unit 1042 (S109).
  • the image generation unit 1060 starts measuring the elapsed time from the start of displaying the scheduled action image and the remaining time image (S110).
  • the flow of this figure is terminated. If the end condition is not satisfied (N in S111), the process returns to S100.
  • the termination condition is common to the following embodiments, and is satisfied, for example, when the driver terminates the automatic driving mode or when the vehicle ignition key or the power source is switched off.
  • the image generation unit 1060 determines whether or not a predetermined time has elapsed from the start of the elapsed time measurement. Similarly, when the scheduled action indicated by the action information matches the scheduled action stored in advance in the storage unit 1042, that is, when the scheduled action is not updated (N in S106), the image generation unit 1060 starts measuring elapsed time. It is determined whether or not a predetermined time has passed. When it is detected that a predetermined time has elapsed since the start of the elapsed time measurement (Y in S112), the image generation unit 1060 updates the remaining time image (S113).
  • a remaining time image in which one time indicator 1109 is changed from a lighting state to a non-lighting state is generated.
  • the image output unit 1051 outputs and displays the updated remaining time image to the notification device 1002 (S114).
  • the entire image of the automatic driving information screen may be updated. If the predetermined time has not elapsed since the start of the elapsed time measurement (N in S112), S113 and S114 are skipped.
  • the automatic driving control apparatus 1030 changes the scheduled action from the first scheduled action (for example, lane change to the right) to the second scheduled action (for example, acceleration) while executing a certain current action. May change.
  • the behavior information input unit 1054 of the driving support device 1040 acquires from the automatic driving control device 1030 behavior information in which the scheduled behavior information and the remaining time information are updated while the current behavior information is not updated. Specifically, the action information updated so that the scheduled action information indicates the second scheduled action and the remaining time information indicates the time until the second scheduled action is executed is acquired.
  • the image generation unit 1060 generates a new scheduled action image representing the second scheduled action and a new remaining time image representing the time until the second scheduled action is executed.
  • the image output unit 1051 outputs a new scheduled action image and a new remaining time image to the notification device 1002. Thereby, instead of the previous scheduled action image representing the first scheduled action and the remaining time image within the fixed visual field of the driver, a new scheduled action image representing the second scheduled action and a new remaining time image are displayed. It is displayed with an unupdated current action image.
  • each process is executed sequentially, but each process may be executed in parallel as appropriate.
  • the processing of S102 to S105 and the processing of S106 to S110 may be executed in parallel.
  • the determinations in S102 and S106 may be skipped. That is, new generation and output of the current action image, the scheduled action image, and the remaining time image may be executed regardless of whether the current action and the scheduled action are updated.
  • the driving support apparatus 1040 notifies the vehicle occupants (drivers, etc.) of the current action in the automatic driving and is the action at the future time point.
  • the scheduled action following the current action is also notified in advance. Further, the remaining time until the current action is switched to the scheduled action is further notified.
  • the automatic driving control device 1030 performs the second action (for example, acceleration) scheduled to be executed next to the first action (for example, lane change to the right) that is the current action and the second action during the automatic driving of the vehicle. Determine the remaining time until execution.
  • the automatic driving control apparatus 1030 may further determine the third action (for example, deceleration) that is scheduled to be executed next to the second action and the remaining time until the third action is executed.
  • the action information input unit 1054 of the driving support device 1040 includes current action information indicating the first action, scheduled action information indicating the second action and the third action, the remaining time until the second action, and the remaining until the third action. You may acquire the remaining time information which shows time from the automatic driving
  • the image generation unit 1060 displays the current action image representing the first action, the scheduled action image indicating the remaining time until the second action and the second action, the remaining time image, and the schedule indicating the remaining time until the third action and the third action. A behavior image and a remaining time image may be generated.
  • the image output unit 1051 may output these image data to the notification device 1002 and display these images side by side within a fixed visual field of the driver in the manner shown in FIG.
  • the scheduled action image indicating the second action and the remaining time until the second action and the remaining time image may be arranged as a first scheduled action image 1106a and a second scheduled action image 1106b in FIG.
  • the scheduled action image indicating the remaining time until the third action and the third action and the remaining time image may be arranged as a second scheduled action image 1106b and a second remaining time image 1108b in FIG.
  • the scheduled behavior image indicating the remaining time until the third behavior and the third behavior and the remaining time image may be hidden. For example, processing related to generation, output, or display of these images may be skipped.
  • the third action When the third action is not displayed, it may be displayed in the form of FIG. 37A.
  • the image output unit 1051 hides the image representing the first behavior and displays the second behavior within the same field of view of the driver.
  • An image representing the image and an image representing the third action may be displayed. This is, for example, a case where a notification (new behavior information or the like) indicating that the current behavior of the vehicle has been switched from the first behavior to the second behavior is received from the automatic driving control device 1030.
  • the image generation unit 1060 generates a current action image indicating the second action as the current action and a scheduled action image indicating the third action as the scheduled action, and the image output unit 1051 outputs these images to the notification device 1002.
  • the contents of the automatic driving information screen 1103 may be switched.
  • the automatic driving information screen 1103 of this modification is, for example, a screen transition from FIG. 37A to FIG. 37B when the third behavior is not displayed during the execution of the first behavior.
  • the screen transition from FIG. 39 to FIG. 37B for example.
  • the third action is displayed during the execution of the first action
  • the position of the image representing the second action is fixed by the driver. It changes from the peripheral position in the field of view to the center position.
  • the display is switched from the display of the relatively small scheduled action image representing the second action to the display of the relatively large current action image representing the second action.
  • the scheduled action image that is an image representing the third action is displayed at a peripheral position within a fixed visual field of the driver with a smaller size than the current action image representing the second action.
  • a candidate for action (hereinafter referred to as “current action candidate”) to be immediately executed by the vehicle instead of the current action of the vehicle in the automatic driving is presented to the driver.
  • the current action candidate can be said to be a candidate for an alternative action that replaces the current action, and can also be a candidate for an action that can be executed by the vehicle 1000 in place of the current action.
  • the automatic driving control device 1030 determines the current action
  • the driving support device 1040 determines the current action candidate.
  • the driving support device 1040 causes the notification device 1002 in the vehicle 1000 to display both the current action and the current action candidate.
  • the driver instructs an action to be executed immediately, in actuality, processing within each device or communication between devices occurs, so of course some delay from the current time is allowed. is there.
  • FIG. 42 is a block diagram illustrating a detailed configuration of the storage unit 1042 of the driving support apparatus 1040.
  • the storage unit 1042 includes a statistical information storage unit 1070 and a determination criterion holding unit 1071.
  • Statistic information accumulating unit 1070 accumulates statistical information indicating the relevance between the surrounding situation and running state of the vehicle and the behavior of the vehicle.
  • FIG. 43 schematically shows statistical information stored in the statistical information storage unit 1070.
  • the statistical information of the sixth embodiment corresponds to the travel history of FIG. 27 and the driver model of FIGS. 28A and 28B.
  • the statistical information is information including a plurality of records in which values of a plurality of types of environmental parameters indicating the surrounding situation and the running state of the vehicle are associated with actions that are immediately executed by the vehicle (or action results that are immediately executed by the vehicle). .
  • it is information obtained by associating current behaviors executed in various environmental states with parameter values indicating the environmental states. It may be information modeled and patterned by known statistical processing.
  • the action defined by the statistical information of the sixth embodiment is the current action of the vehicle, in other words, the action that is immediately executed by the vehicle.
  • the behavior defined by the statistical information includes a single behavior as shown by histories (d) and (e), and also includes an action plan combining a plurality of single behaviors as shown by history (f).
  • the environmental parameters include the speed of the vehicle 1000, the relative speed of the preceding vehicle with respect to the vehicle 1000, the distance between the vehicle 1000 and the preceding vehicle, the relative speed of other vehicles in the side lane with respect to the vehicle 1000, the vehicle 1000 and the side lane. The distance from other vehicles and the position information of the vehicle 1000 are included.
  • the item of the environmental parameter defined by the statistical information is included in the detection information input from the detection unit 1020, or the item value can be specified by calculation based on the detection information.
  • the determination criterion holding unit 1071 holds data (hereinafter referred to as “determination criterion”) that serves as a reference for determination processing by the determination unit 1062 described later.
  • the determination criterion is data that defines actions that can be executed (immediately) by the vehicle 1000 for each pattern for a plurality of patterns of detection information input from the detection unit 1020. For example, when a pattern with detection information indicates that there are other vehicles in the forward and right lanes, deceleration and lane change to the left may be defined as possible action candidates for the pattern. In other words, acceleration and lane change to the right may be excluded from possible action candidates.
  • the behavior information input unit 1054 of the driving support device 1040 acquires from the automatic driving control device 1030 behavior information indicating the current behavior that the automatic driving control device 1030 causes the vehicle 1000 to execute.
  • the detection information input unit 1052 of the driving support device 1040 acquires detection information indicating the detection result of the surrounding state and the running state of the vehicle 1000 from the detection unit 1020.
  • FIG. 44 is a block diagram illustrating a detailed configuration of the control unit 1041 of the driving support apparatus 1040.
  • the control unit 1041 includes an image generation unit 1060, a candidate determination unit 1061, a determination unit 1062, and an instruction unit 1063.
  • Candidate determination section 1061 and determination section 1062 determine action candidates that can be executed separately from the current action indicated by the action information acquired from automatic driving control apparatus 1030 based on the detection information acquired from detection section 1020.
  • the candidate determining unit 1061 constructs an n-dimensional vector space corresponding to the number (n) of environmental parameters in the statistical information accumulated in the statistical information accumulating unit 1070, and performs an action determined in the statistical information. Place in that vector space. Next, a specific position in the vector space and a position corresponding to the environmental parameter value indicated by the detection information (hereinafter also referred to as “current environmental position”) are specified. Then, one or more actions existing within a predetermined range (in other words, within a predetermined distance) from the current environment position in the vector space are determined as temporary current action candidates.
  • the candidate determination unit 1061 determines, as a temporary current action candidate, an action associated with an environmental parameter value that approximates the detection information among a plurality of types of actions defined in the statistical information.
  • the predetermined range of thresholds may be determined by developer knowledge or experimentation.
  • the determination unit 1062 refers to the detection information output from the detection unit 1020 and the determination criterion stored in the determination criterion storage unit 1071, and each of the provisional current action candidates determined by the candidate determination unit 1061 is a vehicle. It is determined whether or not the current (immediate) execution is possible.
  • the determination unit 1062 determines, as one of the one or more provisional current action candidates determined by the candidate determination unit 1061, a candidate that can be currently executed by the vehicle as a final current action candidate to be presented to the driver. To do. For example, when the temporary current action candidate is a lane change to the right, if there is no other vehicle on the right lane, the temporary current action candidate may be determined as the final current action candidate.
  • the temporary current action candidate when the temporary current action candidate is a lane change to the right, if there is another vehicle in the right lane, the temporary current action candidate may be excluded from the final current action candidate.
  • the determination process by the determination unit 1062 as to whether or not the vehicle can currently execute a specific action may be realized by a known method.
  • the current action candidate to be presented to the driver is determined by the cooperation of the candidate determination unit 1061 and the determination unit 1062, but only one of the processes is executed to determine the current action candidate. Also good.
  • the candidate determination unit 1061 or the determination unit 1062 determines one or more current behavior candidates
  • the candidate determination unit 1061 or the determination unit 1062 determines whether the current behavior indicated by the behavior information matches each candidate. Then, the current action candidate that matches the current action is excluded from the candidates, and only the current action candidate that does not match the current action is passed to the image generation unit 1060 as a presentation target to the driver. This suppresses presenting an action that matches the current action as an action that replaces the current action.
  • the image generation unit 1060 generates a current action image that represents the current action indicated by the action information, and generates a current action candidate image that represents the final current action candidate determined by the candidate determination unit 1061 and the determination unit 1062.
  • the image output unit 1051 outputs the current action image and the current action candidate image to the notification device 1002 so that the current action image and the current action candidate image are displayed within a fixed visual field of the driver of the vehicle.
  • the driving support device 1040 acquires the scheduled behavior information and the remaining time information from the automatic driving control device 1030 in addition to the current behavior information. The remaining time image may be further displayed on the notification device 1002.
  • the notification device 1002 displays an automatic driving information screen including the current behavior image and the current behavior candidate image output from the driving support device 1040.
  • FIG. 45 shows an example of the automatic driving information screen.
  • an automatic driving information screen 1103 in which the current action image 1104 is arranged in the main area 1100 and two current action candidate images 1110 are arranged in the sub area 1102 is shown.
  • the upper current action candidate image 1110 shows “deceleration” that is the first current action candidate
  • the lower current action candidate image 1110 shows “advance (speed maintenance)” that is the second current action candidate. ing.
  • the display mode of the current action image 1104 on the automatic driving information screen 1103 is set to be different from the display mode of the current action candidate image 1110. This prevents the driver from confusing the current action already determined by the automatic driving controller with the current action candidate proposed as an action that replaces the current action.
  • the current action image 1104 is displayed with a size larger than the current action candidate image 1110.
  • the current action image 1104 is displayed at the center position within a fixed visual field of the driver of the vehicle 1000, for example, at a position near the center of the automatic driving information screen 1103.
  • the current action candidate image 1110 is displayed at a peripheral position within a fixed visual field of the driver, for example, near the end of the automatic driving information screen 1103.
  • the instruction unit 1063 automatically outputs a control command from the command output unit 1055 for causing the vehicle to execute the current action candidate when a predetermined time has elapsed after the current action candidate image 1110 is output (after display). Output to the operation control device 1030.
  • the operation input unit 1050 receives from the input device 1004 a signal (hereinafter referred to as “operation instruction”) that specifies the behavior of the vehicle to be executed during automatic driving.
  • the instruction unit 1063 executes the current action candidate represented by the current action candidate image 1110 when the current action image 1104 and the current action candidate image 1110 have not received an operation instruction within a predetermined time displayed on the notification device 1002.
  • This situation can also be said to be a case where an operation instruction is not received within a predetermined time after the current action candidate image 1110 is output.
  • the predetermined time for waiting for reception of the operation instruction may be set to an appropriate value based on the developer's knowledge or experiment, and may be set to, for example, 5 seconds to 10 seconds.
  • the instruction unit 1063 causes the vehicle to execute the action specified by the operation instruction.
  • the control command is output from the command output unit 1055 to the automatic operation control device 1030.
  • the action specified by the operation instruction is a current action determined by the automatic driving control apparatus 1030 or a current action candidate determined by the driving support apparatus 1040.
  • a control command for causing the vehicle to execute the current action candidate represented by the current action candidate image 1110 is sent from the command output unit 1055 to the automatic driving control device 1030.
  • a control command for causing the vehicle to execute the current action represented by the current action image 1104 is output from the command output unit 1055 to the automatic driving control device 1030.
  • FIG. 46 is a sequence diagram illustrating an example of processing related to HMI control of the vehicle 1000.
  • the detection unit 1020 periodically detects the surrounding conditions and the running state of the vehicle 1000, and periodically outputs detection information indicating the detection result to the automatic driving control device 1030 (P21).
  • the automatic driving control device 1030 determines the current behavior of the vehicle according to the detection information acquired from the detection unit 1020. Then, by outputting an action instruction instructing execution of the current action to the driving operation unit 1010, the vehicle 1000 is caused to execute the current action (P22). Furthermore, the automatic driving control device 1030 transmits behavior information indicating the current behavior to the driving support device 1040 (P23).
  • the driving support device 1040 generates a current behavior image based on the current behavior information acquired from the automatic driving control device 1030, and displays it on the notification device 1002 (P24).
  • the driving support device 1040 acquires detection information that the detection unit 1020 periodically outputs (P25). For example, the detection information output by the detection unit 1020 in P21 may be acquired in parallel (independently) with the automatic driving control device 1030. Alternatively, the detection information transferred by the automatic operation control device 1030 may be acquired.
  • the driving support device 1040 determines a current action candidate based on the detection information every time the detection information output periodically is acquired (P26).
  • the driving support device 1040 generates a current behavior candidate image representing the current behavior candidate and causes the notification device 1002 to display the current behavior candidate image (P27).
  • the input apparatus 1004 instructs to execute the current action candidate.
  • An operation instruction is transmitted to the driving support device 1040 (P28).
  • the driving support device 1040 transmits a control command having a content for instructing execution of the current action candidate to the automatic driving control device 1030 (P29).
  • the automatic driving control apparatus 1030 identifies the current action candidate specified by the control command as a new current action, and outputs a new action instruction to instruct the execution of the new current action to the driving operation unit 1010, thereby newly The current action is executed by the vehicle 1000 (P30).
  • the automatic driving control device 1030 transmits new behavior information indicating a new current behavior to the driving support device 1040 (P31).
  • the driving support device 1040 generates a new current behavior image based on the new current behavior information acquired from the automatic driving control device 1030, and displays the new current behavior image on the notification device 1002 (P32).
  • the driving support device 1040 acquires the latest detection information output by the detection unit 1020 (P33), and determines a new current action candidate (P34).
  • the driving support device 1040 displays the new current candidate image on the notification device 1002 (P35).
  • the detection information input unit 1052 of the driving support device 1040 indicates the current behavior updated in accordance with the control command after the control command is transmitted to the automatic driving control device 1030. Information is acquired from the automatic operation control apparatus 1030. The updated current action is the action specified by the control command, that is, the current action candidate specified by the driver. Then, the driving support device 1040 updates the content of the automatic driving information screen 1103 of the notification device 1002 so as to reflect the latest state.
  • FIG. 47 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the behavior information input unit 1054 acquires the behavior information output from the automatic driving control device 1030 (Y in S120)
  • the image generation unit 1060 displays the current behavior indicated by the behavior information and the current behavior stored in the storage unit 1042 in advance. Is matched.
  • the subsequent processes in S121 to S124 are the same as the processes in S102 to S105 in FIG. If the action information has not been acquired (N in S120), S121 to S124 are skipped.
  • the candidate determination unit 1061 displays the detection information, the statistical information stored in the statistical information storage unit 1070, and the determination criterion holding unit.
  • One or more current action candidates are determined based on the determination criterion held in 1071 (S126).
  • the candidate determination unit 1061 determines whether or not the current action candidate determined in S126 matches the current action candidate stored in the storage unit 1042 in advance.
  • the candidate determination unit 1061 determines in S126. It is determined whether the current action candidate matches the current action indicated by the action information. Then, the current action candidate that matches the current action is excluded from the subsequent processing targets (S128).
  • the image generation unit 1060 generates a current action candidate image representing the current action candidate that has passed the filtering of S127 and S128 (S129), and the image output unit 1051 outputs the current candidate image to the notification device 1002 for display ( S130).
  • the candidate determining unit 1061 stores information on the current action candidate for which the current action candidate image has been generated in the storage unit 1042 (S131). If the detection information has not been acquired (N in S125), S126 to S131 are skipped. If there is no update of the current action candidate (N of S127), S128 to S131 are skipped. If the predetermined end condition is satisfied (Y in S132), the flow of this figure is ended. If the end condition is not satisfied (N in S132), the process returns to S120.
  • the candidate determination unit 1061 determines the driver's preference or operation pattern under the current surrounding conditions and driving state of the vehicle 1000. An action candidate having a higher degree of match may be ranked higher. Then, similarly to the case where a plurality of scheduled actions are input in the fifth embodiment, the image generation unit 1060 displays a plurality of current action candidate images corresponding to a plurality of current action candidates according to the ranks of the candidates. May be generated. In addition, the image output unit 1051 may cause the notification device 1002 to display a plurality of current action candidate images in a manner corresponding to the rank of each candidate.
  • the image generation unit 1060 generates automatic driving information screen data including both the current action image and the current action candidate image, and the image output unit 1051 displays the automatic driving information.
  • the screen data may be output to the notification device 1002 and displayed. That is, both the current action image and the current action candidate image may be output to the notification device 1002 at once.
  • FIG. 48 is also a flowchart showing an example of processing of the driving support device 1040.
  • the instruction unit 1063 starts measuring the elapsed time from the output (S141).
  • the instruction unit 1063 sends a control command to instruct the execution of the current action candidate to the command output unit.
  • This threshold value is a time value determined in advance by a developer's knowledge or experiment, and may be, for example, 5 seconds to 10 seconds.
  • the instructing unit 1063 may output a control command instructing execution of the highest current action candidate according to a predetermined rank of each candidate. Good.
  • the process returns to S142.
  • the instruction unit 1063 sends a control command for instructing execution of the current action or the current action candidate designated by the operation instruction to the command output unit.
  • Output from 1055 to the automatic operation controller 1030 (S145).
  • This operation instruction may be a signal indicating that an operation for selecting one of the current action image and the current action candidate image on the automatic driving information screen is input. If the current action candidate image has not been output (N in S140), the processes in S141 and subsequent steps are skipped, and the flow of FIG.
  • the driving support device 1040 notifies the vehicle occupants (drivers, etc.) of the current behavior in automatic driving, and can be executed immediately instead of the current behavior. Suggest action candidates. In this way, by presenting the driver with the latest action options of the vehicle, it is an automatic driving that further reflects the driver's intention, and an automatic driving that meets the driver's preference and the like can be realized.
  • the current action candidate that can be selected by the driver is one that can be executed in the current situation or running state of the vehicle, the driver can give an instruction to change the automatic driving with a sense of security.
  • the control command for executing the current action candidate is automatically driven. It output to the control apparatus 1030. That is, in the sixth embodiment, the behavior determined by the driving support device 1040 is preferentially executed by the vehicle over the behavior determined by the automatic driving control device 1030.
  • the instruction unit 1063 sends a control command for causing the vehicle to execute the current action represented by the current action image 1104 from the command output unit 1055 to the automatic driving control device 1030. May be output. That is, the behavior determined by the automatic driving control device 1030 may be preferentially executed by the vehicle over the behavior determined by the driving support device 1040.
  • the driving support device 1040 accumulates statistical information indicating the relationship between the vehicle surroundings and the running state and the vehicle behavior in the local storage unit.
  • the statistical information may be stored in an information processing apparatus outside the vehicle, for example, a database server connected via a communication network. That is, the statistical information storage unit 1070 may be provided in a remote place (for example, on a cloud) outside the vehicle.
  • the candidate determination unit 1061 of the driving support device 1040 accesses the statistical information stored in the statistical information storage unit outside the vehicle via the communication IF 1056 and the wireless device 1008, and uses the statistical information and the detection information of the detection unit 1020. Therefore, the current action candidate may be determined. The same applies to the following embodiments using the statistical information.
  • the statistical information stored in the statistical information storage unit 1070 may be information (driver model) reflecting the preference or driving pattern of a vehicle occupant (typically a driver). It can be said that the statistical information of this modified example is an accumulation of a combination of past environmental parameter values and results of current actions under the environment.
  • the driving support device 1040 indicates the past environmental parameter value in the travel of the vehicle and the latest operation (the latest behavior of the vehicle as a result) by the driver in the case of the environmental parameter value. You may further have a statistical information recording part recorded sequentially.
  • the candidate determination unit 1061 of the present modification refers to the statistical information storage unit 1070 to determine a plurality of current action candidates in which the difference from the currently detected environmental parameter value is associated with the environmental parameter value within a predetermined range. To do. At the same time, the priority order (also referred to as priority) of each of the plurality of current action candidates is determined. For example, when determining a plurality of current action candidates, the candidate determination unit 1061 may increase the rank of the current action candidate associated with the environmental parameter value that is close to the currently detected environmental parameter value. That is, among the plurality of current action candidates, a higher priority may be given to a current action candidate that matches the driver's preference or driving pattern.
  • the image generation unit 1060 generates a plurality of current action candidate images corresponding to the plurality of current action candidates determined by the candidate determination unit 1061, that is, generates an image representing the contents of each candidate.
  • the image output unit 1051 outputs the current action image and the plurality of current action candidate images to the notification device 1002 so that the current action image and the plurality of current action candidate images are displayed within a certain field of view of the driver of the vehicle 1000.
  • the image output unit 1051 displays a plurality of current action candidate images on the notification device 1002 in a manner corresponding to the priority order of each candidate.
  • the image generation unit 1060 and the image output unit 1051 have a parametric display in which priority is visualized by a histogram or the like, or a non-parametric display form in which the order is visualized in the vertical and horizontal directions.
  • a plurality of current action candidate images may be displayed. Specifically, an image showing the order itself may be added to each of the current action candidate images, or the higher-order current action candidate images may be displayed in a manner with higher visibility.
  • the current action candidate images may be arranged in descending order from a predetermined position. In addition, only current action candidates having a predetermined rank or higher may be generated and displayed.
  • this modification it is possible to support selection of a suitable candidate for the occupant from among a plurality of current action candidates.
  • the priority according to the driving pattern of the target person of the driver model (for example, the driver himself, the passenger himself, a standard or exemplary driver model, etc.) Can be presented.
  • This modification can also be applied to generation and display of current candidate images or scheduled action candidate images in other embodiments.
  • the automatic driving control device 1030 decides to execute the current action “change lane to the overtaking lane”. Then, it is assumed that the driving support device 1040 (also referred to as an HMI control ECU) presents that the current action is being executed.
  • the driving support device 1040 detects that the right turn signal of the preceding vehicle is lit, and “the advantage that the own vehicle changes the lane by changing the lane of the preceding vehicle to the overtaking lane side. May be determined. Then, the driving support device 1040 can select “accelerate if possible after lane maintenance” as a current action candidate to replace the current action “change lane to the overtaking lane” as an option that can immediately give an instruction (in other words, selectable). Recommendations may be presented.
  • candidates for actions to be executed in the future by the vehicle in automatic driving are presented to the driver.
  • the automatic driving control device 1030 determines the current action
  • the driving support device 1040 determines the scheduled action candidate.
  • the driving support device 1040 causes the notification device 1002 in the vehicle 1000 to display both the current action and the scheduled action candidate.
  • the scheduled action candidate is an action that can be executed after the currently executed action, and can be said to be an action plan that can be selected next.
  • the scheduled action candidate corresponds to the scheduled action in the fifth embodiment, and in the seventh embodiment, it can be said that the driving support apparatus 1040 determines and presents it to the driver as a selectable candidate.
  • the functional block of the driving support device 1040 is the same as that of the sixth embodiment. That is, the control unit 1041 includes an image generation unit 1060, a candidate determination unit 1061, a determination unit 1062, and an instruction unit 1063 as shown in FIG. Further, the storage unit 1042 includes a statistical information storage unit 1070 and a determination criterion holding unit 1071 as shown in FIG.
  • the determination standard held in the determination reference holding unit 1071 is the same as that in the sixth embodiment.
  • the determination criterion is data that defines actions that can be executed (immediately) by the vehicle 1000 for each pattern for a plurality of patterns of detection information input from the detection unit 1020.
  • the statistical information stored in the statistical information storage unit 1070 of the seventh embodiment also corresponds to the travel history of FIG. 27 and the driver model of FIGS. 28A and 28B, and the relationship between the vehicle's surrounding situation and travel state and the behavior of the vehicle. Is statistical information (FIG. 43).
  • the statistical information of the seventh embodiment includes a plurality of records in which values of a plurality of types of environmental parameters indicating the surrounding situation and running state of the vehicle are associated with actions (or action results) to be executed by the vehicle at a future time point.
  • Information is information obtained by accumulating actions executed at a future time point (after a predetermined time) with respect to the current environmental state in association with a parameter value indicating the current environmental state.
  • the future time point may be 10 seconds to several minutes later.
  • Each action defined by the statistical information is associated with remaining time information (for example, 10 seconds to several minutes) until the action is executed in the future.
  • the statistical information may be accumulated in a device outside the vehicle 1000, and the driving support device 1040 may access the remote statistical information via the communication IF 1056 and the wireless device 1008.
  • the behavior information input unit 1054 of the driving support device 1040 acquires from the automatic driving control device 1030 behavior information indicating the current behavior that the automatic driving control device 1030 causes the vehicle 1000 to execute.
  • the detection information input unit 1052 of the driving support device 1040 acquires detection information indicating the detection result of the surrounding state and the running state of the vehicle 1000 from the detection unit 1020.
  • the candidate determination unit 1061 determines one or more scheduled behavior candidates that are behaviors that can be executed by the vehicle 1000 after the current behavior indicated by the behavior information, based on the detection information output from the detection unit 1020. Specifically, as in the sixth embodiment, candidate determination section 1061 selects one or more actions associated with environmental parameter values that approximate the detection information from among actions specified in the statistical information as candidates. Extract. However, unlike the sixth embodiment, the candidates extracted from the statistical information of the seventh embodiment are scheduled behavior candidates indicating the behavior to be executed by the vehicle at a future time.
  • the scheduled action candidate may be an action that is scheduled to be executed following the current action of the vehicle 1000. After the current action of the vehicle 1000 is finished, another action is sandwiched and several tens of seconds or minutes after the present. It may be an action scheduled to be executed. For both actions, different remaining times are defined in the statistical information.
  • the image generation unit 1060 generates a current action image representing the current action indicated by the action information, and generates one or more scheduled action candidate images representing one or more scheduled action candidates.
  • the image output unit 1051 outputs the current action image and the scheduled action candidate image to the notification device 1002 so that the current action image and the scheduled action candidate image are displayed within a certain field of view of the driver of the vehicle.
  • the notification device 1002 displays an automatic driving information screen including the current action image and the scheduled action candidate image output from the driving support device 1040.
  • the candidate determining unit 1061 determines the scheduled action candidate
  • the candidate determining unit 1061 further passes the remaining time information associated with the scheduled action candidate in the statistical information to the image generating unit 1060.
  • the image generation unit 1060 further generates a remaining time image representing the remaining time indicated by the remaining time information.
  • the image output unit 1051 outputs the remaining time image to the notification device 1002 in addition to the current action image and the scheduled action candidate image, thereby displaying the scheduled action candidate image with the remaining time image added on the automatic driving information screen.
  • FIG. 49 shows an example of the automatic driving information screen.
  • the figure shows an automatic driving information screen 1103 in which a current action image 1104 is arranged in the main area 1100 and a scheduled action candidate image 1112 representing one scheduled action candidate and a remaining time image 1108 are arranged in the sub area 1102.
  • the scheduled action candidate image 1112 in the figure shows an action plan (overtaking in this example) in which three single actions are combined as one scheduled action candidate.
  • the remaining time image 1108 in the figure shows the length of the remaining time until the scheduled action candidate is executed as a ratio of the shaded area in the sub area 1102.
  • the ratio of the shaded area may be increased as the remaining time decreases.
  • the display mode of the remaining time image 1108 may be updated.
  • the display mode of the remaining time image 1108 may be updated so that the two-thirds area from the bottom of the sub-area 1102 is a shaded area.
  • the remaining time may be notified by a change in pattern or color, or the remaining time may be notified by another method such as displaying a timer object for counting the remaining time.
  • the image output unit 1051 issues a command for instructing the display of the scheduled action candidate image 1112 to end. It may be transmitted to 1002 and the display of the scheduled action candidate image 1112 may be terminated. Further, the image generation unit 1060 generates a new scheduled behavior candidate image indicating the scheduled behavior candidate newly determined by the candidate determination unit 1061, and the image output unit 1051 transmits the new scheduled behavior candidate image to the notification device 1002. May be displayed.
  • 50A to 50F also show examples of the automatic operation information screen.
  • the scheduled action candidate image 1112 is arranged at the center position of the double circle, and the current action image 1104 is arranged in the outer circle.
  • a remaining time display area 1114 is provided in the outer circle, and the shaded area indicated by the remaining time image 1108 is expanded as the remaining time until the scheduled action candidate is executed becomes shorter (FIG. 50A to FIG. 50).
  • FIG. 50E For example, if the initial remaining time is 60 seconds and 20 seconds have elapsed from the start of displaying the scheduled action candidate image 1112, the remaining time display area 1114 is left as a shaded area.
  • the display mode of the time image 1108 may be updated.
  • FIG. 50F shows that when the remaining time until the scheduled action candidate execution becomes zero, in other words, the elapsed time from the display start of the scheduled action candidate image 1112 is the remaining time associated with the scheduled action candidate in the statistical information.
  • An automatic driving information screen 1103 when it has been reached is shown.
  • the scheduled action candidate (acceleration) that was previously shown in the scheduled action candidate image 1112 is switched to the current action, and accordingly, from the current action image 1104 that shows a lane change to the right, the current action showing acceleration is shown.
  • the image 1104 has been switched.
  • 51A to 51F also show examples of the automatic operation information screen.
  • 51A to 51F are different from the automatic driving information screen 1103 shown in FIGS. 50A to 50F in the following three points.
  • (2) The scheduled action candidate image 1112 is arranged around the inner circle.
  • the upward triangle indicates acceleration, the downward triangle indicates deceleration, the left triangle indicates lane change to the left, and the right triangle indicates lane change to the right.
  • the remaining time image 1108 is a point indicating the remaining time until the scheduled action represented by the scheduled action image 1106 is executed.
  • the scheduled action candidate presented to the driver (scheduled action candidate image 1112) while the remaining time until the scheduled action “acceleration” indicated by the scheduled action image 1106 is executed decreases. Will be updated from time to time.
  • FIG. 51F shows the case where the remaining time until the scheduled action execution becomes zero, in other words, the elapsed time from the start of displaying the scheduled action image 1106 reaches the remaining time notified from the automatic driving control device 1030.
  • An automatic driving information screen 1103 is shown.
  • the scheduled action (acceleration) that has been shown in the scheduled action image 1106 until then is switched to the current action, and accordingly, the current action image 1104 that shows acceleration from the current action image 1104 that shows a lane change to the right. It has switched to.
  • the driver may press the cross button provided on the input device 1004 to instruct execution of the scheduled action candidate represented by the scheduled action candidate image 1112. For example, the driver may instruct execution of acceleration indicated by the scheduled action candidate image 1112 by selecting the up button of the cross button while the scheduled action candidate image 1112 indicating the upward triangle is displayed.
  • FIG. 52 also shows an example of the automatic driving information screen.
  • two scheduled action candidate images 1112 representing two scheduled action candidates (two action plans) are displayed.
  • a remaining time image 1108 representing the remaining time until each scheduled action candidate is executed is indicated by a plurality of time indicators 1109 as in the fifth embodiment.
  • the automatic driving information screen 1103 displays a selection frame 1116 for allowing the driver to select a specific scheduled action candidate from a plurality of scheduled action candidates represented by a plurality of scheduled action candidate images 1112.
  • the driver inputs an operation for designating a desired scheduled action candidate to the input device 1004 using the selection frame 1116.
  • the image generation unit 1060 of the driving support apparatus 1040 gives the driver “execution” or “reservation” of the designated scheduled action candidate.
  • An inquiry image of the contents to be inquired is generated.
  • “Execution” means that the scheduled action candidate is immediately executed by the vehicle.
  • “Reservation” is a timing after a predetermined time from an operation instruction for specifying a reservation, and means that a scheduled action candidate is executed at a timing when the vehicle becomes executable.
  • the image output unit 1051 outputs the inquiry image to the notification device 1002 to be displayed.
  • the instruction unit 1063 receives a control command for causing the vehicle 1000 to execute the scheduled action candidate at the first timing when an operation for designating “execution” is input via the operation input unit 1050 during display of the inquiry image. Is output to the automatic operation control device 1030. On the other hand, when an operation for designating “reservation” is input during the display of the inquiry image, a control command for causing the vehicle 1000 to execute the scheduled action candidate is automatically executed at a second timing after the first timing. Output to the operation control device 1030.
  • the processing sequence of the vehicle 1000 in the seventh embodiment is the same as the processing sequence of FIG. 46 described in the sixth embodiment.
  • the determination of the current action candidate and the display of the current action candidate image are replaced with the determination of the scheduled action candidate and the display of the scheduled action candidate image (P26, P27).
  • the input device 1004 notifies the driving support device 1040 of the scheduled action candidate selection operation (P28).
  • the driving support device 1040 outputs a control command instructing execution of the scheduled action candidate to the automatic driving control device 1030 (P29).
  • the detection information input unit 1052 of the driving support device 1040 indicates the current behavior updated in accordance with the control command after the control command is transmitted to the automatic driving control device 1030.
  • Information is acquired from the automatic operation control apparatus 1030.
  • the updated current action is the action specified by the control command, that is, the scheduled action candidate specified by the driver.
  • the driving support device 1040 updates the content of the automatic driving information screen 1103 of the notification device 1002 to reflect the latest behavior of the vehicle.
  • FIG. 53 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the behavior information input unit 1054 acquires the behavior information output from the automatic driving control device 1030 (Y in S150)
  • the image generation unit 1060 displays the current behavior indicated by the behavior information and the current behavior stored in the storage unit 1042 in advance. Is matched.
  • the subsequent processing of S151 to S154 is the same as the processing of S102 to S105 in FIG. If the action information has not been acquired (N in S150), S151 to S154 are skipped.
  • the candidate determination unit 1061 uses the detection information and the statistical information stored in the statistical information storage unit 1070 based on the detection information.
  • One or more scheduled action candidates are determined (S156).
  • the image generation unit 1060 determines whether or not the scheduled action candidate determined in S156 matches the scheduled action candidate stored in the storage unit 1042 in advance.
  • the scheduled action candidate determined in S156 does not match the scheduled action candidate stored in the storage unit 1042 in advance, that is, when the scheduled action candidate is updated (Y in S157)
  • the image generation unit 1060 displays the scheduled action candidate. Is generated (S158).
  • the image generation unit 1060 further identifies the remaining time until the execution associated with the scheduled action candidate in advance in the statistical information, and further generates a remaining time image representing the remaining time in S158.
  • the image output unit 1051 outputs the scheduled action candidate image and the remaining time image to the notification device 1002 to display the automatic driving information screen (S159).
  • the image generation unit 1060 stores information indicating the scheduled action candidate that generated the image in the storage unit 1042 (S160), and starts measuring the elapsed time after outputting (starting to display) the scheduled action candidate image (S161). ). If the predetermined end condition is satisfied (Y in S162), the flow of this figure is terminated. If the end condition is not satisfied (N in S162), the process returns to S150.
  • the image generation unit 1060 determines whether or not a predetermined time has elapsed since the start of the elapsed time measurement. .
  • the predetermined time is a unit time in which the remaining time image is to be updated, and may be a time assigned to one time indicator 1109, for example.
  • the image generation unit 1060 updates the remaining time image (S164).
  • the image output unit 1051 outputs and displays the updated remaining time image to the notification device 1002 (S165). Thereby, for example, the shaded area in the remaining time display area 1114 in FIG.
  • FIGS. 50A to 50F is enlarged, and one time indicator 1109 in FIG. 52 is switched from the on state to the off state. If the predetermined time has not elapsed since the start of the elapsed time measurement (N in S163), S164 and S165 are skipped.
  • FIG. 54 is also a flowchart showing an example of processing of the driving support device 1040.
  • the image output unit 1051 outputs the scheduled behavior candidate image to the notification device 1002
  • the scheduled behavior candidate image (scheduled behavior candidate image) is displayed while the scheduled behavior candidate image is displayed on the automatic driving information screen of the notification device 1002 (Y in S170). If not selected (N in S171), the process returns to S170.
  • the candidate determining unit 1061 temporarily stops the new scheduled action candidate determining process (S172).
  • the determining unit 1062 determines whether or not the vehicle 1000 can immediately execute the selected scheduled action candidate (hereinafter also referred to as “selected action”) (S173). Specifically, the determination unit 1062 can cause the vehicle to currently execute the selection action with reference to the latest detection information output from the detection unit 1020 and the determination criterion held in the determination criterion holding unit 1071. It is determined whether or not. Here, even a selection action that cannot be immediately executed by the vehicle may be executed if the surrounding environment or the running state of the vehicle changes. Therefore, in the seventh embodiment, it is possible to reserve a selected action. Reservation can be said to be an act of instructing execution of a selection action at a possible timing within a certain time range.
  • the image generation unit 1060 generates an inquiry image for inquiring the driver about the immediate execution or reservation of the selected action, and the image output unit 1051 outputs the inquiry image to the notification device 1002 for display (S174).
  • 55A and 55B show an example of the automatic driving information screen.
  • the automatic driving information screen 1103 of FIG. 55A the scheduled action candidate image 1112 selected on the automatic driving information screen 1103 of FIG. 52 is displayed.
  • an inquiry image including an execution button 1118 and a reservation button 1120 is displayed on the automatic driving information screen 1103 in FIG.
  • the determination unit 1062 determines that the selection action can be immediately executed
  • the image generation unit 1060 generates an inquiry image including both the execution button 1118 and the reservation button 1120.
  • the operation input unit 1050 receives an operation instruction for instructing immediate execution of the selected action from the input device 1004.
  • This operation instruction may be a signal indicating that the scheduled action candidate represented by the scheduled action candidate image is selected in the inquiry image for immediate execution.
  • the instruction unit 1063 transmits a control command for instructing immediate execution of the selected action from the command output unit 1055 to the automatic driving control apparatus 1030 (S176).
  • This control command can be said to be a control command for instructing the vehicle to immediately execute the scheduled action candidate represented by the scheduled action candidate image instead of the current action represented by the current action image on the automatic driving information screen.
  • the current action image on the automatic driving information screen is changed to one showing the selected action by the processing of S150 to S153 in FIG.
  • the candidate determination unit 1061 resumes the new scheduled action candidate determination process (S177). If the scheduled action candidate image is not being displayed (N in S170), the subsequent processing is skipped and the flow of this figure is terminated.
  • the operation input unit 1050 receives an operation instruction for instructing reservation of the selected action from the input device 1004.
  • the image generation unit 1060 generates a cancel time setting image for allowing the driver to set the time until the execution of the selection action (hereinafter also referred to as “reservation action”) instructed to be reserved.
  • the image output unit 1051 outputs and displays the cancel time setting image to the notification device 1002 (S178).
  • FIG. 55B shows an automatic driving information screen 1103 including a cancel time setting image 1122. In the cancel time setting image 1122 in the figure, the cancel time can be set between 30 seconds and 10 minutes. While the reservation is being made, the process of determining a new scheduled action candidate is stopped, but the driver sets a reservation cancellation time, so that after the reservation is canceled, a new scheduled action candidate is presented to the driver.
  • the operation input unit 1050 receives a signal indicating the set cancellation time from the input device 1004 (S179).
  • the instruction unit 1063 starts measuring the elapsed time from the start of reservation (S180).
  • the image generation unit 1060 generates a reservation behavior image that is an image representing the reservation behavior and a time limit image that is an image representing the length of the reservation cancellation time.
  • the image output unit 1051 outputs and displays the reservation action image and the time limit image to the notification device 1002 (S181).
  • the reserved action image is an image having a display mode different from the scheduled action candidate image, and is an image indicating that the specific action selected by the driver is being reserved. For example, an image to which a predetermined symbol indicating reservation is added may be used.
  • 56A and 56B show an example of the automatic driving information screen.
  • a reserved action image 1124 and a time limit image 1126 are displayed in the sub-region 1102.
  • the time limit image 1126 represents the length of time until reservation cancellation by a plurality of time indicators 1109.
  • the image generation unit 1060 generates the reserved action image 1124 in a mode different from the mode of the scheduled action candidate image 1112.
  • the image output unit 1051 displays the reserved action image 1124 in a mode different from the mode of the scheduled action candidate image 1112. This allows the driver to easily determine whether the reservation action candidate is being proposed or has already been reserved on the automatic driving information screen 1103.
  • the remaining time image 1108 is arranged on the left side of the scheduled action candidate image 1112.
  • the time limit image 1126 is arranged on the right side of the reservation action image 1124.
  • the background color of the scheduled action candidate image 1112 and the reserved action image 1124 may be different, or the display size may be different.
  • an image of a predetermined symbol indicating that a reservation is being made may be added to the reservation action image 1124.
  • the determination unit 1062 determines whether or not the determination unit 1062 can cause the vehicle to immediately execute the reservation action according to the latest detection information output from the detection unit 1020 and the determination criterion held in the determination criterion holding unit 1071. Is determined (S182). If the reservation action can be immediately executed (Y in S183), the instruction unit 1063 causes the command output unit 1055 to transmit a control command instructing the immediate execution of the reservation action to the automatic driving control device 1030 (S176). ). Thereafter, the current action image on the automatic driving information screen changes to the one indicating the reservation action by the processes of S150 to S153 in FIG.
  • the candidate determination unit 1061 determines the new scheduled action candidate without performing an instruction to execute the reservation action. Is resumed (S177), and the flow of FIG. If the cancellation time has not elapsed (N in S184) and the predetermined time for updating the time limit image has not yet elapsed (N in S185), the process returns to S182 to determine again whether the reservation action can be immediately executed. When a predetermined time for updating the time limit image has elapsed (Y in S185), the image generation unit 1060 updates the time limit image. The image output unit 1051 outputs and displays the updated time limit image to the notification device 1002 (S186). Then, the process returns to S182 to determine again whether or not the reservation action can be immediately executed.
  • FIG. 56B shows an automatic driving information screen 1103 at a time point after FIG. 56A.
  • the current action of the vehicle represented by the current action image 1104 is switched from deceleration to advance (maintain speed), but the reservation action cannot be executed yet, so the time limit image 1126 in the sub-region 1102. Only has changed. Specifically, by changing a part of the time indicator 1109 from the lit state to the unlit state, the driver is notified that the remaining time until the reservation is canceled. When the elapsed time from the reservation start reaches the cancel time (for example, 5 minutes), the display of the reservation action image 1124 ends, and the automatic driving information screen 1103 (FIG. 10) presenting the scheduled action candidate newly determined by the candidate determination unit 1061. 52).
  • the cancel time for example, 5 minutes
  • the driving support device 1040 can notify a vehicle occupant (driver or the like) of the current behavior in automatic driving and can instruct to change the control of automatic driving. Present the future behavior of the vehicle to the driver. In this way, by presenting the driver with options for the future behavior of the vehicle in automatic driving, it is an automatic driving that further reflects the driver's intention, and an automatic driving that matches the driver's preference and the like can be realized. In addition, the driver's anxiety about automatic driving can be suppressed. In addition, according to the driving support device 1040 of the seventh embodiment, even if it is an action that cannot be executed at present, it is possible to reserve an action in the future, so that automatic driving in accordance with the driver's preference is further realized. It becomes easy.
  • the driving support device 1040 determines whether or not the selection action by the driver can be immediately executed.
  • the automatic driving control device 1030 may determine whether or not the selection action by the driver can be immediately executed. In this case, the driving assistance device 1040 may not execute this determination process.
  • the driving assistance device 1040 may generate an inquiry image that can select both immediate execution and reservation regardless of whether or not the selection action by the driver can be immediately executed, and may present it to the driver.
  • the instruction unit 1063 of the driving support device 1040 receives a first control command that causes the vehicle to execute the selection operation immediately when an operation instruction indicating immediate execution of the selection operation is received as the driver's operation on the inquiry image. You may make it transmit to the automatic operation control apparatus 1030 from the output part 1055.
  • a second control command for causing the vehicle to execute the selected action after a predetermined time is sent from the command output unit 1055 to the automatic driving control device 1030. May be sent to.
  • the second control command may be, for example, a control command that instructs the cancel time setting image 1122 to execute the selection action within the cancel time set by the driver.
  • the control command may be an instruction to cancel execution of the selected action when the cancel time has elapsed.
  • the configuration for causing the vehicle to execute the scheduled action candidate may be the same as the configuration described in the sixth embodiment. That is, the instruction unit 1063 of the driving support device 1040 outputs a control command for causing the vehicle to execute the scheduled action candidate after the current action image 1104 and the scheduled action candidate image 1112 are displayed on the automatic driving information screen 1103 for a predetermined time. You may make it transmit to the automatic driving
  • the instruction unit 1063 selects a scheduled action candidate when an operation instruction for designating a vehicle action is not input within a predetermined time in which the current action image 1104 and the scheduled action candidate image 1112 are displayed on the automatic driving information screen 1103.
  • a control command to be executed by the vehicle may be transmitted from the command output unit 1055 to the automatic driving control device 1030.
  • the instruction unit 1063 has received an operation instruction to select a scheduled action candidate (scheduled action candidate image 1112) within a predetermined time in which the current action image 1104 and the scheduled action candidate image 1112 are displayed on the automatic driving information screen 1103.
  • a control command for causing the vehicle to execute the scheduled action candidate may be transmitted from the command output unit 1055 to the automatic driving control device 1030.
  • the statistical information stored in the statistical information storage unit 1070 may be information (driver model) reflecting the preference or driving pattern of a vehicle occupant (typically a driver). It can be said that the statistical information of this modification is an accumulation of past environmental parameter values and combinations of scheduled behaviors under the environment.
  • the driving support device 1040 displays the past environmental parameter value in the travel of the vehicle and the operation at the predetermined future time point (the resulting future behavior of the vehicle) by the driver in the case of the environmental parameter value as the statistical information storage unit 1070. You may further have a statistical information recording part recorded sequentially on this statistical information.
  • the candidate determination unit 1061 of the present modification refers to the statistical information storage unit 1070 and determines a plurality of scheduled action candidates in which the difference from the currently detected environmental parameter value is associated with the environmental parameter value within a predetermined range. To do. At the same time, the priority order (also referred to as priority) of each of the plurality of scheduled action candidates is determined. For example, when the candidate determination unit 1061 determines a plurality of scheduled action candidates, the candidate action unit 1061 may increase the rank of the scheduled action candidate associated with the environmental parameter value that is close to the currently detected environmental parameter value. That is, among the plurality of scheduled action candidates, a higher priority may be given to a scheduled action candidate that matches the driver's preference or driving pattern.
  • the image generation unit 1060 generates a plurality of scheduled action candidate images corresponding to the plurality of scheduled action candidates determined by the candidate determination unit 1061, that is, generates an image representing the contents of each candidate.
  • the image output unit 1051 outputs the current action image and the plurality of scheduled action candidate images to the notification device 1002 so that the current action image and the plurality of scheduled action candidate images are displayed within a certain field of view of the driver of the vehicle 1000.
  • the image output unit 1051 displays a plurality of scheduled action candidate images on the notification device 1002 in a manner corresponding to the priority order of each candidate.
  • the image generation unit 1060 and the image output unit 1051 have a parametric display in which priority is visualized by a histogram or the like, or a non-parametric display form in which the order is visualized in the vertical and horizontal directions.
  • a plurality of scheduled action candidate images may be displayed. Specifically, an image indicating the order itself may be added to each of the scheduled action candidate images, or the higher order scheduled action candidate images may be displayed in a higher visibility.
  • the scheduled action candidate images may be arranged in descending order from a predetermined position. Further, only the scheduled action candidates having a predetermined rank or higher may be generated and used as display targets.
  • the priority according to the driver model it is possible to assist so that a suitable candidate for the occupant can be selected from among a plurality of scheduled action candidates.
  • the priority according to the driving pattern of the target person of the driver model for example, the driver himself, the passenger himself, a standard or exemplary driver model, etc.
  • the preceding vehicle has decelerated and the inter-vehicle distance has been shortened.
  • the automatic driving control device 1030 since vehicles with higher speed than the own vehicle are continuously approaching from behind the overtaking lane, the automatic driving control device 1030 is Therefore, it is assumed that the execution of the current action “deceleration” is determined, and the driving support device 1040 presents that the current action is being executed. At this time, the driving assistance device 1040 may determine “the advantage will be increased if there is no vehicle approaching from behind the overtaking lane” based on the detection information of the detection unit 1020.
  • the driving support device 1040 presents “change lane to the overtaking lane” as a scheduled action candidate that can be instructed to run at an appropriate timing, and recommends it to the driver as an option to reserve the instruction. May be.
  • candidates for actions to be executed by the vehicle before the scheduled action are presented to the driver.
  • the candidates presented to the driver in the eighth embodiment are action candidates that are immediately executed by the vehicle (hereinafter referred to as “current action candidates”).
  • the automatic driving control device 1030 determines the scheduled behavior
  • the driving support device 1040 determines the current behavior candidate.
  • the driving support device 1040 causes the notification device 1002 in the vehicle 1000 to display both the scheduled behavior and the current behavior candidate.
  • the control unit 1041 includes an image generation unit 1060, a candidate determination unit 1061, a determination unit 1062, and an instruction unit 1063.
  • the storage unit 1042 includes a statistical information storage unit 1070 and a determination criterion holding unit 1071.
  • the statistical information stored in the statistical information storage unit 1070 and the determination standard stored in the determination standard storage unit 1071 are the same as in the sixth embodiment. That is, statistical information for determining a current action candidate is stored in the statistical information storage unit 1070, and a determination criterion for an action that can be executed immediately according to an environmental parameter is stored in the determination criterion storage unit 1071. As described above, the statistical information may be accumulated in a device outside the vehicle 1000, and the driving support device 1040 may access the remote statistical information via the communication IF 1056 and the wireless device 1008.
  • the behavior information input unit 1054 receives behavior information (“scheduled behavior information” in the fifth embodiment) indicating scheduled behavior, which is a behavior scheduled to be executed by the automatic driving control device 1030 at a future time, in the automatic driving control device 1030. Get from.
  • the behavior information input unit 1054 further acquires remaining time information indicating the time from the current time until the scheduled behavior is executed from the automatic driving control device 1030. As shown in FIG. 35, the remaining time information is included in the data set of behavior information acquired from the automatic driving control apparatus 1030.
  • the detection information input unit 1052 acquires detection information indicating the detection result of the surrounding state and the running state of the vehicle 1000 from the detection unit 1020.
  • the candidate determination unit 1061 and the determination unit 1062 of the driving support device 1040 determine an action that can be executed by the vehicle 1000 before the scheduled action indicated by the action information based on the detection information.
  • an action that can be immediately executed by the vehicle 1000 is determined as a current action candidate.
  • it is an action that is executed before the scheduled action execution time indicated by the action information but is delayed from the current time, for example, an action executed after the current action being executed by the vehicle 1000 is ended. You may determine as an action candidate.
  • the candidate determination unit 1061 is associated with environmental parameter values that approximate detection information among a plurality of types of actions defined in the statistical information of the statistical information storage unit 1070, as in the sixth embodiment. One or more actions are determined as temporary current action candidates.
  • the determination unit 1062 also refers to the detection information output from the detection unit 1020 and the determination criterion of the determination criterion holding unit 1071, and the provisional current action candidate determined by the candidate determination unit 1061 Each determines whether the vehicle can be executed (immediately) at present. Then, a candidate that can be currently executed by the vehicle is determined as a final current action candidate to be presented to the driver.
  • the image generation unit 1060 generates a scheduled behavior image that represents the scheduled behavior indicated by the behavior information, and generates a current behavior candidate image that represents the final current behavior candidate determined by the candidate determination unit 1061 and the determination unit 1062.
  • the image output unit 1051 outputs the scheduled action image and the current action candidate image to the notification device 1002 so that the scheduled action image and the current action candidate image are displayed within a certain field of view of the driver of the vehicle 1000.
  • the image generation unit 1060 further generates a remaining time image representing the time until the scheduled action updated by the remaining time information input from the automatic driving control device 1030 is executed.
  • the image output unit 1051 further outputs the remaining time image to the notification device 1002, and displays the scheduled action image and the current action candidate image to which the remaining time image is added within the fixed visual field of the driver of the vehicle 1000.
  • the notification device 1002 displays an automatic driving information screen including these images.
  • FIGS. 57A to 57E show an example of the automatic driving information screen.
  • the scheduled action image 1106 and the remaining time image 1108 are arranged in the inner circle, and the current action candidate image 1110 is arranged in the outer circle.
  • the inner circle is the remaining time display area as a whole, and the remaining time image 1108 is updated so that the range of the remaining time image 1108 indicated by shading is expanded as the remaining time until execution of the scheduled action decreases.
  • the current action candidate image 1110 for example, an upward triangle indicates acceleration, a downward triangle indicates deceleration, a left triangle indicates lane change to the left, and a right triangle indicates lane change to the right.
  • two current action candidates “lane change to the left” and “deceleration” are presented.
  • the current action candidate image 1110 is updated at any time according to the change in the surrounding situation or the running state of the vehicle while the remaining time until the scheduled action execution is reduced.
  • the driver may instruct execution of the current action candidate represented by the current action candidate image 1110 by pressing a cross button provided on the input device 1004.
  • the driver may instruct execution of deceleration indicated by the current action candidate image 1110 by selecting the lower button of the cross button while the current action candidate image 1110 indicating the downward triangle is displayed.
  • FIG. 57E shows the result of the driver selecting one of the current action candidates (current action candidate image 1110) before the acceleration indicated by the scheduled action image 1106 of FIG. 57D is executed.
  • the driver selects the current action candidate “decelerate” on the automatic driving information screen 1103 in FIG. 57D
  • the current action of the vehicle is switched to deceleration.
  • the planned behavior of the vehicle (scheduled behavior image 1106) determined by the automatic driving control device 1030 and the current behavior candidate of the vehicle determined by the driving support device 1040 (current behavior candidate image 1110). ) Has changed.
  • processing sequence of the vehicle 1000 in the eighth embodiment is the same as the processing sequence of FIG. 46 described in the sixth embodiment, the description thereof is omitted. However, acquisition of action information indicating the current action (P23, P31), generation and output of the current action image (P24, P32), acquisition of action information indicating the scheduled action and the remaining time, generation of the scheduled action image, and Replaced by output.
  • FIG. 58 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the processing of S190 to S199 in the figure related to the generation and display of the scheduled action image is the same as the processing of S100, S106 to S110, and S112 to S114 of FIG. 41 described in the fifth embodiment, and thus description thereof is omitted.
  • the detection information input unit 1052 acquires the detection information output from the detection unit 1020 (Y in S200)
  • the candidate determination unit 1061 displays the detection information, the statistical information stored in the statistical information storage unit 1070, and the determination criterion holding unit.
  • One or more current action candidates are determined based on the determination criterion held in 1071 (S201).
  • the image generation unit 1060 determines whether or not the current action candidate determined in S201 matches the current action candidate stored in the storage unit 1042 in advance.
  • the image generation unit 1060 displays the current action candidate. Is generated (S203).
  • the image output unit 1051 outputs and displays the current action candidate image to the notification device 1002 (S204).
  • the image generation unit 1060 causes the storage unit 1042 to store information on the current action candidate that generated the current action candidate image (S205). If the detection information has not been acquired (N in S200), S201 to S205 are skipped. If no action candidate is currently updated (N in S202), S203 to S205 are skipped. If the predetermined end condition is satisfied (Y in S206), the flow of this figure is ended. If the end condition is not satisfied (N in S206), the process returns to S190.
  • the processing of the driving support device 1040 related to the selection of the current action candidate by the driver is the same as that of the sixth embodiment, and the processing flow is the same as the processing flow of FIG.
  • the length of time for accepting selection of the current action candidate may be a predetermined fixed value, or a value less than the remaining time until the scheduled action execution determined by the automatic driving control device 1030 (for example, remaining time—5 seconds, etc.) It may be.
  • the driving support device 1040 notifies the vehicle occupants (drivers, etc.) of the planned behavior planned for the automatic driving, and is currently executable immediately. Suggest action candidates. In this way, by presenting the driver with the latest action options of the vehicle, it is an automatic driving that further reflects the driver's intention, and an automatic driving that meets the driver's preference and the like can be realized.
  • the current action candidate that can be selected by the driver is one that can be executed in the current situation or running state of the vehicle, the driver can give an instruction to change the automatic driving with a sense of security.
  • the statistical information stored in the statistical information storage unit 1070 may be information (driver model) reflecting the preference or driving pattern of a vehicle occupant (typically a driver).
  • the candidate determination unit 1061 may determine a plurality of current action candidates in which a difference from the currently detected environmental parameter value is associated with an environmental parameter value within a predetermined range with reference to the statistical information storage unit 1070. . Moreover, you may determine the priority of each of several current action candidate with it.
  • the image generation unit 1060 may generate a plurality of current action candidate images corresponding to the plurality of current action candidates determined by the candidate determination unit 1061, that is, an image representing the contents of each candidate.
  • the image output unit 1051 may display a plurality of current action candidate images on the notification device 1002 in a manner corresponding to the priority order of each candidate.
  • a scheduled action also referred to as a driving control plan for the future
  • a current action candidate also referred to as a situation-adaptive recommendation for the present
  • the automatic driving control device 1030 executes the scheduled action “keep lane” next to the current driving action. It is determined that the driving support apparatus 1040 presents that “lane keeping” is scheduled to be executed.
  • the driving assistance device 1040 may determine that “when a merged vehicle appears before approaching the merge path, a sudden operation is required and a disadvantage increases.” Then, the driving support device 1040 can immediately issue an instruction “change lane from leftmost lane to right lane” as a current action candidate capable of instructing driving control before the “lane keeping” scheduled to be executed by the vehicle 1000 later. Recommendations may be presented as options.
  • a scheduled action candidate that is a candidate for an action to be executed by the vehicle at a future time is presented to the driver instead of the scheduled action.
  • the automatic driving control device 1030 determines a scheduled action
  • the driving support device 1040 determines a scheduled action candidate. Then, the driving support device 1040 displays both the scheduled behavior and the scheduled behavior candidate on the notification device 1002 in the vehicle 1000.
  • the scheduled action candidate is an action different from the scheduled action determined by the automatic driving controller, and can be said to be an action scheduled to be executed by the vehicle.
  • control unit 1041 includes an image generation unit 1060, a candidate determination unit 1061, a determination unit 1062, and an instruction unit 1063.
  • the storage unit 1042 includes a statistical information storage unit 1070 and a determination criterion holding unit 1071.
  • the statistical information stored in the statistical information storage unit 1070 and the determination standard stored in the determination standard storage unit 1071 are the same as in the seventh embodiment. That is, statistical information for determining a scheduled action candidate is stored in the statistical information storage unit 1070, and a determination criterion for an action that can be executed immediately according to the environmental parameter is stored in the determination criterion storage unit 1071. As described above, the statistical information may be accumulated in a device outside the vehicle 1000, and the driving support device 1040 may access the remote statistical information via the communication IF 1056 and the wireless device 1008.
  • the behavior information input unit 1054 receives behavior information (“scheduled behavior information” in the fifth embodiment) indicating scheduled behavior, which is a behavior scheduled to be executed by the automatic driving control device 1030 at a future time, in the automatic driving control device 1030. Get from.
  • the behavior information input unit 1054 further acquires remaining time information indicating the time from the current time until the scheduled behavior is executed from the automatic driving control device 1030. As shown in FIG. 35, the remaining time information is included in the data set of behavior information acquired from the automatic driving control apparatus 1030.
  • the detection information input unit 1052 acquires detection information indicating the detection result of the surrounding state and the running state of the vehicle 1000 from the detection unit 1020.
  • the candidate determination unit 1061 is based on the detection information output from the detection unit 1020, which is one or more scheduled behavior candidates that are different from the scheduled behavior indicated by the behavior information and can be scheduled to be executed by the vehicle 1000. To decide.
  • the scheduled action candidate can be said to be an action that can be executed by the vehicle 1000 in place of the scheduled action indicated by the action information.
  • candidate determination unit 1061 selects one or more actions associated with an environmental parameter value that approximates detection information from among actions specified in statistical information as scheduled actions. Extract as a candidate.
  • the candidate determining unit 1061 excludes the candidate from the target to be presented to the driver. In other words, the candidate determination unit 1061 determines a candidate that is different from the scheduled behavior indicated by the behavior information, among the scheduled behavior candidates extracted from the statistical information, as a subject to be presented to the driver. Thereby, it is prevented that the same scheduled action candidate as the scheduled action is presented to the driver.
  • the image generation unit 1060 generates a scheduled action image representing the scheduled action indicated by the action information, and one or more schedules representing one or more scheduled action candidates determined as candidates for presentation to the driver by the candidate determination unit 1061.
  • An action candidate image is generated.
  • the image output unit 1051 outputs the scheduled action image and the scheduled action candidate image to the notification device 1002 so that the scheduled action image and the scheduled action candidate image are displayed within a certain field of view of the driver of the vehicle.
  • the notification device 1002 displays an automatic driving information screen including the scheduled action image and the scheduled action candidate image output from the driving support device 1040.
  • the image generation unit 1060 further generates a first remaining time image representing the time until the scheduled action updated by the remaining time information input from the automatic driving control device 1030 is executed.
  • the image output unit 1051 further outputs the first remaining time image in association with the scheduled action image to the notification device 1002, thereby displaying the scheduled action image with the first remaining time image added on the automatic driving information screen.
  • the candidate determining unit 1061 determines the scheduled action candidate
  • the candidate determining unit 1061 further passes the remaining time information associated with the scheduled action candidate in the statistical information to the image generating unit 1060.
  • the image generation unit 1060 further generates a second remaining time image representing the remaining time indicated by the remaining time information.
  • the image output unit 1051 further outputs the second remaining time image to the notification device 1002 in association with the scheduled action candidate image, thereby displaying the scheduled action candidate image to which the second remaining time image is added on the automatic driving information screen. .
  • FIG. 59 shows an example of the automatic driving information screen.
  • one scheduled action image 1106 representing one scheduled action and one scheduled action candidate image 1112 representing one scheduled action candidate are displayed.
  • a plurality of scheduled action images 1106 may be displayed, and when a plurality of scheduled action candidates are determined, a plurality of scheduled action candidate images 1112 may be displayed.
  • the first remaining time image 1108a is arranged in the vicinity of the scheduled action image 1106, and the second remaining time image 1108b is arranged in the vicinity of the scheduled action candidate image 1112, all of which depend on the display mode of the plurality of time indicators 1109. Announce the length of remaining time.
  • each of the scheduled action and the scheduled action candidate shown in FIG. 59 is an action plan in which a plurality of single actions are combined, but may be a single action.
  • the display mode of the scheduled action image 1106 is set to be different from the display mode of the scheduled action candidate image 1112.
  • the pattern, color, size, or the like may be different between the scheduled action image 1106 and the scheduled action candidate image 1112. This prevents the driver from confusion between the scheduled behavior planned in the automatic driving controller and the scheduled behavior candidate proposed as an action instead of the scheduled behavior.
  • the label “scheduled action” is added to the scheduled action image 1106, and the label “recommended action” is added to the scheduled action candidate image 1112.
  • a shaded area is further added to the scheduled action candidate image 1112.
  • the image generation unit 1060 may set a symbol or decoration different from the scheduled action image 1106 in the scheduled action candidate image 1112.
  • the image output unit 1051 may further output to the notification device 1002 display control data that specifies that the display mode of the scheduled action image 1106 and the display mode of the scheduled action candidate image 1112 are different.
  • the automatic driving information screen 1103 also allows the driver to select a specific action from one or more scheduled actions (scheduled action image 1106) and one or more scheduled action candidates (scheduled action candidate image 1112).
  • a selection frame 1116 is displayed. The driver inputs an operation for selecting a desired scheduled action or a scheduled action candidate to the input device 1004 using the selection frame 1116.
  • the image generation unit 1060 generates an inquiry image (for example, FIGS. 55A and 55B) for causing the driver to specify “execution” or “reservation” of the selection action according to the determination result of the determination unit 1062.
  • the instruction unit 1063 is for causing the driver to perform a selection action at a timing corresponding to the designated “execution” or “reservation”.
  • the control command is transmitted to the automatic operation control device 1030.
  • processing sequence of the vehicle 1000 in the ninth embodiment is the same as the processing sequence of FIG. 46 described in the sixth embodiment, the description thereof is omitted.
  • acquisition of action information indicating the current action (P23, P31), generation and output of the current action image (P24, P32), acquisition of action information indicating the scheduled action and the remaining time, generation of the scheduled action image, and Replaced by output.
  • generation and output of current action candidate images (P26, P27, P34, and P35) are replaced with generation and output of scheduled action candidate images.
  • FIG. 60 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the processes in S210 to S218 in FIG. 41 relating to the generation and display of the scheduled action image are the same as the processes in S100, S106 to S110, and S112 to S114 in FIG. .
  • the detection information input unit 1052 acquires the detection information output from the detection unit 1020 (Y in S219)
  • the candidate determination unit 1061 is based on the detection information and the statistical information accumulated in the statistical information accumulation unit 1070.
  • One or more scheduled action candidates are determined.
  • the candidate determining unit 1061 excludes the action from the scheduled action candidate. That is, the candidate determination unit 1061 determines a scheduled action candidate different from the scheduled action (S220).
  • the image generation unit 1060 determines whether or not the scheduled action candidate determined in S220 matches the scheduled action candidate previously stored in the storage unit 1042. When the current action candidate determined in S220 is inconsistent with the scheduled action candidate stored in the storage unit 1042 in advance, that is, when the scheduled action candidate is updated (Y in S221), the image generation unit 1060 displays the scheduled action candidate. Is generated (S222). The image generation unit 1060 further identifies the remaining time until the execution associated with the scheduled action candidate in advance in the statistical information, and further generates a remaining time image representing the remaining time in S222.
  • the image output unit 1051 outputs the scheduled action candidate image and the remaining time image to the notification device 1002 to display the automatic driving information screen (S223).
  • the image generation unit 1060 stores information indicating the scheduled action candidate that generated the image in the storage unit 1042 (S224), and starts measuring the elapsed time after outputting (starting to display) the scheduled action candidate image (S225). ). If the predetermined end condition is satisfied (Y in S229), the flow of this figure is terminated. If the end condition is not satisfied (N in S229), the process returns to S210.
  • the image generation unit 1060 determines whether a predetermined time has elapsed since the start of the elapsed time measurement. .
  • the predetermined time is a unit time in which the remaining time image is to be updated, and may be a time assigned to one time indicator 1109, for example.
  • the image generation unit 1060 updates the remaining time image (S227).
  • the image output unit 1051 outputs and displays the updated remaining time image to the notification device 1002 (S228). Thereby, for example, one time indicator 1109 in FIG. 59 is switched from the lighting state to the extinguishing state. If the predetermined time has not elapsed since the start of the elapsed time measurement (N in S226), S227 and S228 are skipped.
  • the processing of the driving support device 1040 (the image generation unit 1060, the determination unit 1062, the instruction unit 1063, etc.) related to the selection of the scheduled action or the scheduled action candidate by the driver is the same as that in the seventh embodiment.
  • the processing shown in the flowchart of FIG. 54 and the user interface shown in the automatic driving information screen 1103 of FIGS. 55A and 55B and FIGS. 56A and 56B are directly applied to the ninth embodiment.
  • the selection target by the driver includes the scheduled action determined by the automatic driving control apparatus 1030 in addition to the scheduled action candidate determined by the driving support apparatus 1040.
  • the driving support device 1040 notifies the vehicle occupants (drivers, etc.) of the scheduled behavior in the automatic driving and can be executed instead of the scheduled behavior. Suggest a candidate.
  • the driver by presenting the driver with behavior options at a future time point to the driver, it is an automatic driving that further reflects the driver's intention, and an automatic driving that meets the driver's preference and the like can be realized.
  • the driver's anxiety about automatic driving can be suppressed.
  • even if it is an action that cannot be executed at the present time it is possible to reserve an action in the future, so that it becomes easier to realize automatic driving in accordance with the driver's preference and the like.
  • the statistical information stored in the statistical information storage unit 1070 may be information (driver model) reflecting the preference or driving pattern of a vehicle occupant (typically a driver).
  • the candidate determination unit 1061 may determine a plurality of scheduled action candidates in which a difference from the currently detected environmental parameter value is associated with an environmental parameter value within a predetermined range with reference to the statistical information storage unit 1070. . Moreover, you may determine the priority of each of several schedule action candidates with it.
  • the image generation unit 1060 may generate a plurality of scheduled behavior candidate images corresponding to the plurality of scheduled behavior candidates determined by the candidate determination unit 1061, that is, an image representing the contents of each candidate.
  • the image output unit 1051 may output the scheduled action image and the plurality of scheduled action candidate images to the notification device 1002 so that the scheduled action image and the plurality of scheduled action candidate images are displayed within a certain field of view of the driver of the vehicle 1000. Good.
  • the image output unit 1051 may display a plurality of scheduled action candidate images on the notification device 1002 in a manner corresponding to the priority order of each candidate.
  • a scheduled action also referred to as a driving control plan for the future
  • a scheduled action candidate also referred to as a situation-adaptive recommendation for the future
  • the driving assistance device 1040 may determine that “when a merged vehicle appears before approaching the merge path, a sudden operation is required and a disadvantage increases.” Then, the driving support device 1040 instructs “change lane from the leftmost lane to the right lane” as a scheduled action candidate that can be instructed to travel control at the timing before the “lane keeping” scheduled to be executed by the vehicle 1000 later. May be recommended as an option that can be reserved.
  • information adapted to the individual driver is provided as information for supporting selection of the current behavior of the vehicle.
  • the driving support device 1040 determines the current action candidate from both the viewpoint based on the surrounding state or the running state of the vehicle 1000 and the viewpoint based on the individual driver, and displays it on the notification device 1002 in the vehicle 1000. .
  • smooth action selection in accordance with the driver's will is supported, and the driver is supported so that instructions for action selection or action change can be issued with peace of mind.
  • FIG. 61 is a block diagram showing a detailed configuration of the storage unit 1042 of the driving support apparatus 1040.
  • the determination criterion holding unit 1071 holds the same determination criterion as in the other embodiments.
  • the statistical information accumulation unit 1070 includes a first statistical information accumulation unit 1072 that accumulates first statistical information and a second statistical information accumulation unit 1073 that accumulates second statistical information.
  • Both the first statistical information and the second statistical information are statistical information indicating the relevance of the surrounding situation and the running state of the vehicle and the behavior of the vehicle, as in the previous embodiments.
  • the values of a plurality of types of environmental parameters indicating the surrounding conditions and the running state of the vehicle, and actions to be immediately executed by the vehicle (or immediate execution by the vehicle) Information including a plurality of records associated with each other.
  • the range of statistics differs between the first statistical information and the second statistical information.
  • the first statistical information has a wider statistical range than the second statistical information.
  • the first statistical information is a record of operation results and action results in various environmental states for a group of a plurality of people and a large number of vehicles.
  • the history of operation results and behavior results in various environmental states may be modeled as operation patterns and behavior patterns by a known statistical method.
  • the second statistical information is a record of an operation result or an action result in an environmental state so far for an individual driver and a vehicle 1000 alone.
  • a driver's individual operation results and a history of behavior results of the vehicle 1000 alone may be modeled as operation patterns and behavior patterns by a known statistical method.
  • the first statistical information may be information in which operation histories in a large group, in other words, action histories of a plurality of vehicles are sequentially recorded together with environmental parameter values.
  • an average combination of environmental parameter values and behavior in a large group of people may be recorded.
  • the first statistical information can be said to be information indicating a typical operation pattern according to various surrounding environments or running conditions, in other words, a typical behavior pattern of the vehicle.
  • the environmental parameter value and the behavior are comprehensive.
  • the second statistical information may be an accumulation of an individual driver's operation history, in other words, an action history of the vehicle 1000 alone. Further, a combination of environmental parameter values and actions based on individual driver operations may be sequentially recorded. It can be said that the second statistical information is statistical information that reflects the individual preference or operation pattern of the driver more strongly than the first statistical information. Further, since the second statistical information is obtained by accumulating the individual driver's operation history and the behavior history of the vehicle 1000 alone, the environmental parameter value and the behavior coverage are low.
  • both the first statistical information and the second statistical information are stored locally in the vehicle 1000, but at least one of the first statistical information and the second statistical information is a device outside the vehicle, for example, on a cloud It may be stored in a database or the like.
  • the second statistical information may be sequentially accumulated locally in the vehicle 1000 because the range of the statistics is for the individual driver or the vehicle 1000 alone.
  • the first statistical information may be subjected to processing such as aggregation / statistics / accumulation on a server on the cloud.
  • the driving support device 1040 may access remote statistical information via the communication IF 1056 and the wireless device 1008.
  • the behavior information input unit 1054 of the driving support device 1040 acquires from the automatic driving control device 1030 behavior information indicating the current behavior that the automatic driving control device 1030 causes the vehicle 1000 to execute.
  • the detection information input unit 1052 of the driving support device 1040 acquires detection information indicating the detection result of the surrounding state and the running state of the vehicle 1000 from the detection unit 1020.
  • FIG. 62 is a block diagram showing a detailed configuration of the control unit 1041 of the driving support apparatus 1040.
  • the control unit 1041 includes a first determination unit 1080, a second determination unit 1082, an image generation unit 1060, a determination unit 1062, and an instruction unit 1063.
  • the first determination unit 1080 includes one or more items that can be executed by the vehicle 1000 based on the detection information output from the detection unit 1020 and the first statistical information stored in the first statistical information storage unit 1072. Determine the first action.
  • the first determination unit 1080 includes a situation adaptive determination unit 1081.
  • the situation adaptive determination unit 1081 corresponds to the candidate determination unit 1061 of the sixth embodiment.
  • the situation adaptive determination unit 1081 replaces the current action indicated by the action information with one or more action candidates (hereinafter referred to as “situation adaptive current action candidates”) that can be executed by the vehicle 1000. Determine as. Specifically, as in the sixth embodiment, among the actions defined in the first statistical information, the action associated with the environmental parameter value that approximates the detection information is selected as the situation adaptation current action candidate (the sixth embodiment). Corresponding to the current action candidate).
  • the situation adaptation current action candidate can be said to be a typical operation pattern / behavior pattern that is immediately executed in the current ambient situation or running state.
  • the situation adaptive determination unit 1081 excludes the candidate from the presentation target to the driver if there is the same candidate as the current action indicated by the action information among the situation adaptive current action candidates extracted from the first statistical information. To do. In other words, the situation adaptive determination unit 1081 determines a candidate that is different from the current action indicated by the behavior information, from among the situation adaptive current action candidates extracted from the first statistical information, as a presentation target to the driver. This prevents presenting the same candidate as the current action to the driver.
  • the determination unit 1062 refers to the detection information output from the detection unit 1020 and the determination criterion of the determination criterion holding unit 1071, and the situation adaptation current determination unit 1081 determines the situation adaptation current Each of the action candidates determines whether or not the vehicle can be immediately executed.
  • the situation adaptive determination unit 1081 determines a candidate determined to be immediately executable by the determination unit 1062 as one to be presented to the driver among one or more situation adaptive current action candidates extracted from the first statistical information.
  • the second determination unit 1082 can execute one or more vehicles that can be executed by the vehicle 1000. Determine the second action.
  • the second determination unit 1082 indicates the priority for each of the one or more situation-adapted current action candidates, and indicates information indicating the priority according to the correlation between the second statistical information and the detection information. Determine as two actions. In other words, the one or more second actions determined by the second determination unit 1082 indicate the priority of each of the one or more first actions.
  • the second determination unit 1082 includes a personal adaptive determination unit 1083 and a priority determination unit 1084.
  • the personal adaptive determination unit 1083 corresponds to the candidate determination unit 1061 of the sixth embodiment.
  • the personal adaptation determination unit 1083 determines one or more actions (hereinafter referred to as “personal adaptation current action candidates”) that can be executed by the vehicle 1000 instead of the current action indicated by the action information.
  • personal adaptation current action candidates are selected as the personal adaptation current action candidate (the sixth embodiment).
  • the personal adaptation current action candidate can be said to be a driver's individual operation pattern in the current surrounding state or running state, and can also be said to be an action pattern of the vehicle 1000 alone.
  • the personal adaptive determination unit 1083 excludes the candidate for personal adaptation current behavior extracted from the second statistical information from the ranking target described later if the same candidate as the current behavior indicated by the behavior information is present. To do. In other words, the personal adaptive determination unit 1083 determines candidates that are different from the current behavior indicated by the behavior information, as candidates for ranking, from among the individual adaptive current behavior candidates extracted from the second statistical information.
  • the determination unit 1062 determines whether each of the individual adaptation current action candidates determined by the individual adaptation type determination unit 1083 can be immediately executed with reference to the detection information and the determination criterion, in the same manner as the situation adaptation current action candidates. May be.
  • the personal adaptive determination unit 1083 may narrow down the candidates determined to be immediately executable out of one or more individual adaptive current action candidates extracted from the second statistical information so that the candidates for ranking may not be immediately executed.
  • the candidate may be excluded from the personal adaptation current action candidate.
  • the personal adaptation determination unit 1083 ranks one or more personal adaptation current action candidates.
  • the personal adaptive determination unit 1083 may increase the rank of the personal adaptive current action candidate associated with the environmental parameter value that is close to the environmental parameter value indicated by the latest detection information. For example, in an n-dimensional vector space corresponding to n environment parameters, an action associated with an environment parameter value within a predetermined range from the position of the environment parameter value (current environment position) indicated by the latest detection information is personally adapted. You may extract as an action candidate now. Then, for each extracted candidate, the rank may be higher for a candidate whose position in the vector space is closer to the current environment position.
  • the priority determination unit 1084 is based on the ranking of one or more individual adaptation current action candidates determined by the individual adaptation type determination unit 1083, and is one or more determined as a driver presentation target by the situation adaptation type determination unit 1081.
  • the priority of the current behavior candidate for the situation adaptation is determined. For example, the rank of the personal adaptation current action candidate is given as a provisional rank to the situation adaptation current action candidate showing the same action as the individual adaptation current action candidate. Then, according to the provisional rank assigned to each of one or more situation adaptation current action candidates, the higher the provisional rank, the higher the priority on the screen display, in other words, the priority of proposal / recommendation to the driver. Set. It should be noted that the priority order of the situation adaptation current action candidates for which there is no individual adaptation current action candidate showing the same action, that is, the situation adaptation current action candidates for which provisional ranks cannot be assigned is the lowest.
  • the image generation unit 1060 generates a first image representing one or more first actions, and generates a second image representing one or more second actions. Specifically, the image generation unit 1060 generates a current action candidate image representing each of one or more situation-adapted current action candidates as a first image. In addition, the image generation unit 1060 generates a priority image representing the priority set by the priority determination unit 1084 for each of the one or more situation adaptation current action candidates as the second image. The image generation unit 1060 may generate a priority image that represents a priority order given to each of one or more situation-adapted current action candidates by a histogram or a number. The histogram may be an image of a graphic object in which a display size corresponding to the priority is set.
  • the image output unit 1051 outputs the current action candidate image and the priority image to the notification device 1002 so that the current action candidate image and the priority image are displayed within a certain field of view of the driver of the vehicle.
  • the notification device 1002 displays an automatic driving information screen including a current action candidate image and a priority image.
  • 63A and 63B show examples of the automatic driving information screen.
  • the priority order of each situation adaptation current action candidate is indicated by a number.
  • the outer circle is the action candidate display area 1128, and four current action candidate images 1110 representing the four situation-adapted current action candidates are displayed.
  • the inner circle is the priority display area 1130, and four priority images 1132 representing the priority order of the four situation-adapted current action candidates are displayed.
  • a priority image 1132 indicating the highest priority “1” is given to the current action candidate image 1110 indicating the lane change to the right, and the lane change to the right is the most important for the individual driver. Indicates that the current action is recommended.
  • the priority of each situation adaptation current action candidate is indicated by a histogram.
  • four current action candidate images 1110 representing four situation-adapted current action candidates are displayed around the circle.
  • four priority images 1132 representing the priority order of the four situation-adapted current action candidates are displayed, and a priority image 1132 having a larger size is added to a situation-adapted current action candidate having a higher priority.
  • a maximum size priority image 1132 indicating the highest priority is given to the current action candidate image 1110 indicating the lane change to the right, and the lane change to the right is the most important for the individual driver. Indicates that the current action is recommended.
  • the driver may instruct execution of the current action candidate represented by the current action candidate image 1110 by pressing the cross button provided on the input device 1004. .
  • the driver may instruct execution of deceleration indicated by the current action candidate image 1110 by selecting the lower button of the cross button while the current action candidate image 1110 indicating the downward triangle is displayed.
  • the processing of the instruction unit 1063 of the driving support device 1040 is the same as that in the sixth embodiment.
  • FIG. 64 is a sequence diagram illustrating an example of processing related to HMI control of the vehicle 1000.
  • P41 to P44 in the figure are the same as P21 to P23 and P25 in the sequence diagram of FIG. 46 described in the sixth embodiment.
  • the driving support device 1040 may further display the current behavior image on the notification device 1002 based on the behavior information acquired from the automatic driving control device 1030. .
  • the driving support device 1040 determines one or more situation adaptation current action candidates according to the correlation between the detection information and the first statistical information, and determines each situation adaptation current action according to the correlation between the detection information and the second statistical information.
  • the priority of the candidate is determined (P45).
  • the driving support apparatus 1040 generates a current action candidate image representing one or more situation-adapted current action candidates and a priority image representing the priority of each candidate, and outputs and displays the information on the notification apparatus 1002 (P46).
  • the subsequent processing of P47 to P49 is the same as P28 to P30 of the sequence diagram of FIG. 46 described in the sixth embodiment.
  • FIG. 65 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the control unit 1041 displays the current behavior indicated by the behavior information and the current behavior stored in the storage unit 1042 in advance. It is determined whether or not.
  • the control unit 1041 stores the current behavior indicated by the behavior information in the storage unit 1042 (S242). If the action information has not been acquired (N in S240), S241 and S242 are skipped. If the current action is not updated (N in S241), S242 is skipped.
  • the situation adaptive determination unit 1081 determines one or more situation adaptive current actions based on the detection information and the first statistical information. Candidates are determined (S244).
  • the situation adaptive determination unit 1081 excludes from the candidates one or more situation adaptation current action candidates once determined that match the current action stored in the storage unit 1042 (S245).
  • the personal adaptive determination unit 1083 determines one or more personal adaptive current action candidates based on the detection information and the second statistical information, and determines the rank of each candidate.
  • the situation adaptive determination unit 1081 may also exclude one or more personal adaptation current behavior candidates once determined that match the current behavior stored in the storage unit 1042 from the candidates.
  • the priority determination unit 1084 determines the priority of one or more situation adaptation current action candidates on the screen display based on the ranking of the one or more individual adaptation current action candidates (S246).
  • the priority determination unit 1084 stores information indicating the situation adaptation current action candidate and the priority in the storage unit 1042.
  • the image generation unit 1060 When the situation adaptation current action candidate is updated (Y in S247), the image generation unit 1060 generates a current action candidate image representing the updated situation adaptation current action candidate (S248). The image output unit 1051 outputs the current action candidate image to the notification device 1002 for display (S249). The image generation unit 1060 generates a priority image representing the priority of each of one or more situation-adapted current action candidates (S250), and the image output unit 1051 outputs the priority image to the notification device 1002 for display. (S251). Although the situation adaptation current action candidate is not updated (N in S247), if the priority is updated (Y in S252), the process proceeds to S250, and if the priority is not updated (N in S252), the process proceeds to S253. move on.
  • the driving assistance device 1040 determines the situation adaptation current action candidate every time the detection information is input, and determines the priority of the proposal according to the driver's preference. When at least one of the situation adaptation current action candidate and the priority is updated, the display content of the automatic driving information screen 1103 is also updated.
  • the processing of the driving support device 1040 related to the selection of the current action candidate by the driver is the same as that of the sixth embodiment, and the processing flow is the same as the processing flow of FIG.
  • the length of the waiting time for receiving the selection of the current action candidate may be a predetermined fixed value.
  • the driving support apparatus 1040 has an automatic driving information screen 1103 in which one or more situation-adapted current action candidates are assigned priorities adapted to the individual driver or the vehicle 1000 alone. To the driver. Thereby, useful information can be presented to the driver to assist in selecting the current behavior of the vehicle.
  • the current action candidates to be displayed on the automatic driving information screen 1103 are extracted from the first statistical information in which various environmental parameter values and various actions are comprehensively recorded, thereby changing every moment. It becomes easy to present the current action candidate that is more suitable for the environmental parameter value of the vehicle.
  • operator's individual preference or operation pattern can be shown by determining the priority of each candidate based on the 2nd statistical information which strongly reflects a driver
  • the situation adaptive current action candidate determined by the situation adaptive determination unit 1081 and the priority determined by the priority determination unit 1084 are displayed on the automatic driving information screen 1103.
  • both the situation adaptive current action candidate determined by the situation adaptive determination unit 1081 and the personal adaptation current action candidate determined by the personal adaptive determination unit 1083 may be displayed on the automatic driving information screen 1103 in parallel. Good.
  • the situation adaptive determination unit 1081 of the present modification determines a situation adaptive current action candidate different from the current action indicated by the action information acquired from the automatic driving control apparatus 1030.
  • the personal adaptive determination unit 1083 also determines a personal adaptive current behavior candidate that is different from the current behavior indicated by the behavior information. Thereby, it is possible to prevent the same candidate as the current behavior of the vehicle from being presented to the driver.
  • the display mode of the situation adaptation current action candidate and the display mode of the individual adaptation current action candidate are different.
  • the display position, the pattern, the color, the size, and the like may be different so that the driver can easily distinguish the situation adaptation current action candidate and the individual adaptation current action candidate.
  • the image generation unit 1060 may generate an image of the personal adaptation current action candidate in a manner different from that of the situation adaptation current action candidate image.
  • the image output unit 1051 further transmits display control data instructing to display both images in different modes. May be.
  • the situation adaptive determination unit 1081 of the present modification may determine the priority order of one or more situation adaptive current action candidates based on the correlation between the detection information and the first statistical information.
  • the personal adaptive determination unit 1083 may also determine the priority order of one or more personal adaptive current action candidates based on the correlation between the detection information and the second statistical information as in the embodiment.
  • the image generation unit 1060 and the image output unit 1051 include an image representing one or more situation-adapted current action candidates and an image representing the priority order of each candidate, and an image representing one or more individual adapted current action candidates and each candidate. May be displayed on the automatic driving information screen 1103.
  • one or more status adaptation current action candidates and one or more individual adaptation current action candidates may be displayed side by side in an easily comparable manner.
  • a situation adaptation current action candidate also referred to as a situation adaptation type recommendation for the present
  • a personal adaptation current action candidate also referred to as a person adaptation type recommendation for the present
  • the automatic operation control device 1030 performs the current action “ It is determined that “lane keeping (arbitrary)” is to be executed, and the driving support apparatus 1040 presents that “lane keeping (arbitrary)” is being executed (for example, Embodiments 5 and 6). See).
  • the driving assistance device 1040 may determine that “a sudden operation is required and a disadvantage increases when a merged vehicle appears before approaching the merge path”. Then, the driving support device 1040 may recommend and present “decelerate” as a situation adaptation current action candidate that can give a travel control instruction instead of “lane keeping” executed by the vehicle 1000 as an option that can be instructed immediately.
  • the driving support device 1040 reads “based on the tendency of the driving action taken by the driver when there is a vehicle approaching at a certain speed from the rear of the left lane in front of the merge path”. Instead of “maintenance”, “acceleration” may be determined as a personal adaptation current action candidate capable of instructing traveling control. Then, the driving support apparatus 1040 may further recommend and present the personal adaptation current action candidate “acceleration” as an option that can be instructed immediately. As described above, the driving support device 1040 may simultaneously present the situation adaptation current action candidate and the individual adaptation current action candidate determined at the approximate timing to the driver in parallel.
  • information adapted to the individual driver is provided as information for supporting the selection of the scheduled behavior of the vehicle.
  • the driving support device 1040 determines a scheduled action candidate from both the viewpoint based on the surrounding state or the running state of the vehicle 1000 and the viewpoint based on the individual driver, and displays the scheduled action candidate on the notification device 1002 in the vehicle 1000.
  • smooth action selection in accordance with the driver's will is supported, and the driver is supported so that instructions for action selection or action change can be issued with peace of mind.
  • the candidate for the current behavior of the vehicle is presented to the driver, but in the present eleventh embodiment, the candidate for the scheduled behavior of the vehicle is presented to the driver.
  • the contents already described in the above embodiments are omitted as appropriate.
  • the structure or operation described in this embodiment can be combined with or replaced with the structure or operation described in another embodiment or modification without departing from the spirit of the present invention.
  • the storage unit 1042 of the driving support device 1040 has the configuration shown in FIG. 61 described in the tenth embodiment, and the control unit 1041 of the driving support device 1040 has the configuration shown in FIG. 62 described in the tenth embodiment.
  • the first statistical information stored in the first statistical information storage unit 1072 and the second statistical information stored in the second statistical information storage unit 1073 are both related to the vehicle surroundings and driving conditions and vehicle behavior. It is statistical information (FIG. 43) which shows sex. Specifically, as in the seventh embodiment, a record in which values of a plurality of types of environmental parameters indicating the surrounding situation and the running state of the vehicle are associated with actions (or action results) to be executed by the vehicle at a future time point is recorded. It is information that includes a plurality. In other words, it is information obtained by accumulating actions executed at a future time point (after a predetermined time) with respect to the current environmental state in association with a parameter value indicating the current environmental state. Thus, it differs from Embodiment 10 in the action prescribed
  • the first statistical information and the second statistical information have different statistical ranges, and specifically, the first statistical information has a wider statistical range than the second statistical information.
  • the first statistical information is a record of operation results and action results in various environmental states for a group of a plurality of people and a large number of vehicles.
  • the history of operation results and behavior results in various environmental states may be modeled as operation patterns and behavior patterns by a known statistical method.
  • the second statistical information is a record of an operation result or an action result in an environmental state so far for an individual driver and a vehicle 1000 alone.
  • a driver's individual operation results and a history of behavior results of the vehicle 1000 alone may be modeled as operation patterns and behavior patterns by a known statistical method.
  • both the first statistical information and the second statistical information are stored locally in the vehicle 1000, but at least one of the first statistical information and the second statistical information is a device outside the vehicle, for example, on a cloud It may be stored in a database or the like.
  • the second statistical information may be sequentially accumulated locally in the vehicle 1000 because the range of the statistics is for the individual driver or the vehicle 1000 alone.
  • the first statistical information may be subjected to processing such as aggregation / statistics / accumulation on a server on the cloud.
  • the driving support device 1040 may access remote statistical information via the communication IF 1056 and the wireless device 1008.
  • the detection information input unit 1052 of the driving support device 1040 acquires detection information indicating the detection result of the surrounding state and the running state of the vehicle 1000 from the detection unit 1020. Based on the detection information output from the detection unit 1020 and the first statistical information stored in the first statistical information storage unit 1072, the first determination unit 1080 may be an action that is scheduled to be executed by the vehicle 1000. The above first action is determined.
  • the situation adaptation type determination unit 1081 of the first determination unit 1080 uses one or more action candidates (hereinafter referred to as “situation adaptation scheduled action candidates”) that can be actions scheduled to be executed by the vehicle 1000 as the first action. decide. Specifically, in the same manner as in the seventh embodiment, among actions defined in the first statistical information, actions associated with environment parameter values that approximate the detection information are designated as situation adaptation scheduled action candidates (the seventh embodiment). Corresponding to the scheduled action candidate).
  • the situation adaptation scheduled action candidate can be said to be a typical operation pattern / behavior pattern executed at a future time with respect to the current surrounding situation or running state.
  • the second determination unit 1082 can be an action that is scheduled to be executed by the vehicle 1000.
  • the above second action is determined.
  • the second determination unit 1082 indicates the priority for each of the one or more situation-adapted scheduled action candidates, and indicates information indicating the priority according to the correlation between the second statistical information and the detection information. Determine as two actions. In other words, the one or more second actions determined by the second determination unit 1082 indicate the priority of each of the one or more first actions.
  • the personal adaptation determination unit 1083 of the second determination unit 1082 determines one or more action candidates (hereinafter referred to as “individual adaptation scheduled action candidates”) that can be the actions scheduled to be executed by the vehicle 1000. Specifically, as in the seventh embodiment, among the actions defined in the second statistical information, the action associated with the environmental parameter value that approximates the detection information is selected as the personal adaptation scheduled action candidate (the seventh embodiment). Corresponding to the scheduled action candidate).
  • the personal adaptation scheduled action candidate can be said to be a driver's future operation pattern with respect to the current surrounding state or running state, and can also be said to be a future action pattern of the vehicle 1000 alone.
  • the personal adaptation determination unit 1083 ranks one or more personal adaptation scheduled action candidates extracted from the second statistical information, as in the tenth embodiment. Similar to the tenth embodiment, the priority determination unit 1084 is determined by the situation adaptive determination unit 1081 based on the ranks of one or more individual adaptive scheduled behavior candidates determined by the individual adaptive determination unit 1083. Determine the priority of one or more situation adaptation scheduled action candidates.
  • the image generation unit 1060 generates a first image representing one or more first actions, and generates a second image representing one or more second actions. Specifically, the image generation unit 1060 generates a scheduled action candidate image representing each of one or more situation adaptation scheduled action candidates as a first image. In addition, the image generation unit 1060 generates a priority image representing the priority set by the priority determination unit 1084 for each of the one or more situation adaptation scheduled action candidates as the second image. The image generation unit 1060 may generate a priority image that represents a priority level given to each of one or more situation adaptation scheduled action candidates by a histogram or a number. The histogram may be an image of a graphic object in which a display size corresponding to the priority is set.
  • the image output unit 1051 outputs the scheduled action candidate image and the priority image to the notification device 1002 so that the scheduled action candidate image and the priority image are displayed within a certain field of view of the driver of the vehicle.
  • the notification device 1002 displays an automatic driving information screen including a scheduled action candidate image and a priority image.
  • FIG. 66 shows an example of the automatic driving information screen.
  • a first scheduled action candidate image 1112a and a second scheduled action candidate image 1112b are displayed as the scheduled action candidate images.
  • the scheduled action candidate (situation adaptation scheduled action candidate) in the figure is an action plan that combines a plurality of single actions, but if a single action is determined as a situation adaptation current action candidate, the single action A scheduled action candidate image representing is displayed.
  • the priority of each scheduled action candidate is shown as a histogram. Specifically, the priority of the scheduled action candidate indicated by the first scheduled action candidate image 1112a is indicated by a first priority image 1132a (shaded), and the priority of the scheduled action candidate indicated by the second scheduled action candidate image 1112b is indicated. A second priority image 1132b (shaded) is shown. In the figure, a relatively high priority image 1132 is added to the first scheduled action candidate image 1112a. Accordingly, the behavior indicated by the first scheduled behavior candidate image 1112a indicates that the degree of recommendation for the individual driver is higher. Note that, as shown in FIG. 63A, a priority image representing the priority of each scheduled action candidate may be displayed.
  • the processing sequence of the vehicle 1000 in the eleventh embodiment is the same as the processing sequence of FIG. 64 described in the tenth embodiment, the description thereof is omitted. However, it is assumed that the action information input from the automatic driving control device 1030 to the driving support device 1040 indicated by P43 in FIG. 64 is not the eleventh embodiment, and will be described in a later-described modification. Also, the current action candidate and the current action candidate image described in FIG. 64 are replaced with a scheduled action candidate (specifically, a situation adaptation scheduled action candidate and a personal adaptation scheduled action candidate) and a scheduled action candidate image, respectively.
  • a scheduled action candidate specifically, a situation adaptation scheduled action candidate and a personal adaptation scheduled action candidate
  • FIG. 67 is a flowchart showing an example of processing of the driving support apparatus 1040.
  • the situation adaptive determination unit 1081 determines one or more situation adaptation scheduled actions based on the detection information and the first statistical information. Candidates are determined (S261).
  • the personal adaptation type determination unit 1083 determines one or more personal adaptation scheduled action candidates based on the detection information and the second statistical information, and determines the rank of each candidate.
  • the priority determination unit 1084 determines the priority of one or more situation adaptation scheduled action candidates based on the ranking of one or more individual adaptation scheduled action candidates (S262).
  • the priority determination unit 1084 stores information indicating the situation adaptation scheduled action candidate and the priority in the storage unit 1042.
  • the image generation unit 1060 When the situation adaptation scheduled action candidate is updated (Y of S263), the image generation unit 1060 generates a scheduled action candidate image representing the updated situation adaptation scheduled action candidate (S264). The image output unit 1051 outputs the scheduled action candidate image to the notification device 1002 for display (S265). The image generation unit 1060 generates a priority image representing the priority of each of one or more situation adaptation scheduled action candidates (S266), and the image output unit 1051 outputs the priority image to the notification device 1002 for display. (S267). If the situation adaptation scheduled action candidate is not updated (N in S263), but the priority is updated (Y in S268), the process proceeds to S266, and if the priority is not updated (N in S268), the process proceeds to S269. move on.
  • the driving support device 1040 determines the situation adaptation scheduled action candidate every time the detection information is input, and determines the priority of the proposal according to the driver's preference. When at least one of the situation adaptation scheduled action candidate and the priority is updated, the display content of the automatic driving information screen 1103 is also updated.
  • the processing of the driving support device 1040 (image generation unit 1060, determination unit 1062, instruction unit 1063, etc.) related to the selection of the scheduled action candidate by the driver is the same as that in the seventh embodiment.
  • the process shown in the flowchart of FIG. 54 and the user interface shown in the automatic driving information screen 1103 of FIGS. 55A and 55B and FIGS. 56A and 56B are applied to the eleventh embodiment as they are.
  • the driving support apparatus 1040 gives an automatic driving information screen 1103 to which one or more situation-adapted scheduled action candidates are given priorities adapted to the individual driver or the vehicle 1000 alone. To the driver. Thereby, useful information can be presented to the driver in order to assist the selection of the scheduled behavior of the vehicle.
  • candidates for scheduled behavior to be displayed on the automatic driving information screen 1103 are extracted from the first statistical information in which various environmental parameter values and various behaviors are comprehensively recorded, thereby changing every moment. It becomes easy to present a scheduled action candidate that is more suitable for the environmental parameter value of the vehicle.
  • operator's individual preference or operation pattern can be shown by determining the priority of each candidate based on the 2nd statistical information which strongly reflects a driver
  • a situation adaptation scheduled action candidate also referred to as a situation adaptation type recommendation for the future
  • a personal adaptation scheduled action candidate also referred to as a personal adaptation type recommendation for the future
  • the driving support device 1040 may determine “a distance from a vehicle approaching from the front of the oncoming lane that can sufficiently secure the time required for the host vehicle to turn right”. Then, after the current action “pause”, the driving support apparatus 1040 may recommend and present “turn right” as a situation adaptation scheduled action candidate that can give a travel control instruction at the expected timing as an option for which an instruction can be reserved.
  • the driving support device 1040 based on “the tendency of the driving action taken by the driver when there is a vehicle approaching from the front of the opposite lane”, after the current action “pause”, the driving control instruction at the timing is estimated.
  • the driving support device 1040 may further recommend the personal adaptation current action candidate as an option for which an instruction can be reserved.
  • the tendency of the driving behavior taken by the driver may be as follows.
  • the driving support device 1040 may simultaneously present each of the situation-adapted scheduled action candidate and the individual-adapted scheduled action candidate determined at the approximate timing to the driver.
  • the behavior information input unit 1054 may acquire behavior information indicating the scheduled behavior determined by the automatic driving control device 1030 from the automatic driving control device 1030.
  • the image generation unit 1060 may further generate a scheduled action image indicating the scheduled action.
  • the image output unit 1051 may further output the scheduled action image to the notification device 1002, and simultaneously display the scheduled action image, the scheduled action candidate image, and the priority image within the driver's fixed visual field.
  • the scheduled behavior determined by the automatic driving control device 1030 may be a selection target by the driver, and the driving assistance device 1040 changes to the automatic driving control device 1030. It may be a candidate for action to instruct.
  • the situation adaptation type determination unit 1081 determines that the candidate for situation adaptation is the situation adaptation scheduled if the candidate for the situation adaptation scheduled action extracted from the first statistical information is the same as the scheduled action indicated by the action information. You may exclude from an action candidate (for example, presentation object to a driver). In addition, if the individual adaptive scheduled action candidate extracted from the second statistical information includes the same candidate as the scheduled action indicated by the action information, the individual adaptive determination unit 1083 selects the candidate as the individual adaptive scheduled action candidate (for example, rank). May be excluded from the target). Thereby, it is possible to prevent the driver from presenting the same candidate as the scheduled action planned by the automatic driving control device 1030.
  • the scheduled action defined by the statistical information (for example, the first statistical information) is executed as in the seventh or ninth embodiment. May be further displayed on the automatic driving information screen 1103. For example, a remaining time image indicating the remaining time until the scheduled action candidate (for example, the situation adaptation current action candidate) indicated by the image is executed may be added to the scheduled action candidate image.
  • the driving support device 1040 When the seat in the vehicle 1000 can be deformed into a forward state during manual operation and a facing state in which the front row and the rear row face each other during automatic operation, the driving support device 1040 includes a seat sensor (not shown) that detects the seat state. If the sheet is in a face-to-face state based on the detection information, all the notification methods may be voiced. Further, the notification method may be switched from display to sound. In addition, the driving support device 1040 may notify the current action by voice and notify the scheduled action by display. In other words, the means (medium) for notifying part of the information about the current action, the current action candidate, the scheduled action, and the scheduled action candidate may be different from the means (medium) for notifying other kinds of information. Good.
  • the action information determined by the automatic driving control device 1030 may be notified by voice, and the action candidate determined by the driving support device 1040 may be notified by screen display, or the reverse combination.
  • the notification method according to the state in the vehicle 1000 including the driver, the occupant, etc. the receiving side is less likely to be bothersome and the reliability of information transmission can be improved.
  • the driving support device 1040 informs the driver by vibration that the notification device 1002 (here, a display device such as a head-up display) should be viewed (in automatic driving, the driver always looks at the notification device 1002). Because it is not necessary), a voice explanation voice may be output from the speaker in the vicinity of the timing when the driver views the display of the notification device 1002. Humans respond quickly to tactile sensations (vibrations) and hearing (sounds) ⁇ tactile sensations (vibrations to the eardrum), but react slowly to vision (display). On the other hand, tactile sense and single-tone hearing are difficult to understand. The sense of hearing by voice is transmitted, but it takes time to transmit the meaning. Vision can transmit information that expresses meaning.
  • the configuration of the present modified example uses a combination of such features of each sense.
  • the situation to be notified may not overlap in a single shot but may overlap.
  • “ ⁇ ” is displayed, and “ ⁇ ” is added while waiting for a while, “ ⁇ ” disappears but “ ⁇ ” remains, and both can disappear, allowing departure May be transmitted to the driver and passengers by a combination of touch, hearing, and vision.
  • an explanatory voice description may be output in the vicinity of the timing when the driver views the display of the notification device 1002. .
  • the display content of the notification device 1002 may be changed or added by notifying the fact that the situation has changed with a predetermined notification sound.
  • a computer that realizes the above-described functions by a program includes an input device such as a keyboard or mouse, a touch pad, an output device such as a display or a speaker, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory). And a storage device such as a hard disk device or SSD (Solid State Drive). Furthermore, it has a reader that reads information from a recording medium such as a DVD-ROM (Digital Versatile Disk Read Only Memory) or USB (Universal Serial Bus) memory, a network card that communicates via a network, etc. Connected.
  • a recording medium such as a DVD-ROM (Digital Versatile Disk Read Only Memory) or USB (Universal Serial Bus) memory, a network card that communicates via a network, etc. Connected.
  • the reading device reads the program from the recording medium on which the program is recorded, and stores the program in the storage device.
  • a network card communicates with the server apparatus connected to the network, and memorize
  • the CPU copies the program stored in the storage device to the RAM, and sequentially reads out and executes the instructions included in the program from the RAM, thereby realizing the functions of the respective devices.
  • a behavior information input unit that acquires behavior information indicating a first behavior to be executed by the vehicle from an automatic driving control unit that determines the behavior of the vehicle in automatic driving of the vehicle;
  • a detection information input unit that acquires detection information indicating a detection result from a detection unit that detects a surrounding situation and a running state of the vehicle;
  • a candidate determination unit that determines, based on the detection information, a second action that can be executed by the vehicle after the first action indicated by the action information;
  • An image generation unit that generates a first image representing the first behavior indicated by the behavior information and generates a second image representing the second behavior;
  • An image output unit for outputting the first image and the second image to a display unit in the vehicle so as to display the first image and the second image within a fixed visual field of the driver of the vehicle;
  • a driving support device having
  • a candidate determination part is a driving support device given in item 1 which determines the 2nd action based on statistical information and detection information.
  • a communication interface capable of communicating with an accumulation unit outside the vehicle for accumulating statistical information indicating the relationship between the vehicle surroundings and the running state and the behavior of the vehicle via the communication network;
  • the candidate determination unit is a driving support device according to item 1, wherein the candidate determination unit accesses the statistical information of the storage unit via the communication interface, and determines the second action based on the statistical information and the detection information.
  • the image generation unit generates an additional image representing a time until the second action is executed,
  • the driving support device according to item 1, wherein the image output unit outputs the additional image to a display unit in the vehicle and displays a second image including the additional image.
  • the command output unit further includes a command output unit that outputs a command for causing the vehicle to execute the second action to the automatic driving control unit.
  • An operation signal input unit for receiving an operation instruction for specifying the behavior of the vehicle;
  • a command for outputting a command for causing the vehicle to execute the second action to the automatic driving control unit when the operation instruction is not received within a predetermined time when the first image and the second image are displayed on the display unit of the vehicle.
  • the driving support device according to any one of items 1 to 4, further comprising:
  • An operation signal input unit for receiving an operation instruction for specifying the behavior of the vehicle; Automatic operation control of a command for causing the vehicle to execute the second action when an operation instruction for selecting the second image is received within a predetermined time during which the first image and the second image are displayed on the display unit of the vehicle Command output part to output to
  • the driving support device according to any one of items 1 to 4, further comprising:
  • a command output unit When an operation for specifying the second action is input, the image output unit outputs an inquiry image for specifying execution or reservation of the second action to the display unit, The command output unit outputs a command for causing the vehicle to execute the second action to the automatic driving control unit at the first timing when an operation designating execution is input while the inquiry image is displayed.
  • the driving support device according to any one of items 1 to 4, wherein when an operation for designating a reservation is input during display, the command is output to the automatic driving control unit at a second timing after the first timing. .
  • An operation input unit that receives an operation instruction that specifies an action of the vehicle to be executed during automatic driving of the vehicle;
  • the image generation unit receives the operation instruction for selecting the second image within a predetermined time when the first image and the second image are displayed on the display unit of the vehicle, and the second image represented by the selected second image is displayed.
  • Generate a query image that asks the vehicle driver whether to take action immediately or after a certain amount of time,
  • a command output unit When the operation input unit receives an operation instruction indicating that the second action represented by the second image is to be executed immediately in the inquiry image, the command output unit performs the first action represented by the first image.
  • the driving support device according to item 11, wherein a control command for causing the vehicle to immediately execute the second action represented by the second image instead is transmitted to the automatic driving control unit.
  • a command output unit When the operation input unit receives an operation instruction indicating that the execution of the second action represented by the second image after a predetermined time is selected in the inquiry image, the command output unit displays the second action represented by the second image. 13.
  • An automatic driving control unit for determining the behavior of the vehicle in the automatic driving of the vehicle;
  • a detection information input unit that acquires detection information indicating a detection result from a detection unit that detects a surrounding situation and a running state of the vehicle;
  • a candidate determining unit that determines, based on the detection information, a second action that can be executed by the vehicle after the first action that the automatic driving control unit causes the vehicle to execute;
  • An image generation unit for generating a first image representing the first action and generating a second image representing the second action;
  • An image output unit for outputting the first image and the second image to a display unit in the vehicle so as to display the first image and the second image within a fixed visual field of the driver of the vehicle;
  • An operation control device for determining the behavior of the vehicle in the automatic driving of the vehicle.
  • An automatic driving control unit for determining the behavior of the vehicle in the automatic driving of the vehicle;
  • a detection information input unit for acquiring detection information indicating a detection result from a detection unit for detecting the surrounding state and the running state of the vehicle;
  • a candidate determining unit that determines, based on the detection information, a second action that can be executed by the vehicle after the first action that the automatic driving control unit causes the vehicle to execute;
  • An image generation unit for generating a first image representing the first action and generating a second image representing the second action;
  • An image output unit for outputting the first image and the second image to a display unit in the vehicle so as to display the first image and the second image within a fixed visual field of the driver of the vehicle; Vehicle with.
  • the present invention it is possible to present useful information to the driver or information with less discomfort to the driver during automatic driving of the vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un dispositif d'assistance à la conduite qui acquiert des informations de mouvement indiquant un premier mouvement qu'un véhicule est amené à exécuter, les informations obtenues à partir d'un dispositif de commande de conduite automatique qui détermine le mouvement du véhicule en conduite automatique. Le dispositif d'assistance à la conduite acquiert des informations de détection, indiquant des résultats de détection, à partir d'une unité de détection qui détecte l'état de l'environnement du véhicule et l'état de déplacement du véhicule. Le dispositif d'assistance à la conduite détermine un second mouvement qui peut être exécuté à la place du premier mouvement sur la base des informations de détection. Le dispositif d'assistance à la conduite génère une première image qui représente le premier mouvement et génère une seconde image qui représente le second mouvement. Le dispositif d'assistance à la conduite fournit la première image et la seconde image à un dispositif de notification de telle sorte que la première image et la seconde image sont affichées à l'intérieur d'un champ de vision fixe du conducteur du véhicule.
PCT/JP2016/002049 2015-04-21 2016-04-15 Procédé d'assistance à la conduite et dispositif d'assistance à la conduite, dispositif de commande de conduite, véhicule, et programme d'assistance à la conduite utilisant ledit procédé WO2016170764A1 (fr)

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CN201680034946.7A CN107683237B (zh) 2015-04-21 2016-04-15 驾驶辅助方法以及利用了该驾驶辅助方法的驾驶辅助装置、驾驶控制装置、车辆、驾驶辅助程序、记录介质
EP16782788.0A EP3269610B1 (fr) 2015-04-21 2016-04-15 Procédé d'assistance à la conduite et dispositif d'assistance à la conduite, dispositif de commande de conduite et programme d'assistance à la conduite utilisant ledit procédé
US15/565,887 US10252726B2 (en) 2015-04-21 2016-04-15 Driving assistance method, and driving assistance device, driving control device, vehicle, driving assistance program, and recording medium using said method
US16/255,338 US11072343B2 (en) 2015-04-21 2019-01-23 Driving assistance method, and driving assistance device, driving control device, vehicle, driving assistance program, and recording medium using said method

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JP2015087069 2015-04-21
JP2015-087069 2015-04-21
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JP2015252674A JP6558735B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
JP2015252669A JP6598019B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
JP2015252668A JP6685008B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
JP2015-252671 2015-12-24
JP2015252671A JP6558732B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
JP2015252670A JP6558731B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
JP2015-252668 2015-12-24
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JP2015252673A JP6558734B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
JP2015-252673 2015-12-24
JP2015252672A JP6558733B2 (ja) 2015-04-21 2015-12-24 運転支援方法およびそれを利用した運転支援装置、運転制御装置、車両、運転支援プログラム
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CN115273543A (zh) * 2022-07-06 2022-11-01 上海工物高技术产业发展有限公司 一种道路防撞多级预警系统及其使用方法

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JP2018101400A (ja) * 2016-12-20 2018-06-28 バイドゥ・ユーエスエイ・リミテッド・ライアビリティ・カンパニーＢａｉｄｕ ＵＳＡ ＬＬＣ 自律走行車の個人運転好みの認識方法及びシステム
CN108973682B (zh) * 2017-06-02 2021-06-01 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
CN108973682A (zh) * 2017-06-02 2018-12-11 本田技研工业株式会社 车辆控制系统、车辆控制方法及存储介质
CN108995645A (zh) * 2017-06-06 2018-12-14 丰田自动车株式会社 车道变更辅助装置
CN109389766A (zh) * 2017-08-10 2019-02-26 通用汽车环球科技运作有限责任公司 用于自主车辆的用户识别系统和方法
CN109389766B (zh) * 2017-08-10 2021-07-27 通用汽车环球科技运作有限责任公司 用于自主车辆的用户识别系统和方法
US11066082B2 (en) * 2017-08-22 2021-07-20 Toyota Jidosha Kabushiki Kaisha Cancel point management system, cancel point notification system, cancel point guide system, and non-transitory computer-readable storage medium
CN109747655A (zh) * 2017-11-07 2019-05-14 北京京东尚科信息技术有限公司 用于自动驾驶车辆的驾驶指令生成方法和装置
CN109747655B (zh) * 2017-11-07 2021-10-15 北京京东乾石科技有限公司 用于自动驾驶车辆的驾驶指令生成方法和装置
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JP2022128471A (ja) * 2018-08-02 2022-09-01 トヨタ自動車株式会社 車両用表示制御装置、車両用表示制御方法及び車両用表示制御プログラム
JP7363974B2 (ja) 2018-08-02 2023-10-18 トヨタ自動車株式会社 車両用表示制御装置、車両用表示制御方法及び車両用表示制御プログラム
CN109808600A (zh) * 2019-01-07 2019-05-28 北京百度网讯科技有限公司 自动驾驶车辆的感知信息的可视化方法和装置
CN115249413A (zh) * 2021-04-27 2022-10-28 丰田自动车株式会社 信息处理装置以及信息处理方法
CN115249413B (zh) * 2021-04-27 2023-11-10 丰田自动车株式会社 信息处理装置以及信息处理方法
CN115273543A (zh) * 2022-07-06 2022-11-01 上海工物高技术产业发展有限公司 一种道路防撞多级预警系统及其使用方法

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