WO2017056224A1 - 情報提示装置及び情報提示方法 - Google Patents
情報提示装置及び情報提示方法 Download PDFInfo
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- WO2017056224A1 WO2017056224A1 PCT/JP2015/077710 JP2015077710W WO2017056224A1 WO 2017056224 A1 WO2017056224 A1 WO 2017056224A1 JP 2015077710 W JP2015077710 W JP 2015077710W WO 2017056224 A1 WO2017056224 A1 WO 2017056224A1
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Definitions
- the present invention relates to an information presentation device and an information presentation method for presenting information to an occupant in an autonomous driving vehicle.
- Patent Document 1 changes the method of presenting information according to the speed of the vehicle.
- the driver makes a selection on the presented selection information, the driver's judgment and selection The time required for is not considered.
- an object of the present invention is to provide an information presenting apparatus and an information presenting method that can present appropriate selection information according to the situation of a vehicle.
- the information presentation device is mounted on an automatic driving vehicle that can set a behavior candidate of the vehicle based on the selection of the occupant for the selection information to be presented, sets the behavior candidate of the automatic driving vehicle, and the selection information by the occupant from the current time
- the selection allowance time until the time at which the selection is to be completed is calculated, the selection information based on the action candidate is set according to the selection allowance time, and the set selection information is presented to the occupant.
- an information presentation device and an information presentation method capable of presenting appropriate selection information according to the situation of the vehicle by considering the time required for information selection.
- FIG. 1 is a block diagram illustrating an example of the configuration of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 2 is a diagram for explaining the operation of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 3 is a diagram for explaining a method for calculating a selection allowance time of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 4 is a table showing an example of selection items corresponding to action candidates of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 5 is a table showing an example of the upper limit of the number of options for each selection allowance time of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 1 is a block diagram illustrating an example of the configuration of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 2 is a diagram for explaining the operation of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 3 is a diagram for explaining a method for calculating a selection allowance time of
- FIG. 6 is a diagram for explaining an example of the presentation unit of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 7A and FIG. 7B are examples illustrating the input unit of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 8 is an example illustrating an input unit of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 9 is a flowchart for explaining an example of an information presentation method using the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 10 is a diagram for explaining an operation example of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 11 is a diagram for explaining a case where the selection allowance time is short in the operation example of the information presentation apparatus according to the first embodiment of the present invention.
- FIG. 12 is a flowchart for explaining an example of an information presentation method using the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 13 is a diagram for explaining a calculation method of the selection allowance time based on the situation allowance of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 14 is a diagram for explaining a method for calculating the selection allowance time based on the nuisance level to the surroundings of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 15 is a diagram illustrating a method for calculating a selection allowance time based on the degree of congestion around the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 16 is a diagram for explaining the first threshold set for the selection allowance time of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 17 is a flowchart illustrating an example of an information presentation method using the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 18 is a diagram illustrating the first threshold value and the second threshold value set in the selection allowance time of the information presentation device according to the second embodiment of the present invention.
- FIGS. 19A and 19B are diagrams for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 20A and FIG. 20B are diagrams for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 21A and FIG. 21B are diagrams for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 22B are diagrams for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 23A and FIG. 23B are diagrams for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 24A and FIG. 24B are diagrams for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 25 is a diagram for explaining a calculation method of a selection allowance time based on the surrounding congestion level when the information presentation apparatus according to the second embodiment of the present invention is stopped.
- FIG. 26 is a diagram for explaining a calculation method of the selection allowance time based on the nuisance level to the surroundings when the information presentation apparatus according to the second embodiment of the present invention is stopped.
- FIG. 25 is a diagram for explaining a calculation method of a selection allowance time based on the surrounding congestion level when the information presentation apparatus according to the second embodiment of the present invention is stopped.
- FIG. 26 is a diagram for explaining a calculation method of the selection allowance time based on
- FIG. 27 is a diagram illustrating a calculation method of a selection allowance time based on the surrounding congestion level when the information presentation apparatus according to the second embodiment of the present invention is stopped.
- FIG. 28 is a diagram for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 29 is a diagram for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 30 is a diagram for explaining an operation example of the information presentation apparatus according to the second embodiment of the present invention.
- FIG. 31 is a diagram for explaining an example of a display screen of an information presentation device according to another embodiment of the present invention.
- FIG. 32 is a diagram for explaining an example of a display screen of an information presentation device according to another embodiment of the present invention.
- the information presentation apparatus includes a vehicle sensor group 11, an ambient sensor group 12, a communication unit 20, a map information storage unit 30, a controller 50, and a presentation. Unit 60 and an input unit 80.
- the information presentation device is mounted on an automatic driving vehicle C (see FIG. 2 and the like) that automatically drives on the road based on the occupant's selection, and presents selection information selected by the occupant.
- the autonomous driving vehicle C can set a behavior candidate for the vehicle based on the occupant's selection.
- the vehicle sensor group 11 is connected to a CAN (Controller Area Network) bus such as a speed sensor, an acceleration sensor, an angular velocity sensor, and a steering angle sensor, and is used for a sensor that detects the traveling state of the autonomous driving vehicle C and a car navigation system. It is comprised from the apparatus etc. which detect the present position of the self-driving vehicle C, such as a built-in global positioning system (GPS) receiver.
- GPS global positioning system
- the vehicle sensor group 11 detects the amount of momentum such as the speed of the autonomous driving vehicle C and the three-axis acceleration and angular velocity in the three-dimensional orthogonal coordinate system by each sensor, and sequentially outputs them to the controller 50.
- the ambient sensor group 12 includes, for example, a sensor that detects the ambient environment of the autonomous driving vehicle C, such as a camera, a laser range finder (LRF), an ultrasonic sensor, a millimeter wave sensor, and an infrared sensor.
- the ambient sensor group 12 sequentially outputs the detected values to the controller 50.
- the communication unit 20 is, for example, a wireless device that transmits and receives signals to and from the outside wirelessly.
- the communication unit 20 is, for example, vehicle-to-vehicle communication that transmits / receives the position and speed of each other to / from other vehicles and road-to-vehicle communication that transmits / receives the position and speed of the vehicle to / from roadside equipment installed on the road side.
- the communication unit 20 may acquire various types of information from the outside by an intelligent road traffic system (ITS) that transmits traffic information such as traffic jam information and traffic regulations, weather information, and the like in real time.
- ITS intelligent road traffic system
- the communication unit 20 sequentially outputs the acquired information to the controller 50.
- the map information storage unit 30 stores map information including roads, lanes for each road, and features around the road.
- the map information storage unit 30 can be composed of a semiconductor memory, a magnetic disk, or the like.
- the controller 50 includes a travel condition detection unit 51, an ambient condition detection unit 52, an action candidate setting unit 53, a selection allowance time calculation unit 54, a selection information setting unit 55, a presentation control unit 56, and a vehicle control unit 57. And have.
- the controller 50 can be configured by, for example, a microcontroller that is an integrated circuit including a central processing unit (CPU), a memory, an input / output interface, and the like.
- a microcontroller that is an integrated circuit including a central processing unit (CPU), a memory, an input / output interface, and the like.
- a plurality of information processing units (51 to 57) constituting the controller 50 are realized by the CPU executing a computer program preinstalled in the microcontroller.
- Each part which comprises the controller 50 may be comprised from integral hardware, and may be comprised from separate hardware.
- the microcontroller may also be used as an electronic control unit (ECU) used for other control related to the vehicle such as automatic driving control.
- ECU electronice control unit
- the traveling state detection unit 51 detects the traveling state of the autonomous driving vehicle C from each value detected by the vehicle sensor group 11.
- the traveling state is the traveling position, speed, etc. of the autonomous driving vehicle C.
- the traveling state detection unit 51 detects the traveling position of the automatic driving vehicle C in the map information stored in the map information storage unit 30 from the current position and the momentum of the automatic driving vehicle C detected by the vehicle sensor group 11. Further, the traveling state detection unit 51 calculates the relative position of the autonomous driving vehicle C with respect to the feature recorded in the map information from the position of the feature detected by the surrounding sensor group 12. The detailed traveling position of the autonomous driving vehicle C can be acquired.
- the ambient situation detection unit 52 detects the situation around the autonomous driving vehicle C from the surrounding objects detected by the ambient sensor group 12.
- the surrounding objects are various features including traffic participants such as other vehicles and pedestrians, lane boundaries, traffic lights, traffic signs, and the like.
- the ambient condition detection unit 52 can detect the state of the signal lamp of the traffic light by image processing.
- the ambient condition detection unit 52 detects the number, position, and speed of other vehicles detected by at least one of the ambient sensor group 12 and the communication unit 20.
- the behavior candidate setting unit 53 sets behavior candidates for the autonomous driving vehicle C that is a candidate for behavior that can be executed before the autonomous driving vehicle C travels.
- the action candidate set by the action candidate setting unit 53 relates to, for example, at least one action of turning, lane change, cruise, branching, and merging.
- the action candidate setting unit 53 sets action candidates that can be executed on the road in the traveling direction by referring to map information of a predetermined distance range in the traveling direction of the autonomous driving vehicle C.
- the action candidate setting unit 53 determines that the action execution point Px has approached in response to the distance to the action execution point Px that executes the set action candidate being less than a predetermined threshold. .
- the selection allowance time calculation unit 54 determines that the action candidate setting unit 53 has approached the action execution point Px, so that the selection allowance time from the current time to the time at which the selection of the selection information by the occupant should be completed is selected. Ts is calculated sequentially. In the example illustrated in FIG. 2, a description will be given of a scene in which a driving route in which the autonomous driving vehicle C makes a right turn at an intersection is set, and the occupant selects a lane that enters the intersection for the right turn.
- the action execution point Px is set at the center of an intersection, for example.
- the selection margin time calculation unit 54 selects the margin based on the speed of the autonomous driving vehicle C and the straight travel distance Ls from the current point P1 to the action execution point Px of the autonomous driving vehicle C. Time Ts is calculated.
- the selection allowance time Ts is an estimated time for the autonomous driving vehicle C to travel from the information presentation start position P1 where the presentation of the selection information is started to the selection end position P2 where the selection for the selection information is to be completed.
- the selection end position P2 is set before the preparation end position P3 so as to have a predetermined margin from the preparation end position P3 located at a limit distance for starting the execution of the action candidate. For this reason, the profile showing the relationship between the selection allowance time Ts and the straight travel distance Ls used for calculating the selection allowance time Ts is shown in FIG. 3, even if the selection allowance time Ts becomes 0, the action execution point Px. Distance Ls has a predetermined margin.
- a plurality of profiles as shown in FIG. 3 are set according to the speed.
- the selection information setting unit 55 sets selection information based on the action candidate set by the action candidate setting unit 53 according to the selection allowance time calculated by the selection allowance time calculating unit 54.
- the selection information is set by setting a selection item based on the action candidate and an upper limit of the number of options.
- the selection information setting unit 55 can make the selection items simpler as the selection margin time Ts is shorter, and more detailed as the selection margin time Ts is longer. For example, in the example shown in FIG. 2, there are two right turn lanes, but when the selection allowance time Ts is equal to or greater than a predetermined threshold T1, whether or not the right turn can be performed and the lanes before and after the right turn are shown in FIG. Which lane the (lane) is in can be set as a selection item. On the other hand, when the selection allowance time Ts is less than the threshold value T1, the selection item may be a simple one indicating whether right turn can be executed. Further, as shown in FIG. 5, the selection information setting unit 55 can reduce the upper limit of the number of options as the selection margin time Ts is shorter and as the selection margin time Ts is longer.
- the action candidate and the selection items based on the action candidate are the intersection at which the turn (turn left or right) is, the position where the lane change for turning is performed, the direction of the lane change, the vehicle speed during cruising, the inter-vehicle distance
- the travel lane, the position in the vehicle width direction in the lane, the travel route at the time of branching and merging can be set.
- the behavior candidate setting unit 53 may set a behavior candidate according to the surrounding situation. For example, when the behavior candidate setting unit 53 approaches another vehicle ahead of the autonomous driving vehicle C that is slower in speed, the behavior candidate setting unit 53 may set a behavior candidate for deceleration or overtaking.
- the timing when the lane change is set as the action candidate is when the distance range to the preceding vehicle is less than a predetermined threshold or when an obstacle is detected ahead.
- the presentation control unit 56 controls the presentation unit 60 to present the selection information set by the selection information setting unit 55 to the occupant of the autonomous driving vehicle C.
- the presenting unit 60 presents the selection information set by the selection information setting unit 55 to the occupant of the autonomous driving vehicle C under the control of the presentation control unit 56.
- the presentation unit 60 presents various information including selection information selected by the occupant to the occupant.
- the presentation unit 60 includes at least one of a display 61 that displays images and characters such as a liquid crystal display and a head-up display (HUD), and a speaker 62 that reproduces sound.
- a display 61 that displays images and characters such as a liquid crystal display and a head-up display (HUD)
- HUD head-up display
- “1 lane” and “2” are displayed along with the question “Please select the right turn lane” on the display 61 composed of a HUD that displays an image with a virtual image using the windshield of the autonomous driving vehicle C or the like.
- a selection item “lane” and a selection allowance time Ts “10 sec” are displayed as selection information.
- One lane is the rightmost lane.
- the display 61 may display the traveling direction of the autonomous driving vehicle C with an arrow along with the road, and the speaker 62 may display “select a right turn lane” along with display of selection information. You may be made to reproduce
- the input unit 80 inputs a selection for the selection information presented to the presentation unit 60 by the operation of the occupant of the autonomous driving vehicle C.
- the input unit 80 is an input device that can be operated in the horizontal direction or the rotation direction, and the selection item is selected according to the operation of the occupant.
- the specified cursor can be moved.
- the selection item “first lane” is designated.
- the input unit 80 is determined as a selection item based on action candidates to be executed by being operated in the vertical direction, and the selection by the occupant is completed.
- the input unit 80 may be configured integrally with the display 61 as a touch panel display. Alternatively, the input unit 80 may accept an occupant's operation by recognizing the occupant's voice.
- the input unit 80 may be able to reselect the selection item within the selection allowance time Ts.
- the presentation unit 60 may continue to present the selection information within the selection allowance time Ts.
- the vehicle control unit 57 controls the autonomous driving vehicle C so as to execute action candidates corresponding to the selection item selected by the occupant via the input unit 80.
- the vehicle control unit 57 is configured according to preset rules and the like in addition to the driving state and the surrounding state detected by the driving state detection unit 51 and the surrounding state detection unit 52, the map information stored in the map information storage unit 30, and the like. Based on this, the drive system and the steering system are controlled so as to automatically drive the set travel route.
- step S1 the traveling state detection unit 51 and the surrounding state detection unit 52 detect the traveling state and the surrounding state of the autonomous driving vehicle C from the values detected by the vehicle sensor group 11 and the surrounding sensor group 12, respectively. To do.
- the behavior candidate setting unit 53 refers to the map information storage unit 30, and sets behavior candidates that the autonomous driving vehicle C can execute on the road in the traveling direction. Moreover, the action candidate setting unit 53 determines that the action execution point Px is approached when the distance to the action execution point Px for executing the set action candidate is less than a predetermined threshold. For example, the action candidate setting unit 53 determines that the action execution point Px is approached at the position P1, as shown in FIG. The position P1 is the information presentation start position P1.
- step S ⁇ b> 3 the selection allowance time calculation unit 54, from the current time to the time at which the selection for the selection information by the occupant should be completed, when the action candidate setting unit 53 determines that the action execution point Px has been approached.
- the selection allowance time Ts is calculated.
- the selection margin time calculation unit 54 calculates the selection margin time Ts (10 seconds ⁇ T1) as the time for the autonomous driving vehicle C to travel from the information presentation start position P1 to the selection end position P2. To do.
- step S4 the selection information setting unit 55 sets the upper limit of the selection items and the number of options based on the action candidates set in step S2, according to the selection allowance time Ts calculated in step S3. For example, as shown in FIG. 10, the selection information setting unit 55 sets “1 lane”, “2 lanes”, and “anywhere” as selection items. As shown in FIG. 10, the question presented to the occupant does not need to match between the character displayed on the display 61 and the sound reproduced on the speaker 62, and is understood by the occupant. What is necessary is just to set suitably so that it may be easy.
- step S5 the presentation control unit 56 controls the presentation unit 60 so as to present the selection item set in step S4 to the passenger of the autonomous driving vehicle C. As shown in FIG. 10, the presentation unit 60 presents the selection items “1 lane”, “2 lanes”, and “anywhere” to the occupant.
- step S6 the input unit 80 inputs a selection for the selection information presented to the presentation unit 60 by the occupant's operation. For example, the input unit 80 inputs a selection for the selection item of “1 lane” by an operation of the occupant.
- step S7 the vehicle control unit 57 controls the autonomous driving vehicle C so as to execute the action candidate corresponding to the selection item selected by the occupant via the input unit 80.
- the automatic driving vehicle C starts a right turn from the rightmost lane in accordance with the occupant's selection via the input unit 80.
- the action candidate setting unit 53 determines that the action execution point Px is already approaching. Shorter selection margin time Ts (5 seconds ⁇ T1) is calculated.
- the selection information setting unit 55 selects, for example, “Yes” and “No” as the simpler selection items than in the case of FIG. 10 together with the question “Would you like to turn right?” According to the selection allowance time Ts. Set. For this reason, the occupant can easily grasp the selection information even when the selection allowance time Ts is short, and can shorten the time until the selection is completed.
- the selection information to be presented to the occupant is set according to the selection allowance time Ts, so that the time required for selecting the information is taken into consideration. Appropriate selection information according to the situation can be presented to the occupant.
- ascertaining and selecting information is set by setting the upper limit of the selection item and choice number which are shown to a passenger
- the time required for grasping and selecting information can be simplified by simplifying the selection items or reducing the upper limit of the number of options as the selection allowance time Ts is shorter.
- the selection allowance time Ts is shorter.
- the information presentation apparatus by setting selection information based on action candidates regarding at least one of turning, lane change, cruise, branching, and merging, the time required for selecting information is reduced. In consideration, appropriate selection information according to various vehicle conditions can be presented to the occupant.
- the information presentation device by presenting the selection margin time Ts to the occupant simultaneously with the selection information, the occupant can easily grasp the time limit for completing the selection, Certainty in selection information selection can be improved.
- the information presentation device by calculating the selection allowance time Ts based on the distance from the current point of the autonomous driving vehicle C to the action execution point Px, the point where the selection should be completed is reached.
- the accuracy of the selection allowance time Ts that is the travel time can be improved.
- a selection item can be selected.
- the information presentation apparatus differs from the first embodiment in that the selection allowance time calculation unit 54 calculates the selection allowance time Ts according to other vehicles around the autonomous driving vehicle C. .
- Configurations, operations, and effects that are not described in the second embodiment are substantially the same as those in the first embodiment and are omitted because they are duplicated.
- step S101 the selection allowance time calculation unit 54 calculates and determines at least one of the situation allowance, the nuisance to the surroundings, and the surrounding congestion according to the approach to the action execution point Px.
- the behavior candidate when the behavior candidate is turning at an intersection, the number of other vehicles existing ahead to the intersection and the distance from the current point to the intersection can be adopted for determining the situation margin.
- the action candidate when the action candidate is a lane change, it is possible to employ the time until the vehicle approaches a predetermined distance range from another vehicle ahead.
- the behavior candidate when the behavior candidate is turning at an intersection as shown in FIG. 14, the number of other vehicles existing behind and the distance from the current point to the intersection can be used to determine the nuisance to the surroundings. Further, when the action candidate is a lane change, it is possible to employ the time until another vehicle behind approaches the predetermined distance range from the autonomous driving vehicle C.
- the number of other vehicles existing within a predetermined distance range from the autonomous driving vehicle C can be used for determining the surrounding congestion level.
- step S102 the selection allowance time calculating unit 54 calculates the selection allowance time Ts based on at least one of the situation allowance, the nuisance to the surroundings, and the surrounding congestion determined in step S101.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the situation margin
- the selection margin time Ts becomes shorter as the number of other vehicles ahead increases.
- a plurality of profiles showing the relationship between the situation margin and the selection margin time Ts shown in FIG. 13 are set according to the distance to the intersection, and the selection margin time Ts becomes longer as the distance to the intersection is longer.
- the selection allowance time calculation unit 54 calculates the selection allowance time Ts based on the nuisance to the surroundings, the selection allowance time Ts becomes shorter as the number of other vehicles behind is larger.
- a plurality of profiles showing the relationship between the nuisance level to the surroundings and the selection margin time Ts shown in FIG. 14 are set according to the distance to the intersection, and the selection margin time Ts becomes longer as the distance to the intersection is longer.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the surrounding congestion level, the selection margin time Ts decreases as the number of surrounding vehicles increases.
- the selection allowance time calculation unit 54 can arbitrarily adopt at least one of the situation allowance, the nuisance to the surroundings, and the congestion of the surroundings, and the weighting for each in the calculation of the selection allowance time Ts is as follows: It may be set arbitrarily.
- step S103 the selection information setting unit 55 determines whether the selection margin time Ts calculated in step S102 is equal to or greater than the first threshold T1. If the selection allowance time Ts is equal to or longer than the first threshold T1, the selection information setting unit 55 advances the process to step S104, and if it is less than the first threshold T1, advances the process to step S105.
- step S104 the selection information setting unit 55 sets the selection information to be presented to the occupant by setting the selection items based on the action candidates and the upper limit of the number of options according to the selection allowance time Ts calculated in step S102. To do.
- step S105 the selection information setting unit 55 determines the upper limit of the number of options that is simpler than the selection item in step S104 and the number of options smaller than the upper limit of the number of options in step S104 according to the selection margin time Ts calculated in step S102. By selecting, selection information presented to the occupant can be set.
- FIG. 17 shows a flowchart when the first threshold value T1 and the second threshold value T2 smaller than the first threshold value T1 are set for the selection margin time Ts.
- the processes in steps S101, S102, and S104 in the flowchart of FIG. 17 are the same as those in the flowchart of FIG.
- step S103 the selection information setting unit 55 determines whether or not the selection margin time Ts calculated in step S102 is equal to or greater than the first threshold value T1. If the selection allowance time Ts is equal to or longer than the first threshold T1, the selection information setting unit 55 advances the process to step S104, and if it is less than the first threshold T1, advances the process to step S106.
- step S106 the selection information setting unit 55 determines whether or not the selection allowance time Ts calculated in step S102 is greater than or equal to the second threshold T2.
- the selection information setting unit 55 advances the process to step S107 when the selection allowance time Ts is equal to or longer than the second threshold T2, and advances the process to step S108 when it is less than the second threshold T2.
- step S107 the selection information setting unit 55 determines the upper limit of the number of options that is simpler than the selection item in step S104 and the number of options smaller than the upper limit of the number of options in step S104 according to the selection margin time Ts calculated in step S102. By selecting, selection information presented to the occupant can be set.
- step S108 the selection information setting unit 55 cancels the set action candidate without setting the selection information so as not to present the selection allowance time and the selection information.
- the selection information setting unit 55 may set a selection item that is simpler than the selection item in steps S104 and S107 and an upper limit of the number of options that is smaller than the upper limit of the number of options in steps S104 and S107.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the situation margin degree.
- the action candidate setting unit 53 determines that the vehicle has approached an intersection that is an action execution point for making a left turn at a position P1 in a state where there is no other vehicle ahead.
- the selection margin time calculation unit 54 calculates the selection margin time Ts as, for example, 10 seconds based on the situation margin, and the presentation unit 60 displays the selection information corresponding to the selection margin time Ts on the display 61 and the speaker 62.
- the presentation unit 60 presents to the occupant that the left turn is to be executed, and the automatic driving vehicle C performs the left turn.
- the selection allowance time calculation unit 54 determines that there is no other vehicle in front based on the situation margin. Shorter selection margin time Ts (for example, 7 seconds) is calculated. Thereby, the selection margin time calculation part 54 can improve the precision of the selection margin time Ts used as the travel time to the point which should complete selection, considering the other vehicle D ahead.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the nuisance level to the surroundings. As shown in FIG. 20A, the selection margin time calculation unit 54 calculates the selection margin time Ts as, for example, 10 seconds based on the nuisance to the surroundings in the state where there is no other vehicle behind and presents it.
- the unit 60 presents selection information corresponding to the selection allowance time Ts to the occupant through the display 61 and the speaker 62.
- the selection allowance time calculation unit 54 when there is another vehicle D behind the autonomous driving vehicle C, the selection allowance time calculation unit 54 has another vehicle behind it based on the nuisance to the surroundings.
- a selection allowance time Ts (for example, 7 seconds) that is shorter than the case of not performing the calculation is calculated.
- the selection margin time calculation part 54 can improve the precision of the selection margin time Ts used as the travel time to the point which should complete selection, considering the troublesomeness to the circumference
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the surrounding congestion level. As shown in FIG. 21 (a), the selection margin time calculation unit 54 calculates the selection margin time Ts as, for example, 10 seconds based on the degree of congestion in the surroundings in a state where there are no other surrounding vehicles, and the presentation unit 60 presents selection information corresponding to the selection allowance time Ts to the occupant through the display 61 and the speaker 62.
- the selection margin time calculation unit 54 when there is another vehicle D around the autonomous driving vehicle C, the selection margin time calculation unit 54 does not have any other vehicle behind it based on the surrounding congestion level.
- a selection allowance time Ts (for example, 7 seconds) shorter than the case is calculated. Thereby, the selection allowance time calculation unit 54 can improve the accuracy of the selection allowance time Ts, which is the travel time to the point where the selection should be completed, in consideration of the surrounding congestion degree.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the situation margin, the nuisance to the surroundings, and the surrounding congestion.
- the action candidate setting unit 53 determines that the vehicle has approached an intersection that is an action execution point where a left turn is made at a position P1 in a state where no other vehicle is present ahead.
- the selection margin time calculation unit 54 calculates the selection margin time Ts as, for example, 10 seconds based on the situation margin, and the presentation unit 60 displays the selection information corresponding to the selection margin time Ts on the display 61 and the speaker 62.
- the presentation unit 60 presents to the occupant that the left turn is to be executed, and the automatic driving vehicle C performs the left turn.
- the selection allowance time calculation unit 54 determines the situation allowance, the nuisance to the surroundings, and the surrounding congestion. Based on the degree, the selection margin time Ts (for example, 5 seconds) shorter than the case of using any of the situation margin, the nuisance to the surroundings, and the surrounding congestion is calculated. Thereby, the selection allowance time calculation unit 54 calculates the selection allowance time Ts using the situation allowance, the nuisance to the surroundings, and the congestion of the surroundings, thereby obtaining the travel time to the point where the selection should be completed. The accuracy of the selection allowance time Ts can be improved.
- the selection candidate time calculation unit 54 calculates the selection allowance time Ts based on the situation margin, the nuisance to the surroundings, and the degree of congestion of the surroundings with the action candidate as the lane change with reference to FIG. .
- the selection allowance time calculation unit 54 selects the selection allowance based on the situation allowance, the nuisance to the surroundings, and the degree of congestion of the surroundings.
- the time Ts is calculated as 7 seconds, for example.
- the selection allowance time calculation unit 54 calculates the situation allowance, the inconvenience to the surroundings, and the surrounding congestion. Based on this, the selection allowance time Ts is calculated as 7 seconds, for example. That is, in the example shown in FIGS. 23A and 23B, the traveling time to the point where selection should be completed is the same.
- the selection candidate time calculation unit 54 calculates the selection allowance time Ts based on the situation allowance, the nuisance to the surroundings, and the surrounding congestion, with the action candidate as the lane change. .
- the selection allowance time calculation unit 54 selects based on the situation allowance, the nuisance to the surroundings, and the surrounding congestion.
- the margin time Ts is calculated as 7 seconds, for example.
- the selection allowance time calculation unit 54 determines the situation allowance, the inconvenience to the surroundings, and the surrounding congestion. Based on the degree, the selection allowance time Ts is calculated as, for example, 5 seconds. As described above, the selection allowance time calculation unit 54 calculates the selection allowance time Ts so as to be shorter as the number of other surrounding vehicles D increases.
- the calculation method of the selection allowance time Ts based on the situation margin, the nuisance to the surroundings, and the degree of congestion of the surroundings is the normal driving Different from the time (for example, 10 km / h or more).
- the number of other vehicles existing in front of the autonomous driving vehicle C can be used to determine the situation margin.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the situation margin, the selection margin time Ts becomes longer as the number of other vehicles ahead is larger.
- the number of other vehicles existing behind the autonomous driving vehicle C can be used to determine the degree of nuisance to the surroundings.
- the selection allowance time calculation unit 54 calculates the selection allowance time Ts based on the nuisance to the surroundings, the selection allowance time Ts becomes shorter as the number of other vehicles behind is larger.
- the number of surrounding vehicles existing in a predetermined distance range from the autonomous driving vehicle C can be used for determining the degree of congestion around the vehicle.
- the selection margin time calculation unit 54 calculates the selection margin time Ts based on the surrounding congestion level, the selection margin time Ts decreases as the number of surrounding vehicles increases.
- FIG. 28 is a diagram for explaining a case where the possibility of starting is set as an action candidate and the selection allowance time Ts is substantially 0 (second threshold or less).
- the self-driving vehicle C is stopped at the head of the stop position because of the red signal. Since the selection allowance time Ts is substantially zero, the presentation unit 60 presents a question to the occupant during the red light, for example, “Do you want to start when it becomes a green light?” To do. Thereby, the passenger can select whether or not to start before the traffic light becomes a green signal.
- FIG. 29 is a diagram illustrating a case where the selection allowance time Ts is less than the first threshold and greater than or equal to the second threshold.
- the automatic driving vehicle C follows one other vehicle D.
- the presentation unit 60 presents to the occupant a selection margin time Ts, a simple question such as “Do you want to start?”, And a selection item indicating whether or not it is possible in response to the traffic light becoming a green light.
- FIG. 30 is a diagram illustrating a case where the selection allowance time Ts is equal to or greater than the first threshold value.
- the autonomous driving vehicle C follows a plurality of other vehicles D.
- the presentation unit 60 selects the selection margin time Ts, a relatively detailed question such as “Do you want to start following the front car?”, And the possibility of such a response in response to the traffic light becoming a green light. To the passenger.
- the timing for presenting the selection information is not limited to a traffic light, but may be, for example, a point in time when there is no traffic participant obstructing the traveling direction of a pedestrian or the like.
- the selection information to be presented to the occupant is set according to the selection allowance time Ts, so that the time required for selecting the information is taken into consideration. Appropriate selection information according to the situation can be presented to the occupant.
- the information presentation apparatus based on at least one of the situation margin, the nuisance degree to the surroundings, and the surrounding congestion degree determined according to the situation around the autonomous driving vehicle C.
- the selection allowance time Ts it is possible to calculate the selection allowance time Ts, which is the travel time to the point where the selection should be completed, with high accuracy while taking into consideration the surrounding situation.
- the presentation unit 60 displays an icon such as an arrow in the traveling direction on the display 61 as shown in FIG. 31 as a selection item indicating whether left turn is possible. Also good. Thereby, the passenger
- the display 61 may present the selection allowance time Ts by reducing the area such as the point of the gauge-like display as shown in FIG.
- the presentation unit 60 may change the presentation state of the selection allowance time Ts by adjusting the length, interval, frequency, and the like of the sound reproduced by the speaker 62, and the selection allowance time Ts may be changed. You may make it read aloud. Thereby, the passenger
- the selection information setting unit 55 determines the most recommended selection item among the selection items, and the presentation unit 60 determines that the selection item that is not the most recommended selection item is selected by the occupant.
- the selected content may be confirmed with respect to the passenger. Thereby, a passenger
- each function described in the first and second embodiments can be executed by one or a plurality of processing circuits.
- the processing circuit includes a programmed processing device such as a processing device including an electrical circuit.
- the processing circuitry may include devices such as application specific integrated circuits (ASICs) and circuit components arranged to perform the described functions.
- ASICs application specific integrated circuits
- the present invention includes various embodiments that are not described here, such as a configuration in which the above-described configurations are applied to each other. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.
- Traveling Condition Detection Unit 52 Ambient Condition Detection Unit 53 Action Candidate Setting Unit 54 Selection Allowance Time Calculation Unit 55 Selection Information Setting Unit 56 Presentation Control Unit 60 Presentation Unit 80 Input Unit C Autonomous Driving Vehicle D Other Vehicle
Abstract
Description
本発明の第1実施形態に係る情報提示装置は、図1に示すように、車両センサ群11と、周囲センサ群12と、通信部20と、地図情報記憶部30と、コントローラ50と、提示部60と、入力部80とを備える。第1実施形態に係る情報提示装置は、乗員の選択に基づいて路上を自動的に運転する自動運転車両C(図2等参照)に搭載され、乗員により選択される選択情報を提示する。自動運転車両Cは、乗員の選択に基づいて車両の行動候補を設定することができる。
図9のフローチャートを参照して、第1実施形態に係る情報提示装置を用いた情報提示方法の一例を説明する。
本発明の第2実施形態に係る情報提示装置は、選択余裕時間算出部54が、自動運転車両Cの周囲の他車両に応じて選択余裕時間Tsを算出する点等において第1実施形態と異なる。第2実施形態において説明しない構成、作用及び効果は、第1実施形態と実質的に同様であり重複するため省略する。
上記のように、本発明を上記の第1及び第2実施形態によって記載したが、この開示の一部をなす論述及び図面は本発明を限定するものであると理解すべきではない。この開示から当業者には様々な代替実施形態、実施例及び運用技術が明らかとなろう。
52 周囲状況検出部
53 行動候補設定部
54 選択余裕時間算出部
55 選択情報設定部
56 提示制御部
60 提示部
80 入力部
C 自動運転車両
D 他車両
Claims (16)
- 乗員の選択に基づいて車両の行動候補を設定することができる自動運転車両に搭載され、前記乗員により選択される選択情報を提示する情報提示装置であって、
前記自動運転車両の行動候補を設定する行動候補設定部と、
現在時刻から前記乗員による前記選択情報に対する選択を完了すべき時刻までの選択余裕時間を算出する選択余裕時間算出部と、
前記選択余裕時間に応じて、前記行動候補に基づく前記選択情報を設定する選択情報設定部と、
前記選択情報設定部により設定された選択情報を前記乗員に提示する提示部と、
前記乗員の操作により前記提示部に提示された前記選択情報に対する選択を入力する入力部と
を備えることを特徴とする情報提示装置。 - 前記選択情報設定部は、前記選択余裕時間に応じて、前記行動候補に基づく選択項目及び選択肢数の上限を設定することにより前記選択情報を設定することを特徴とする請求項1に記載の情報提示装置。
- 前記選択情報設定部は、前記選択余裕時間が短いほど前記選択項目を単純にすることを特徴とする請求項2に記載の情報提示装置。
- 前記選択情報設定部は、前記選択余裕時間が短いほど前記選択肢数の上限を少なくすることを特徴とする請求項2又は3に記載の情報提示装置。
- 前記行動候補設定部は、旋回、車線変更、巡航、分岐及び合流の少なくともいずれかに関する前記行動候補を設定することを特徴とする請求項2又は3に記載の情報提示装置。
- 前記選択情報設定部は、前記選択項目のうち、最も推奨される選択項目を決定し、
前記提示部は、前記最も推奨される選択項目でない選択項目が前記乗員により選択された場合において、前記乗員に対して選択内容の確認を行うことを特徴とする請求項2~5のいずれか1項に記載の情報提示装置。 - 前記提示部は、前記選択余裕時間及び前記選択情報を前記乗員に提示することを特徴とする請求項1~6のいずれか1項に記載の情報提示装置。
- 前記提示部は、前記選択余裕時間に応じて、前記選択余裕時間の提示状態を変更することを特徴とする請求項7に記載の情報提示装置。
- 前記選択余裕時間算出部は、前記自動運転車両の現在地点から前記行動候補を実行する行動実行地点までの距離に基づいて前記選択余裕時間を算出することを特徴とする請求項1~8のいずれか1項に記載の情報提示装置。
- 前記選択余裕時間算出部は、前記自動運転車両の現在地点から前記行動候補を実行する行動実行地点までの距離と、前記自動運転車両の前方の他車両の数とから決定される状況余裕度に基づいて前記選択余裕時間を算出することを特徴とする請求項1~9のいずれか1項に記載の情報提示装置。
- 前記選択余裕時間算出部は、前記自動運転車両の後方の他車両の数から決定される周囲への迷惑度に基づいて前記選択余裕時間を算出することを特徴とする請求項1~10のいずれか1項に記載の情報提示装置。
- 前記選択余裕時間算出部は、前記自動運転車両の周囲の他車両の数から決定される周囲の混雑度に基づいて前記選択余裕時間を算出することを特徴とする請求項1~11のいずれか1項に記載の情報提示装置。
- 前記選択情報設定部は、前記自動運転車両の周囲の車両に応じて、前記選択情報を設定することを特徴とする請求項1~12のいずれか1項に記載の情報提示装置。
- 前記提示部は、前記選択余裕時間内において、前記選択情報を提示し続け、
前記入力部は、前記選択余裕時間内において、前記選択情報に対して再選択可能とすることを特徴とする請求項1~13のいずれか1項に記載の情報提示装置。 - 前記提示部は、音声及び画像の少なくともいずれかにより前記乗員に前記選択情報を提示することを特徴とする請求項1~14のいずれか1項に記載の情報提示装置。
- 乗員の選択に基づいて車両の行動候補を設定することができる自動運転車両に搭載され、前記乗員により選択される選択情報を提示する情報提示装置の情報提示方法であって、
前記自動運転車両の行動候補を設定することと、
現在時刻から前記乗員による前記選択情報に対する選択を完了すべき時刻までの選択余裕時間を算出することと、
前記選択余裕時間に応じて、前記行動候補に基づく前記選択情報を設定することと、
設定された前記選択情報を前記乗員に提示することと、
前記乗員の操作により、提示された前記選択情報に対する選択を入力することと
を含むことを特徴とする情報提示方法。
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BR112018006456-4A BR112018006456B1 (pt) | 2015-09-30 | 2015-09-30 | Dispositivo de apresentação de informações em um veículo autônomo, e método de apresentação de informações de um dispositivo de apresentação de informações em um veículo autônomo |
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CA2999962A1 (en) | 2017-04-06 |
EP3357782A1 (en) | 2018-08-08 |
US10538252B2 (en) | 2020-01-21 |
BR112018006456B1 (pt) | 2022-07-12 |
KR20180050360A (ko) | 2018-05-14 |
EP3357782A4 (en) | 2018-10-17 |
RU2676931C1 (ru) | 2019-01-11 |
CN108137058A (zh) | 2018-06-08 |
KR101957117B1 (ko) | 2019-03-11 |
MX2018003823A (es) | 2018-06-18 |
CA2999962C (en) | 2018-10-23 |
US20180281818A1 (en) | 2018-10-04 |
JP6493545B2 (ja) | 2019-04-10 |
JPWO2017056224A1 (ja) | 2018-08-16 |
BR112018006456A2 (ja) | 2018-10-09 |
CN108137058B (zh) | 2019-04-16 |
EP3357782B1 (en) | 2020-08-05 |
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