WO2018016048A1 - Alert sound output control device and alert sound output control method - Google Patents

Alert sound output control device and alert sound output control method Download PDF

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Publication number
WO2018016048A1
WO2018016048A1 PCT/JP2016/071396 JP2016071396W WO2018016048A1 WO 2018016048 A1 WO2018016048 A1 WO 2018016048A1 JP 2016071396 W JP2016071396 W JP 2016071396W WO 2018016048 A1 WO2018016048 A1 WO 2018016048A1
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WIPO (PCT)
Prior art keywords
notification sound
vehicle
inertial force
output control
output
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Application number
PCT/JP2016/071396
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French (fr)
Japanese (ja)
Inventor
敬介 井上
下谷　光生
黒田　雅之
Original Assignee
三菱電機株式会社
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.)
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2016/071396 priority Critical patent/WO2018016048A1/en
Priority to JP2018528162A priority patent/JP6381864B2/en
Publication of WO2018016048A1 publication Critical patent/WO2018016048A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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 technology for predicting generation of inertial force applied to a vehicle occupant and informing the occupant.
  • the navigation device of Patent Document 1 guides a route to a destination by voice guidance.
  • the navigation apparatus When performing guidance “about 700 m ahead, right direction”, the navigation apparatus corresponds to direction information “right direction”.
  • the sound image is moved to the right side of the passenger so that the guidance flows from the right side of the passenger (paragraph 0030 of Patent Document 1). Thereby, the passenger can experience the direction information “right direction”.
  • Patent Document 2 discloses a sound processing device that adjusts the position of a sound image in accordance with the inertial force received by a passenger.
  • the voice processing device of Patent Document 2 decreases the volume from the speaker installed in the direction in which the occupant tilts due to the inertial force generated by the behavior of the vehicle, and increases the volume of the speaker on the opposite side, thereby tilting the occupant.
  • the sound image is moved in the direction opposite to the direction (paragraphs 0019 to 0021 of Patent Document 2). This prevents the passengers from getting motion sickness (paragraph 0049 of Patent Document 2).
  • the navigation device of Patent Document 1 is intended to direct the occupant's attention in the direction of the sound image of the voice guidance, and assumes that the occupant's consciousness is concentrated on driving.
  • passengers are not always focused on driving.
  • a person hears a sound unexpectedly, he / she is surprised and reflexively tilts his body to the opposite side of the sound image.
  • the voice guidance “Please turn right at the next intersection” from the right side, the passenger may lean to the left side.
  • an inertial force is applied to the occupant from the right side, and there is a problem that the occupant loses his posture to the left side in combination with the effect of the guidance.
  • the sound processing device of Patent Document 2 also has a problem that the passenger is liable to lose his / her posture as in Patent Document 1 because the sound image is set on the side opposite to the direction in which the passenger tilts due to inertial force. .
  • an object of the present invention is to provide a technique for maintaining a passenger's posture by outputting a sound against an inertial force generated by a behavior of a vehicle.
  • the notification sound output control device includes an inertial force prediction unit that predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and a notification sound for notifying the vehicle occupant of the occurrence of inertial force.
  • the notification sound output control method predicts the direction of inertial force generated by the behavior of the vehicle at a future time, creates a notification sound for notifying the vehicle occupant of the generation of inertial force, and The mounted speaker is driven, and notification sound output control is performed so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger.
  • the notification sound output control device includes an inertial force prediction unit that predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and a notification sound for notifying the vehicle occupant of the occurrence of inertial force.
  • the notification sound output control method predicts the direction of inertial force generated by the behavior of the vehicle at a future time, creates a notification sound for notifying the vehicle occupant of the generation of inertial force, and
  • the mounted speaker is driven, and the output of the notification sound is controlled so that the sound image of the notification sound is positioned on the side opposite to the direction of the inertial force with respect to the passenger. Therefore, when the passenger hears the notification sound and performs the operation of tilting the posture to the side opposite to the position of the sound image of the notification sound, the posture collapse due to the inertial force is suppressed.
  • 3 is a flowchart showing the operation of the notification sound output control apparatus according to the first embodiment. It is a block diagram which shows the structure of the notification sound output control apparatus which concerns on Embodiment 2, and its peripheral device. It is a flowchart which shows operation
  • 6 is a flowchart illustrating an operation of an output necessity determination unit 5 according to the second embodiment.
  • FIG. 1 is a block diagram illustrating a configuration of a notification sound output control device 101 and its peripheral devices according to the first embodiment.
  • the notification sound output control device 101 controls the notification sound output from the speaker 4 mounted on the vehicle with the intention of weakening the collapse of the posture of the passenger due to the inertial force generated by the behavior of the vehicle.
  • a vehicle on which the speaker 4 on which the notification sound output control device 101 performs output control is simply referred to as a vehicle.
  • the notification sound may be a sound other than a beep sound.
  • the notification sound output control device 101 is configured as a device mounted on a vehicle, for example.
  • the notification sound output control device 101 includes an inertial force prediction unit 1, a notification sound creation unit 2, and a notification sound output control unit 3.
  • the inertial force prediction unit 1 predicts the direction of inertial force generated by the behavior of the vehicle at a future time, that is, the direction of inertial force with respect to the passenger.
  • FIG. 2 shows the relationship between the sound image position of the notification sound by the notification sound output control apparatus 101 and the inertial force.
  • the inertial force predicting unit 1 can predict the direction of the inertial force in the simplest direction opposite to the rotation direction of the handle.
  • the notification sound creation unit 2 creates a notification sound using a speech synthesis technique or the like.
  • the notification sound output control unit 3 drives the speaker 4 to control the output of the notification sound.
  • the notification sound output control unit 3 performs output control of the notification sound so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger.
  • the inertial force G is if the left, setting the sound image I A of alarm signals A to the left of the occupant.
  • Such position control of the sound image can be performed, for example, by adjusting the volume or delay time of each speaker 4 mounted on the vehicle.
  • FIG. 3 is a flowchart showing the operation of the notification sound output control apparatus 101.
  • the operation of the notification sound output control apparatus 101 will be described with reference to FIG.
  • the inertial force prediction unit 1 predicts the direction of the inertial force generated by the next behavior of the vehicle (step S11).
  • the behavior of the vehicle that is the target of inertial force prediction is the following behavior, but it may be any future behavior of the vehicle.
  • the notification sound creation unit 2 creates a notification sound (step S12).
  • the notification sound output control unit 3 drives the speaker 4 to control the output of the notification sound (step S13).
  • the processing of the notification sound output control device 101 is completed as described above, but the notification sound output control device 101 repeats this flow as needed, such as a fixed period.
  • the notification sound output control device 101 When the notification sound output control device 101 performs the above operation, when the inertial force G in the left direction is applied to the occupant 52 as shown in FIG. 2, the notification sound A notifying the generation of the inertial force G is output from the speaker 4. Is done. Since the sound image I A of the notification sound A is located on the left side of the rider 52, when tilting the body to the right rider 52 is surprised notification sound A, this operation, the body to the left by the inertial force G in the left direction Is offset. Therefore, the posture collapse due to the inertial force G is eased, and the passenger can maintain the posture.
  • the notification sound output control apparatus 101 includes an inertial force prediction unit 1 that predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and the generation of inertial force to the vehicle occupant.
  • the notification sound generator 2 for generating a notification sound for notification and the speaker 4 mounted on the vehicle are driven so that the sound image of the notification sound is positioned in the direction of the inertial force with respect to the passenger.
  • a notification sound output control unit 3 that performs output control.
  • the notification sound has an effect of tilting the occupant's body to the side opposite to the position of the sound image. Therefore, when the passenger who hears the notification sound performs an operation of tilting his / her posture to the side opposite to the position of the sound image of the notification sound, the collapse of the posture due to the inertial force is suppressed.
  • the notification sound output control method predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and generates a notification sound for notifying the passenger of the vehicle of the arrival of inertial force.
  • the speaker 4 that is created and mounted on the vehicle is driven, and the output of the notification sound is controlled so that the sound image of the notification sound is positioned in the direction of the inertial force with respect to the passenger.
  • the notification sound has an effect of tilting the occupant's body to the side opposite to the position of the sound image. Therefore, when the passenger who hears the notification sound performs an operation of tilting his / her posture to the side opposite to the position of the sound image of the notification sound, the collapse of the posture due to the inertial force is suppressed.
  • Level 0 The driver performs all controls.
  • Level 1 The vehicle side controls one or more actuators. However, the vehicle side does not perform cooperative control between actuators. The driver is responsible for driving. ACC (Adaptive Cruise Control) with a constant speed traveling device and inter-vehicle distance control corresponds to this level.
  • ACC Adaptive Cruise Control
  • Level 2 The vehicle side controls two or more actuators and performs coordinated control of these actuators.
  • the driver is responsible for driving.
  • ACC with inter-vehicle distance control having a lane keeping function corresponds to this.
  • Level 3 Under specific conditions, the vehicle side controls all actuators for steering wheel, brake, and accelerator. The vehicle side must inform the driver with a margin before actuator control becomes impossible and must take measures to smoothly shift the operation control to the driver. The driver is responsible for automatic driving.
  • Level 4 The passenger only indicates the destination, and all control is performed by the vehicle side. Responsibility during automatic driving rests with the vehicle.
  • the control of the notification sound output to the occupant of the vehicle is performed to suppress the collapse of the occupant's posture due to the inertial force.
  • FIG. 4 is a block diagram showing the configuration of the notification sound output control device 102 and its peripheral devices according to Embodiment 2 of the present invention.
  • the notification sound output control device 102 includes an output necessity determination unit 5 and a driving concentration degree measurement unit 6 in addition to the configuration of the notification sound output control device 101 according to the first embodiment.
  • the vehicle on which the speaker 4 is mounted is controlled automatically by the automatic operation control device 201.
  • the inertial force prediction unit 1 of the notification sound output control device 102 acquires the future behavior of the vehicle, for example, the steering angle, from the automatic driving control device 201 and predicts the inertial force based on the behavior.
  • the automatic driving control device 201 is a device that performs automatic driving control of the vehicle, and includes a traveling state acquisition unit 202 and a behavior calculation unit 203.
  • the traveling state acquisition unit 202 acquires the traveling state of the vehicle from various sensors mounted on the vehicle.
  • the various sensors include a steering angle sensor 301 that acquires the steering angle of the vehicle, a vehicle speed sensor 302 that acquires the traveling speed of the vehicle, a radar 303 that detects an object around the vehicle such as a preceding vehicle, and a camera 304 that captures an image around the vehicle.
  • a gyroscope 305 that measures the angular velocity or acceleration of the vehicle, and a GPS receiver 306 that receives GPS (Global Positioning System) signals.
  • the traveling state acquisition unit 202 acquires information about a person or an object around the vehicle from a captured image of the camera 304.
  • the traveling state acquisition unit 202 acquires the position information of the vehicle by combining the measurement data of the gyroscope 305, the GPS signal, and the map data 307. That is, the traveling state of the vehicle acquired by the traveling state acquisition unit 202 includes the steering angle of the vehicle, the traveling speed, the current position, and information on persons or objects around the vehicle.
  • the behavior calculation unit 203 calculates the future behavior of the vehicle based on the vehicle driving state acquired by the driving state acquisition unit 202.
  • the behavior of the vehicle includes at least the steering angle of the vehicle, and may further include speed, acceleration, and deceleration.
  • the behavior of the vehicle calculated by the behavior calculation unit 203 is sent to various ECUs (Electronic Control Unit), and various ECUs control various actuators of the vehicle.
  • the steering angle is sent to the steering ECU 308, and the steering ECU 308 controls the steering wheel based on the steering angle.
  • the acceleration is sent to the acceleration ECU 309, and the acceleration ECU 309 controls the accelerator based on the acceleration.
  • the deceleration is sent to the brake ECU 310, and the brake ECU 310 controls the brake based on the deceleration.
  • the inertial force predicting unit 1 acquires the future behavior of the vehicle, such as the steering angle, the traveling speed, the acceleration, and the deceleration, from the behavior calculating unit 203, and predicts the inertial force applied to the vehicle occupant by the behavior. For example, when the vehicle travels at a constant speed, the curvature radius of the travel locus of the vehicle can be obtained from the steering angle, and the inertial force applied to the vehicle can be obtained from the curvature radius and the travel speed.
  • the direction of inertial force at this time is a direction from the center of the circle for which the radius of curvature is obtained toward the vehicle, and is perpendicular to the traveling direction of the vehicle.
  • the magnitude and direction of the inertial force applied to the vehicle are obtained by vector synthesis of the inertial force obtained above and the inertial force generated by the acceleration or deceleration of the vehicle. I can do it.
  • the driving concentration measuring unit 6 measures the driving concentration, which is an index indicating how much the passenger is concentrated in driving. Specifically, the driving concentration degree measuring unit 6 measures the driving concentration degree from the biological information of the passenger such as the heart rate, blood pressure, and body temperature in addition to the opening degree of the eyes or the number of blinks. Information for measuring the degree of driving concentration can be acquired from, for example, an electrode attached to a steering wheel of a vehicle or a camera.
  • the output necessity determination unit 5 determines whether the notification sound needs to be output based on the magnitude of the inertial force, the driving concentration, the automation level, and the like.
  • the notification sound output control device 102 is intended to suppress the collapse of the posture of the passenger due to the inertial force. Therefore, when there is no possibility that the passenger loses his / her posture even if the inertial force is received, the output necessity determination unit 5 determines that the output of the notification sound is unnecessary. Details of the output necessity determination will be described later.
  • the notification sound creation unit 2 creates a notification sound when the output necessity determination unit 5 determines that the notification sound needs to be output.
  • the notification sound output control unit 3 controls the notification sound created by the notification sound creation unit 2 so that the sound image thereof is positioned in the direction of inertial force with respect to the passenger, and outputs it from the speaker 4.
  • FIG. 5 is a flowchart showing operations of the automatic operation control device 201 and the notification sound output control device 102.
  • the automatic driving control device 201 acquires the traveling state of the vehicle from various sensors mounted on the vehicle (step S21).
  • the automatic driving control device 201 for example, the steering angle of the vehicle from the steering angle sensor 301, the traveling speed of the vehicle from the vehicle speed sensor 302, the information of the preceding vehicle from the radar 303, and the image around the vehicle from the camera 304, respectively.
  • Acquired as the running state of the vehicle The automatic driving control device 201 acquires the angular velocity and angular acceleration of the vehicle from the gyroscope 305 and the GPS signal from the GPS receiver 306, and based on these information and the map data 307, determines the current position of the vehicle. Acquired as the running state.
  • the behavior calculation unit 203 calculates the next behavior of the vehicle based on the vehicle driving state acquired by the driving state acquisition unit 202 in step S21 (step S22).
  • the calculation result of the behavior calculation unit 203 is sent to the inertial force prediction unit 1 of the notification sound output control device 102.
  • the inertial force predicting unit 1 predicts the magnitude and direction of the inertial force generated in the vehicle by the next behavior of the vehicle (step S23).
  • the output necessity determination unit 5 determines whether the notification sound needs to be output (step S24). A method for determining whether output is necessary will be described later.
  • the notification sound output control device 102 ends the process.
  • the notification sound creation unit 2 creates the notification sound (step S25).
  • a notification sound output control part performs output control of a notification sound (step S26).
  • the output control timing of the notification sound by the notification sound output control unit 3 is preferably immediately before the inertia force predicted in step S23 is generated. In this case, the passenger can prepare for the inertial force by tilting his / her body in the direction opposite to the direction of the inertial force before the inertial force is generated.
  • FIG. 6 is a flowchart showing an output necessity judgment operation by the output necessity judgment unit 5, and shows details of step S24 in FIG.
  • the output necessity determination part 5 acquires the automation level of the vehicle from the automatic driving control apparatus 201, and determines whether or not the automation level is level 3 or higher (step S241).
  • level 3 is an example of an automation level threshold. If the automation level is less than level 3, the output necessity determination unit 5 determines that the output of the notification sound is unnecessary (step S246). In this way, the output necessity determination unit 5 determines that the passenger is concentrated on driving if the automation level is lower than the threshold value, and that there is no risk of losing posture even when subjected to inertial force. Judge that output is unnecessary.
  • the automation level is level 3 or higher, the process proceeds to step S242.
  • step S242 the output necessity determination unit 5 determines whether the inertial force due to the next behavior of the vehicle is equal to or greater than a threshold value.
  • the output necessity determination unit 5 sets a threshold value of the inertial force in advance, and determines that the output of the notification sound is unnecessary when the inertial force is less than the threshold value (step S246). Thus, if the inertia force is small, the output necessity determination unit 5 determines that there is no possibility that the passenger will lose his posture, and determines that the output of the notification sound is unnecessary.
  • the threshold value of the inertial force may be set to a different value depending on the direction of the inertial force. For example, it is considered that the occupant is strong against the inertial force in the rear direction because it is supported by the seat, is strong to some extent in the forward direction and is weakest to the inertial force in the left-right direction because it is supported by the seat belt. Therefore, the threshold value of the inertial force in the forward direction may be the largest and the inertial force in the left-right direction may be the smallest.
  • step S242 If it is determined in step S242 that the inertial force is equal to or greater than the threshold value, the process proceeds to step S243.
  • step S243 the driving concentration measuring unit 6 measures the driving concentration of the passenger.
  • the output necessity determination unit 5 determines whether or not the passenger's driving concentration measured in step S243 is equal to or less than a threshold (step S244).
  • the output necessity determination unit 5 sets a threshold value of the driving concentration degree in advance, and determines that the output of the notification sound is unnecessary when the driving concentration level of the passenger is larger than the threshold value (step S246).
  • the driver's concentration of driving is below the threshold value, it is determined that the notification sound needs to be output (step S245).
  • the threshold of driving concentration may be increased depending on the magnitude or direction of the inertial force. For example, the greater the inertial force, the higher the need for notification to the passenger, so the threshold for driving concentration may be increased. Further, regarding the inertial force in the left-right direction, the threshold for the driving concentration degree may be increased because it is considered that there is a higher need for notification to the passenger than the inertial force in the front-rear direction.
  • the threshold value of the inertial force in step S242 may be changed according to the driving concentration.
  • the output necessity determination unit 5 determines whether the notification sound needs to be output based on the three factors of the automatic driving level, the inertial force, and the driving concentration. However, the output necessity determination unit 5 may determine whether the output is necessary based on any one of these three elements, or may determine whether the output is necessary based on a combination of two arbitrary elements. Also good.
  • the notification sound output control unit 3 controls the output of the notification sound created by the notification sound creation unit 2 by driving the speaker 4 so that the sound image thereof is positioned in the direction of inertial force with respect to the passenger.
  • the left direction of the inertial force G, the direction of the inertial force sound image I A of alarm signals A to the passenger i.e. an example has been described disposed on the left side.
  • a sound image I A may be moved in a zigzag as shown in FIG. As a result, the passenger hears the notification sound A oscillating.
  • FIG. 10 shows a state in which two types of notification sounds A and B are output. Both the sound image I A of the notification sound A and the sound image I B of the notification sound B are located to the left of the passenger with respect to the inertia force G in the left direction. However, while the sound image I A is fixed, the sound image I B is moved in the front-rear direction at the left side of the occupant.
  • the cause of the inertial force can be transmitted by the volume of the notification sound A.
  • the volume of the notification sound A is increased.
  • the volume of the notification sound A is reduced.
  • the volume of the notification sound A can be adjusted depending on whether the cause of the inertial force is caused by the own vehicle or the other vehicle. Further, the greater the inertial force, the greater the inertial force can be transmitted by increasing the vibration width of the notification sound B.
  • information on inertial force can be transmitted to the passenger by adjusting not only the sound volume and vibration width of the notification sound, but also the tone color, sound pressure, generation timing, sound image size, and the like.
  • the notification sound output control apparatus 102 performs output control of the notification sound in a vehicle that is automatically operated and controlled by the automatic operation control apparatus 201, and the inertial force prediction unit 1 performs automatic operation.
  • the direction of the inertial force is predicted based on the steering angle of the vehicle at a future time determined by the control device 201.
  • the passenger In the case of automatic driving, the passenger often does not concentrate on driving, so there is a high need for assisting with a notification sound so as not to break his posture due to inertial force.
  • the notification sound output control unit 3 performs control so that the notification sound is output before a future time when the inertial force prediction unit 1 predicts the generation of the inertial force. As a result, the passenger receives inertial force after listening to the notification sound, so that the posture collapse can be reduced.
  • the notification sound output control device 102 includes an output necessity determination unit 5 that determines whether the notification sound needs to be output, and only when the output necessity determination unit 5 determines that the output is necessary, the notification sound output control unit 3. Performs output control of notification sound. Therefore, the notification sound output control device 102 does not always output the notification sound when inertial force is generated, but can output the notification sound only when it is considered that the passenger is likely to lose his / her posture. .
  • the inertia force prediction unit 1 predicts the magnitude of the inertia force based on the traveling speed of the vehicle at a future time, and the output necessity determination unit 5 determines the magnitude of the inertia force. Based on this, it is determined whether the notification sound needs to be output. Therefore, when the inertial force is small and the possibility that the occupant loses his / her posture is low, the output of the notification sound can be suppressed.
  • the output necessity determination unit 5 can determine whether the notification sound needs to be output based on the vehicle automation level. As the vehicle automation level increases, the driver's concentration of driving decreases, so for example, it is necessary to output a notification sound when the vehicle automation level is high, and by determining that the notification sound output is unnecessary when the vehicle automation level is low The notification sound can be output at any time.
  • the notification sound output control device 102 includes a driving concentration level measuring unit 6 that measures the driving concentration level of the passenger, and the output necessity determination unit 5 determines whether the notification sound needs to be output based on the driving concentration level of the passenger. Judging. Passengers are more likely to unexpectedly lose their posture due to inertial force as the driving concentration is lower.For example, it is necessary to output a notification sound when the driving concentration is low, and it is not necessary to output a notification sound when the driving concentration is high. By determining, it is possible to output a notification sound when necessary.
  • Embodiment 3 In the third embodiment, output control of notification sound in a manually operated vehicle will be described. Even in a manually operated vehicle, it is possible that the passenger does not concentrate on driving, so there is an actual advantage in outputting a notification sound and suppressing the posture collapse caused by the inertial force.
  • FIG. 11 is a block diagram illustrating the configuration of the notification sound output control device 103 and its peripheral devices according to the third embodiment.
  • the notification sound output control device 103 is configured, for example, as a device mounted on a vehicle, and has the same configuration as the notification sound output control device 101 according to the first embodiment.
  • a vehicle on which the notification sound output control device 103 is mounted is a manually operated vehicle, and a car navigation device 220 is mounted on the vehicle.
  • the notification sound output control device 103 acquires vehicle route information and position information from the car navigation device 220, and drives the speaker 4 mounted on the vehicle based on these information to control output of the notification sound.
  • the car navigation device 220 includes a position detection unit 221 that detects vehicle position information, and a route search unit 222 that searches for a travel route of the vehicle. For example, when a passenger inputs a destination to the car navigation device 220, the route search unit 222 searches for a travel route from the current position of the vehicle to the destination.
  • the notification sound output control device 103 may include the output necessity determination unit 5 and the driving concentration degree measurement unit 6 similarly to the notification sound output control device 102 according to the second embodiment.
  • FIG. 12 is a flowchart showing the operation of the notification sound output control device 103. This flow is repeated at any time such as a fixed period.
  • the inertial force prediction unit 1 acquires the travel route information of the vehicle searched by the route search unit 222 from the car navigation device 220 (step S31), and acquires the position information of the vehicle detected by the position detection unit 221 (step S32). ).
  • the inertial force prediction unit 1 determines whether or not the vehicle approaches within 10 m from the left turn point or the right turn point on the travel route from the vehicle position information and the travel route information (step S33). If the vehicle is not approaching within 10 m from the left turn point or the right turn point on the travel route, the process returns to step S ⁇ b> 32, and the inertial force prediction unit 1 acquires the vehicle position information from the car navigation device 220 again.
  • the inertia force prediction unit 1 predicts the direction of the inertia force according to the left turn or the right turn (step S34). That is, if the point on the travel route is a left turn point, the inertial force direction is predicted as the right direction, and if the point is a right turn point, the inertial force direction is predicted as the left direction. As described above, the inertial force prediction unit 1 cannot accurately predict the future behavior of the vehicle with a manually operated vehicle. However, when the travel route is fixed, the inertial force prediction unit 1 determines that the vehicle travels according to the travel route. As a premise, it is possible to predict the direction of the inertial force generated at a point where the course of the intersection changes greatly. In the above description, 10 m is an example.
  • the notification sound creation unit 2 creates a notification sound (step S35).
  • the notification sound output control part 3 performs output control of a notification sound (step S36).
  • inertial force prediction unit 1 predicts the direction of inertial force from the future travel route of the vehicle. As described above, by predicting the direction of the inertial force from the travel route of the vehicle, it is possible to perform output control of the notification sound for suppressing the collapse of the posture of the passenger due to the inertial force even in the manually operated vehicle.
  • the notification sound output control devices 101, 102, and 103 are in-vehicle devices.
  • the notification sound output control devices 101, 102, and 103 are in-vehicle devices, PDAs (Portable Navigation Devices), communication terminals (for example, mobile terminals such as mobile phones, smartphones, and tablets), and functions of applications installed on these devices.
  • PDAs Portable Navigation Devices
  • communication terminals for example, mobile terminals such as mobile phones, smartphones, and tablets
  • functions of applications installed on these devices a system constructed by appropriately combining servers and the like.
  • each function or each component of the notification sound output control device 101, 102, 103 described above may be distributed and arranged in each device constituting the system, or concentrated on any device. May be arranged.
  • the notification sound output control device 101 includes an inertial force prediction unit 1 and a notification sound creation unit 2 configured as a server
  • the notification sound output control unit 3 includes a speaker 4 as an in-vehicle device. May be.
  • Dedicated hardware may be applied to the processing circuit 401, or a processor that executes a program stored in the memory may be applied.
  • the processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) or the like.
  • the processing circuit 401 When the processing circuit 401 is dedicated hardware, the processing circuit 401 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable). Gate Array) or a combination of these.
  • Each function of each unit such as the inertial force prediction unit 1 may be realized by a plurality of processing circuits 401, or the function of each unit may be realized by a single processing circuit.
  • the processing circuit 401 When the processing circuit 401 is a processor, the functions of the inertial force prediction unit 1 and the like are realized by a combination with software or the like (software, firmware, or software and firmware). Software or the like is described as a program and stored in a memory. As illustrated in FIG. 15, the processor 402 applied to the processing circuit 401 implements the functions of the respective units by reading and executing a program stored in the memory 403. That is, the notification sound output control devices 101, 102, and 103 predict the direction of inertial force generated by the behavior of the vehicle at a future time and execute generation of inertial force when executed by the processing circuit 401.
  • this program causes a computer to execute the procedure and method of the inertial force prediction unit 1 and the like.
  • the memory 403 is non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Electrically Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc.
  • At least one of a volatile semiconductor memory an HDD (Hard Disk Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disk), and a drive device thereof is included.
  • an HDD Hard Disk Disk Drive
  • a magnetic disk a magnetic disk
  • a flexible disk a magnetic disk
  • an optical disk a compact disk
  • a mini disk a DVD (Digital Versatile Disk)
  • a drive device thereof is included.
  • the configuration in which each function of the inertial force prediction unit 1 and the like is realized by either hardware or software has been described.
  • the present invention is not limited to this, and a configuration in which a part of the inertial force prediction unit 1 or the like is realized by dedicated hardware and another part is realized by software or the like.
  • the inertial force prediction unit 1 realizes its function by a processing circuit as dedicated hardware, and otherwise the processing circuit 401 as the processor 402 reads and executes a program stored in the memory 403. The function can be realized.
  • the processing circuit can realize the functions described above by hardware, software, or the like, or a combination thereof.
  • 1 Inertial force prediction unit 2 Notification sound generation unit, 3 Notification sound output control unit, 4 Speaker, 5 Output necessity determination unit, 6 Driving concentration measurement unit, 51 Handle, 52 Passenger, 101, 102, 103 Notification sound Output control device, 201 Automatic driving control device, 202 Driving state acquisition unit, 203 Behavior calculation unit, 220 Car navigation device, 221 Position detection unit, 222 Route search unit, 301 Steering angle sensor, 302 Vehicle speed sensor, 303 Radar, 304 Camera 305, gyroscope, 306 GPS receiver, 307 map data, 308 steering ECU, 309 acceleration ECU, 310 braking ECU, 401 processing circuit, 402 processor, 403 memory.

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Abstract

The purpose of the present invention is to provide a technology that outputs sounds to promote the maintenance of passenger posture in response to inertial force generated by vehicle behavior. An alert sound output control device 101 according to the present invention is provided with: an inertial force prediction unit 1 for predicting the direction of inertial force that will be generated by vehicle behavior at a future time; an alert sound production unit 2 for producing an alert sound for alerting a passenger to the generation of inertial force; and an alert sound output control unit 3 that drives a speaker 4 installed in the vehicle and controls the output of the alert sound so that a sound image of the alert sound is positioned with respect to the passenger of the vehicle in the direction of the inertial force.

Description

報知音出力制御装置、報知音出力制御方法Notification sound output control device and notification sound output control method
　本発明は、車両の搭乗者に加わる慣性力の発生を予測して搭乗者に報知を行う技術に関する。 The present invention relates to a technology for predicting generation of inertial force applied to a vehicle occupant and informing the occupant.
　従来、車両の運転支援を目的として、音により運転者に様々な情報を提供することが行われている。そして、音像の位置を提供する情報に応じて調整することも、従来から行われている。 Conventionally, various information is provided to the driver by sound for the purpose of driving support of the vehicle. And adjusting conventionally according to the information which provides the position of a sound image is also performed.
　例えば、特許文献１のナビゲーション装置は、目的地までの経路を音声ガイダンスで案内するもので、「およそ７００ｍ先、右方向です」というガイダンスを行う場合、「右方向」という方向情報に対応して音像を搭乗者の右側へ移動させ、搭乗者の右側からガイダンスが流れるようにしている（特許文献１の段落００３０）。これにより、搭乗者は「右方向」という方向情報を体感することができる。 For example, the navigation device of Patent Document 1 guides a route to a destination by voice guidance. When performing guidance “about 700 m ahead, right direction”, the navigation apparatus corresponds to direction information “right direction”. The sound image is moved to the right side of the passenger so that the guidance flows from the right side of the passenger (paragraph 0030 of Patent Document 1). Thereby, the passenger can experience the direction information “right direction”.
　また、特許文献２には、搭乗者が受ける慣性力に応じて音像位置を調整する音声処理装置が開示されている。特許文献２の音声処理装置は、車両の挙動により生じる慣性力で搭乗者が傾く方向に設置されるスピーカからの音量を減少させ、反対側のスピーカの音量を増加させることにより、搭乗者が傾く方向と反対側に音像を移動させる（特許文献２の段落００１９ないし００２１）。これにより、搭乗者の乗り物酔いの防止を図っている（特許文献２の段落００４９）。 Patent Document 2 discloses a sound processing device that adjusts the position of a sound image in accordance with the inertial force received by a passenger. The voice processing device of Patent Document 2 decreases the volume from the speaker installed in the direction in which the occupant tilts due to the inertial force generated by the behavior of the vehicle, and increases the volume of the speaker on the opposite side, thereby tilting the occupant. The sound image is moved in the direction opposite to the direction (paragraphs 0019 to 0021 of Patent Document 2). This prevents the passengers from getting motion sickness (paragraph 0049 of Patent Document 2).
特開２００１－２８９６６０号公報JP 2001-289660 A 特開２０１０－１０５６４３号公報JP 2010-105643 A
　特許文献１のナビゲーション装置は、音声ガイダンスの音像の方向に搭乗者の注意を向けさせることを意図しており、搭乗者の意識が運転に集中していることを前提としている。しかし、搭乗者は必ずしも運転に意識を集中しているとは限らない。また、人間は、不意に音を聞くと、驚いて反射的に音像と反対側に体を傾ける性質がある。そのため、注意力が低下している状態の搭乗者が、不意に「次の交差点で右折して下さい」という音声ガイダンスを右側から聞くと、咄嗟に左側に体を傾けてしまうことがある。そして、車両が右折する際には搭乗者に右側から慣性力が加わるため、ガイダンスによる効果と相まって搭乗者が左側に姿勢を崩してしまう、という問題があった。 The navigation device of Patent Document 1 is intended to direct the occupant's attention in the direction of the sound image of the voice guidance, and assumes that the occupant's consciousness is concentrated on driving. However, passengers are not always focused on driving. In addition, when a person hears a sound unexpectedly, he / she is surprised and reflexively tilts his body to the opposite side of the sound image. For this reason, if a passenger in a state of low alertness suddenly hears the voice guidance “Please turn right at the next intersection” from the right side, the passenger may lean to the left side. When the vehicle turns to the right, an inertial force is applied to the occupant from the right side, and there is a problem that the occupant loses his posture to the left side in combination with the effect of the guidance.
　特許文献２の音声処理装置でも、慣性力を受けて搭乗者が傾く方向と反対側に音像を設定しているため、特許文献１と同様に搭乗者が姿勢を崩しやすい、という問題があった。 The sound processing device of Patent Document 2 also has a problem that the passenger is liable to lose his / her posture as in Patent Document 1 because the sound image is set on the side opposite to the direction in which the passenger tilts due to inertial force. .
　本発明は、上述の問題点に鑑み、車両の挙動により発生する慣性力に対して、音の出力により搭乗者の姿勢維持を図る技術の提供を目的とする。 In view of the above-described problems, an object of the present invention is to provide a technique for maintaining a passenger's posture by outputting a sound against an inertial force generated by a behavior of a vehicle.
　本発明に係る報知音出力制御装置は、将来の時刻における車両の挙動により生じる慣性力の方向を予測する慣性力予測部と、慣性力の発生を車両の搭乗者に報知するための報知音を作成する報知音作成部と、車両に搭載されたスピーカを駆動し、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行う報知音出力制御部と、を備える。 The notification sound output control device according to the present invention includes an inertial force prediction unit that predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and a notification sound for notifying the vehicle occupant of the occurrence of inertial force. A notification sound generation unit to be generated and a notification sound output control unit that drives a speaker mounted on the vehicle and controls the output of the notification sound so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger And comprising.
　本発明に係る報知音出力制御方法は、将来の時刻における車両の挙動により生じる慣性力の方向を予測し、慣性力の発生を車両の搭乗者に報知するための報知音を作成し、車両に搭載されたスピーカを駆動し、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行う。 The notification sound output control method according to the present invention predicts the direction of inertial force generated by the behavior of the vehicle at a future time, creates a notification sound for notifying the vehicle occupant of the generation of inertial force, and The mounted speaker is driven, and notification sound output control is performed so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger.
　本発明に係る報知音出力制御装置は、将来の時刻における車両の挙動により生じる慣性力の方向を予測する慣性力予測部と、慣性力の発生を車両の搭乗者に報知するための報知音を作成する報知音作成部と、車両に搭載されたスピーカを駆動し、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行う報知音出力制御部と、を備える。従って、搭乗者が報知音を聞いて、咄嗟に報知音の音像の位置と反対側に姿勢を傾ける動作をすることにより、慣性力による姿勢の崩れが抑制される。 The notification sound output control device according to the present invention includes an inertial force prediction unit that predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and a notification sound for notifying the vehicle occupant of the occurrence of inertial force. A notification sound generation unit to be generated and a notification sound output control unit that drives a speaker mounted on the vehicle and controls the output of the notification sound so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger And comprising. Therefore, when the passenger hears the notification sound and performs the operation of tilting the posture to the side opposite to the position of the sound image of the notification sound, the posture collapse due to the inertial force is suppressed.
　本発明に係る報知音出力制御方法は、将来の時刻における車両の挙動により生じる慣性力の方向を予測し、慣性力の発生を車両の搭乗者に報知するための報知音を作成し、車両に搭載されたスピーカを駆動し、報知音の音像が搭乗者に対して慣性力の方向と反対側に位置するように、報知音の出力制御を行う。従って、搭乗者が報知音を聞いて、咄嗟に報知音の音像の位置と反対側に姿勢を傾ける動作をすることにより、慣性力による姿勢の崩れが抑制される。 The notification sound output control method according to the present invention predicts the direction of inertial force generated by the behavior of the vehicle at a future time, creates a notification sound for notifying the vehicle occupant of the generation of inertial force, and The mounted speaker is driven, and the output of the notification sound is controlled so that the sound image of the notification sound is positioned on the side opposite to the direction of the inertial force with respect to the passenger. Therefore, when the passenger hears the notification sound and performs the operation of tilting the posture to the side opposite to the position of the sound image of the notification sound, the posture collapse due to the inertial force is suppressed.
　本発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る報知音出力制御装置とその周辺装置の構成を示すブロック図である。It is a block diagram which shows the structure of the notification sound output control apparatus which concerns on Embodiment 1, and its peripheral device. 慣性力と報知音の音像位置との関係を示す図である。It is a figure which shows the relationship between an inertia force and the sound image position of a notification sound. 実施の形態１に係る報知音出力制御装置の動作を示すフローチャートである。3 is a flowchart showing the operation of the notification sound output control apparatus according to the first embodiment. 実施の形態２に係る報知音出力制御装置とその周辺装置の構成を示すブロック図である。It is a block diagram which shows the structure of the notification sound output control apparatus which concerns on Embodiment 2, and its peripheral device. 実施の形態２に係る自動運転制御装置および報知音出力制御装置の動作を示すフローチャートである。It is a flowchart which shows operation | movement of the automatic driving | operation control apparatus and notification sound output control apparatus which concern on Embodiment 2. 実施の形態２に係る出力要否判断部５の動作を示すフローチャートである。6 is a flowchart illustrating an operation of an output necessity determination unit 5 according to the second embodiment. 慣性力の方向と音像の位置との関係を示す図である。It is a figure which shows the relationship between the direction of an inertia force, and the position of a sound image. 慣性力の方向と音像の位置との関係を示す図である。It is a figure which shows the relationship between the direction of an inertia force, and the position of a sound image. 慣性力の方向と音像の位置との関係を示す図である。It is a figure which shows the relationship between the direction of an inertia force, and the position of a sound image. 慣性力の方向と音像の位置との関係を示す図である。It is a figure which shows the relationship between the direction of an inertia force, and the position of a sound image. 実施の形態３に係る報知音出力制御装置とその周辺装置の構成を示すブロック図である。It is a block diagram which shows the structure of the notification sound output control apparatus which concerns on Embodiment 3, and its peripheral device. 実施の形態３に係る報知音出力制御装置の動作を示すフローチャートである。10 is a flowchart illustrating an operation of the notification sound output control apparatus according to the third embodiment. 車載装置およびサーバによる実施の形態１に係る報知音出力制御装置の構成例を示すブロック図である。It is a block diagram which shows the structural example of the alerting | reporting sound output control apparatus which concerns on Embodiment 1 by a vehicle-mounted apparatus and a server. 報知音出力制御装置のハードウェア構成図である。It is a hardware block diagram of a notification sound output control apparatus. 報知音出力制御装置のハードウェア構成図である。It is a hardware block diagram of a notification sound output control apparatus.
　＜Ａ．実施の形態１＞
　＜Ａ－１．構成＞
　図１は、実施の形態１に係る報知音出力制御装置１０１とその周辺装置の構成を示すブロック図である。報知音出力制御装置１０１は、車両の挙動により生じる慣性力による搭乗者の姿勢の崩れを弱めることを意図して、車両に搭載されたスピーカ４から出力する報知音の制御を行う。 <A. Embodiment 1>
<A-1. Configuration>
FIG. 1 is a block diagram illustrating a configuration of a notification sound output control device 101 and its peripheral devices according to the first embodiment. The notification sound output control device 101 controls the notification sound output from the speaker 4 mounted on the vehicle with the intention of weakening the collapse of the posture of the passenger due to the inertial force generated by the behavior of the vehicle.
　以下、本明細書では、報知音出力制御装置１０１が出力制御を行うスピーカ４が搭載された車両のことを単に車両と呼ぶ。報知音は、ビープ音の他、音声であっても良い。 Hereinafter, in this specification, a vehicle on which the speaker 4 on which the notification sound output control device 101 performs output control is simply referred to as a vehicle. The notification sound may be a sound other than a beep sound.
　報知音出力制御装置１０１は、例えば車両に搭載された装置として構成される。報知音出力制御装置１０１は、慣性力予測部１、報知音作成部２、および報知音出力制御部３を備えている。 The notification sound output control device 101 is configured as a device mounted on a vehicle, for example. The notification sound output control device 101 includes an inertial force prediction unit 1, a notification sound creation unit 2, and a notification sound output control unit 3.
　慣性力予測部１は、将来の時刻における車両の挙動により生じる慣性力の方向、すなわち搭乗者に対する慣性力の方向を予測する。図２は、報知音出力制御装置１０１による報知音の音像位置と、慣性力との関係を示している。例えば、図２に示すようにハンドル５１が右に回転して車両が右折する際、搭乗者５２には右から左へ慣性力Ｇが加わる。すなわち、このとき慣性力Ｇの方向は左方向である。従って、慣性力予測部１は、最も単純にはハンドルの回転方向と反対の方向を慣性力の方向と予測することができる。 The inertial force prediction unit 1 predicts the direction of inertial force generated by the behavior of the vehicle at a future time, that is, the direction of inertial force with respect to the passenger. FIG. 2 shows the relationship between the sound image position of the notification sound by the notification sound output control apparatus 101 and the inertial force. For example, as shown in FIG. 2, when the handle 51 rotates to the right and the vehicle turns to the right, an inertial force G is applied to the passenger 52 from right to left. That is, at this time, the direction of the inertial force G is the left direction. Therefore, the inertial force predicting unit 1 can predict the direction of the inertial force in the simplest direction opposite to the rotation direction of the handle.
　報知音作成部２は、音声合成技術等を用いて報知音を作成する。 The notification sound creation unit 2 creates a notification sound using a speech synthesis technique or the like.
　報知音出力制御部３は、スピーカ４を駆動して報知音の出力制御を行う。ここで報知音出力制御部３は、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行う。例えば、図２に示すように、慣性力Ｇが左方向であれば、報知音Ａの音像ＩＡを搭乗者の左に設定する。こうした音像の位置制御は、例えば、車両に搭載された各スピーカ４の音量または遅延時間を調整することにより行うことができる。 The notification sound output control unit 3 drives the speaker 4 to control the output of the notification sound. Here, the notification sound output control unit 3 performs output control of the notification sound so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger. For example, as shown in FIG. 2, the inertial force G is if the left, setting the sound image I A of alarm signals A to the left of the occupant. Such position control of the sound image can be performed, for example, by adjusting the volume or delay time of each speaker 4 mounted on the vehicle.
　＜Ａ－２．動作＞
　図３は、報知音出力制御装置１０１の動作を示すフローチャートである。以下、図３に沿って報知音出力制御装置１０１の動作を説明する。 <A-2. Operation>
FIG. 3 is a flowchart showing the operation of the notification sound output control apparatus 101. Hereinafter, the operation of the notification sound output control apparatus 101 will be described with reference to FIG.
　まず、慣性力予測部１が、車両の次の挙動により生じる慣性力の方向を予測する（ステップＳ１１）。ここでは、慣性力の予測対象となる車両の挙動を次の挙動にしているが、車両の将来の挙動であればよい。 First, the inertial force prediction unit 1 predicts the direction of the inertial force generated by the next behavior of the vehicle (step S11). Here, the behavior of the vehicle that is the target of inertial force prediction is the following behavior, but it may be any future behavior of the vehicle.
　次に、報知音作成部２が報知音を作成する（ステップＳ１２）。 Next, the notification sound creation unit 2 creates a notification sound (step S12).
　次に、報知音出力制御部３が、スピーカ４を駆動して報知音の出力制御を行う（ステップＳ１３）。 Next, the notification sound output control unit 3 drives the speaker 4 to control the output of the notification sound (step S13).
　以上で、報知音出力制御装置１０１の処理を終了するが、報知音出力制御装置１０１は、このフローを一定周期など随時に繰り返して行う。 The processing of the notification sound output control device 101 is completed as described above, but the notification sound output control device 101 repeats this flow as needed, such as a fixed period.
　報知音出力制御装置１０１が以上の動作を行うことにより、図２に示すように搭乗者５２に左方向の慣性力Ｇが加わる場合、慣性力Ｇの発生を知らせる報知音Ａがスピーカ４から出力される。報知音Ａの音像ＩＡは搭乗者５２の左側に位置するため、搭乗者５２が報知音Ａに驚いて右側に体を傾けると、この動作により、左方向の慣性力Ｇによる左側への体の傾きが相殺される。従って、慣性力Ｇによる姿勢の崩れが和らげられ、搭乗者は姿勢を維持することができる。 When the notification sound output control device 101 performs the above operation, when the inertial force G in the left direction is applied to the occupant 52 as shown in FIG. 2, the notification sound A notifying the generation of the inertial force G is output from the speaker 4. Is done. Since the sound image I A of the notification sound A is located on the left side of the rider 52, when tilting the body to the right rider 52 is surprised notification sound A, this operation, the body to the left by the inertial force G in the left direction Is offset. Therefore, the posture collapse due to the inertial force G is eased, and the passenger can maintain the posture.
　＜Ａ－３．効果＞
　本発明の実施の形態１に係る報知音出力制御装置１０１は、将来の時刻における車両の挙動により生じる慣性力の方向を予測する慣性力予測部１と、慣性力の発生を車両の搭乗者に報知するための報知音を作成する報知音作成部２と、車両に搭載されたスピーカ４を駆動し、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行う報知音出力制御部３と、を備える。報知音は、その音像の位置と反対側に搭乗者の体を傾けさせる効果がある。従って、報知音を聞いた搭乗者が、咄嗟に報知音の音像の位置と反対側に姿勢を傾ける動作をすることにより、慣性力による姿勢の崩れが抑制される。 <A-3. Effect>
The notification sound output control apparatus 101 according to Embodiment 1 of the present invention includes an inertial force prediction unit 1 that predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and the generation of inertial force to the vehicle occupant. The notification sound generator 2 for generating a notification sound for notification and the speaker 4 mounted on the vehicle are driven so that the sound image of the notification sound is positioned in the direction of the inertial force with respect to the passenger. And a notification sound output control unit 3 that performs output control. The notification sound has an effect of tilting the occupant's body to the side opposite to the position of the sound image. Therefore, when the passenger who hears the notification sound performs an operation of tilting his / her posture to the side opposite to the position of the sound image of the notification sound, the collapse of the posture due to the inertial force is suppressed.
　本発明の実施の形態１に係る報知音出力制御方法は、将来の時刻における車両の挙動により生じる慣性力の方向を予測し、慣性力の到来を車両の搭乗者に報知するための報知音を作成し、車両に搭載されたスピーカ４を駆動し、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行う。報知音は、その音像の位置と反対側に搭乗者の体を傾けさせる効果がある。従って、報知音を聞いた搭乗者が、咄嗟に報知音の音像の位置と反対側に姿勢を傾ける動作をすることにより、慣性力による姿勢の崩れが抑制される。 The notification sound output control method according to Embodiment 1 of the present invention predicts the direction of inertial force generated by the behavior of the vehicle at a future time, and generates a notification sound for notifying the passenger of the vehicle of the arrival of inertial force. The speaker 4 that is created and mounted on the vehicle is driven, and the output of the notification sound is controlled so that the sound image of the notification sound is positioned in the direction of the inertial force with respect to the passenger. The notification sound has an effect of tilting the occupant's body to the side opposite to the position of the sound image. Therefore, when the passenger who hears the notification sound performs an operation of tilting his / her posture to the side opposite to the position of the sound image of the notification sound, the collapse of the posture due to the inertial force is suppressed.
　＜Ｂ．実施の形態２＞
　近年、車両制御の自動化技術が実用化され、さらにその高度化が進められている。車両の自動運転では、ハンドル、ブレーキ、およびアクセルのアクチュエータ制御のうちの１つまたは複数を車両側、すなわち車両に搭載された自動運転制御装置が実施する。一般に、車両制御の自動化レベルについては以下のような定義が存在する。 <B. Second Embodiment>
In recent years, automation technology for vehicle control has been put into practical use and further advanced. In the automatic driving of the vehicle, one or more of the actuator control of the steering wheel, the brake, and the accelerator is performed by the vehicle side, that is, the automatic driving control device mounted on the vehicle. In general, the following definitions exist for the level of vehicle control automation.
　レベル０：全ての制御を運転者が行う。 Level 0: The driver performs all controls.
　レベル１：車両側が１つ以上のアクチュエータの制御を行う。但し、車両側はアクチュエータ間の連携制御を行わない。運転者が運転責任を負う。定速走行装置、車間距離制御付のＡＣＣ（Ａｄａｐｔｉｖｅ　Ｃｒｕｉｓｅ　Ｃｏｎｔｒｏｌ）がこのレベルに該当する。 Level 1: The vehicle side controls one or more actuators. However, the vehicle side does not perform cooperative control between actuators. The driver is responsible for driving. ACC (Adaptive Cruise Control) with a constant speed traveling device and inter-vehicle distance control corresponds to this level.
　レベル２：車両側が２つ以上のアクチュエータの制御を行い、これらアクチュエータの連携制御を行う。運転者が運転責任を負う。レーンキーピング機能を有する車間距離制御付のＡＣＣがこれに該当する。 Level 2: The vehicle side controls two or more actuators and performs coordinated control of these actuators. The driver is responsible for driving. ACC with inter-vehicle distance control having a lane keeping function corresponds to this.
　レベル３：特定の条件下で、車両側がハンドル、ブレーキ、およびアクセルの全アクチュエータ制御を行う。車両側は、アクチュエータ制御が出来なくなる前に余裕をもって運転者に報知し、スムーズに運転制御を運転者に移行する措置を講じなければならない。自動運転中の責任は運転者が負う。 Level 3: Under specific conditions, the vehicle side controls all actuators for steering wheel, brake, and accelerator. The vehicle side must inform the driver with a margin before actuator control becomes impossible and must take measures to smoothly shift the operation control to the driver. The driver is responsible for automatic driving.
　レベル４：搭乗者は行先を示すのみで、全ての制御は車両側が行う。自動運転中の責任は車両側にある。 Level 4: The passenger only indicates the destination, and all control is performed by the vehicle side. Responsibility during automatic driving rests with the vehicle.
　レベル２以下の自動運転では、走行上の不都合が生じた場合に搭乗者が瞬時に運転を交替することが義務づけられているため、搭乗者は車両走行状態と車両周辺に注意を払い続けることが必要である。ところが、レベル３以上の自動運転では、搭乗者は車両周辺の状況把握などをする必要がなく運転に集中することから解放されるため、運転に対する注意力が低下する。このような状況において、車両側が速度変更を生じる運転を行った場合に、慣性力のかかる方向に搭乗者の姿勢が傾くことになる。例えば、車両が右カーブを走行する際には左方向に慣性力が加わり、搭乗者の姿勢は左方向に傾いてしまう。 In automatic driving at level 2 and below, passengers are obliged to change their driving instantly in the event of inconvenience in driving. is necessary. However, in automatic driving at level 3 or higher, the passenger is not required to grasp the situation around the vehicle and is freed from concentrating on driving, so his attention to driving is reduced. In such a situation, when the vehicle side performs a driving operation that changes the speed, the posture of the occupant tilts in the direction in which the inertial force is applied. For example, when the vehicle travels on a right curve, an inertial force is applied in the left direction, and the occupant's posture is tilted in the left direction.
　従って、実施の形態２では、自動運転が可能な車両を対象として、当該車両の搭乗者に対する報知音の出力制御を行うことで、慣性力による搭乗者の姿勢の崩れを抑制する。 Therefore, in the second embodiment, for a vehicle capable of automatic driving, the control of the notification sound output to the occupant of the vehicle is performed to suppress the collapse of the occupant's posture due to the inertial force.
　＜Ｂ－１．構成＞
　図４は、本発明の実施の形態２に係る報知音出力制御装置１０２とその周辺装置の構成を示すブロック図である。 <B-1. Configuration>
FIG. 4 is a block diagram showing the configuration of the notification sound output control device 102 and its peripheral devices according to Embodiment 2 of the present invention.
　報知音出力制御装置１０２は、実施の形態１に係る報知音出力制御装置１０１の構成に加えて、出力要否判断部５と運転集中度測定部６とを備えている。 The notification sound output control device 102 includes an output necessity determination unit 5 and a driving concentration degree measurement unit 6 in addition to the configuration of the notification sound output control device 101 according to the first embodiment.
　スピーカ４が搭載された車両は、自動運転制御装置２０１により自動運転制御される。報知音出力制御装置１０２の慣性力予測部１は、自動運転制御装置２０１から将来の車両の挙動、例えば操舵角を取得し、それに基づき慣性力の予測を行う。自動運転制御装置２０１は、車両の自動運転制御を行う装置であり、走行状態取得部２０２および挙動演算部２０３を備えている。 The vehicle on which the speaker 4 is mounted is controlled automatically by the automatic operation control device 201. The inertial force prediction unit 1 of the notification sound output control device 102 acquires the future behavior of the vehicle, for example, the steering angle, from the automatic driving control device 201 and predicts the inertial force based on the behavior. The automatic driving control device 201 is a device that performs automatic driving control of the vehicle, and includes a traveling state acquisition unit 202 and a behavior calculation unit 203.
　走行状態取得部２０２は、車両に搭載された各種センサ等から車両の走行状態を取得する。各種センサには、車両の操舵角を取得する操舵角センサ３０１、車両の走行速度を取得する車速センサ３０２、前方車両など車両周辺の物体を検知するレーダ３０３、車両周辺の画像を撮影するカメラ３０４、車両の角速度または角加速度を測定するジャイロスコープ３０５、およびＧＰＳ（Global Positioning System）信号を受信するＧＰＳ受信機３０６が含まれる。走行状態取得部２０２は、カメラ３０４の撮影画像から、車両周辺の人物または物体の情報を取得する。また、走行状態取得部２０２は、ジャイロスコープ３０５の測定データ、ＧＰＳ信号、および地図データ３０７を組み合わせて、車両の位置情報を取得する。すなわち、走行状態取得部２０２が取得する車両の走行状態には、車両の操舵角、走行速度、現在位置、および車両周辺の人物または物体の情報、が含まれる。 The traveling state acquisition unit 202 acquires the traveling state of the vehicle from various sensors mounted on the vehicle. The various sensors include a steering angle sensor 301 that acquires the steering angle of the vehicle, a vehicle speed sensor 302 that acquires the traveling speed of the vehicle, a radar 303 that detects an object around the vehicle such as a preceding vehicle, and a camera 304 that captures an image around the vehicle. A gyroscope 305 that measures the angular velocity or acceleration of the vehicle, and a GPS receiver 306 that receives GPS (Global Positioning System) signals. The traveling state acquisition unit 202 acquires information about a person or an object around the vehicle from a captured image of the camera 304. In addition, the traveling state acquisition unit 202 acquires the position information of the vehicle by combining the measurement data of the gyroscope 305, the GPS signal, and the map data 307. That is, the traveling state of the vehicle acquired by the traveling state acquisition unit 202 includes the steering angle of the vehicle, the traveling speed, the current position, and information on persons or objects around the vehicle.
　挙動演算部２０３は、走行状態取得部２０２が取得した車両の走行状態を基に、車両の将来の挙動を演算する。ここで、車両の挙動は少なくとも車両の操舵角を含み、さらに速度、加速度、および減速度を含んでも良い。挙動演算部２０３が演算した車両の挙動は、各種ＥＣＵ（Electronic Control Unit）に送られ、各種ＥＣＵにおいて車両の各種アクチュエータの制御が行われる。例えば、操舵角は操舵ＥＣＵ３０８に送られ、操舵ＥＣＵ３０８においてこれに基づきハンドルの制御が行われる。また、加速度は加速ＥＣＵ３０９に送られ、加速ＥＣＵ３０９においてこれに基づきアクセルの制御が行われる。また、減速度は制動ＥＣＵ３１０に送られ、制動ＥＣＵ３１０においてこれに基づきブレーキの制御が行われる。 The behavior calculation unit 203 calculates the future behavior of the vehicle based on the vehicle driving state acquired by the driving state acquisition unit 202. Here, the behavior of the vehicle includes at least the steering angle of the vehicle, and may further include speed, acceleration, and deceleration. The behavior of the vehicle calculated by the behavior calculation unit 203 is sent to various ECUs (Electronic Control Unit), and various ECUs control various actuators of the vehicle. For example, the steering angle is sent to the steering ECU 308, and the steering ECU 308 controls the steering wheel based on the steering angle. Further, the acceleration is sent to the acceleration ECU 309, and the acceleration ECU 309 controls the accelerator based on the acceleration. The deceleration is sent to the brake ECU 310, and the brake ECU 310 controls the brake based on the deceleration.
　慣性力予測部１は、挙動演算部２０３から車両の将来の挙動、例えば操舵角、走行速度、加速度、および減速度を取得し、当該挙動によって車両の搭乗者に加わる慣性力を予測する。例えば、車両が定速で走行する場合には、操舵角から車両の走行軌跡の曲率半径を求め、曲率半径および走行速度から車両に加わる慣性力を求めることが出来る。このときの慣性力の方向は、曲率半径を求めた円の中心から車両に向かう方向で、車両の走行方向に直角である。また、車両が加速または減速する場合には、上記で求めた慣性力と、車両の加速または減速により生じる慣性力とをベクトル合成することにより、車両に加わる慣性力の大きさと方向とを求めることが出来る。 The inertial force predicting unit 1 acquires the future behavior of the vehicle, such as the steering angle, the traveling speed, the acceleration, and the deceleration, from the behavior calculating unit 203, and predicts the inertial force applied to the vehicle occupant by the behavior. For example, when the vehicle travels at a constant speed, the curvature radius of the travel locus of the vehicle can be obtained from the steering angle, and the inertial force applied to the vehicle can be obtained from the curvature radius and the travel speed. The direction of inertial force at this time is a direction from the center of the circle for which the radius of curvature is obtained toward the vehicle, and is perpendicular to the traveling direction of the vehicle. When the vehicle accelerates or decelerates, the magnitude and direction of the inertial force applied to the vehicle are obtained by vector synthesis of the inertial force obtained above and the inertial force generated by the acceleration or deceleration of the vehicle. I can do it.
　運転集中度測定部６は、搭乗者がどの程度運転に集中しているかを示す指標である運転集中度を測定する。具体的には、運転集中度測定部６は、目の開度または瞬きの回数に加え、心拍数、血圧、体温といった搭乗者の生体情報から運転集中度を測定する。運転集中度を測定するための情報は、例えば車両のハンドルに取り付けた電極、またはカメラ等から取得することができる。 The driving concentration measuring unit 6 measures the driving concentration, which is an index indicating how much the passenger is concentrated in driving. Specifically, the driving concentration degree measuring unit 6 measures the driving concentration degree from the biological information of the passenger such as the heart rate, blood pressure, and body temperature in addition to the opening degree of the eyes or the number of blinks. Information for measuring the degree of driving concentration can be acquired from, for example, an electrode attached to a steering wheel of a vehicle or a camera.
　出力要否判断部５は、慣性力の大きさ、運転集中度、自動化レベル等に基づき、報知音の出力要否を判断する。報知音出力制御装置１０２は、慣性力による搭乗者の姿勢の崩れを抑制することを目的としている。従って、慣性力を受けても搭乗者が姿勢を崩すおそれがない場合に、出力要否判断部５は報知音の出力を不要と判断する。出力要否判断の詳細は、後述する。 The output necessity determination unit 5 determines whether the notification sound needs to be output based on the magnitude of the inertial force, the driving concentration, the automation level, and the like. The notification sound output control device 102 is intended to suppress the collapse of the posture of the passenger due to the inertial force. Therefore, when there is no possibility that the passenger loses his / her posture even if the inertial force is received, the output necessity determination unit 5 determines that the output of the notification sound is unnecessary. Details of the output necessity determination will be described later.
　報知音作成部２は、出力要否判断部５が報知音の出力要と判断した場合に、報知音を作成する。 The notification sound creation unit 2 creates a notification sound when the output necessity determination unit 5 determines that the notification sound needs to be output.
　報知音出力制御部３は、報知音作成部２が作成した報知音を、その音像が搭乗者に対して慣性力の方向に位置するよう制御し、スピーカ４から出力させる。 The notification sound output control unit 3 controls the notification sound created by the notification sound creation unit 2 so that the sound image thereof is positioned in the direction of inertial force with respect to the passenger, and outputs it from the speaker 4.
　＜Ｂ－２．全体動作＞
　図５は、自動運転制御装置２０１および報知音出力制御装置１０２の動作を示すフローチャートである。 <B-2. Overall operation>
FIG. 5 is a flowchart showing operations of the automatic operation control device 201 and the notification sound output control device 102.
　自動運転制御装置２０１は、車両に搭載された各種センサ等から車両の走行状態を取得する（ステップＳ２１）。ここで自動運転制御装置２０１は、例えば操舵角センサ３０１から車両の操舵角を、車速センサ３０２から車両の走行速度を、レーダ３０３から前方車両の情報を、カメラ３０４から車両周辺の画像を、それぞれ車両の走行状態として取得する。また、自動運転制御装置２０１は、ジャイロスコープ３０５から車両の角速度および角加速度を、ＧＰＳ受信機３０６からＧＰＳ信号を取得し、これらの情報と地図データ３０７とを基に車両の現在位置を車両の走行状態として取得する。 The automatic driving control device 201 acquires the traveling state of the vehicle from various sensors mounted on the vehicle (step S21). Here, the automatic driving control device 201, for example, the steering angle of the vehicle from the steering angle sensor 301, the traveling speed of the vehicle from the vehicle speed sensor 302, the information of the preceding vehicle from the radar 303, and the image around the vehicle from the camera 304, respectively. Acquired as the running state of the vehicle. The automatic driving control device 201 acquires the angular velocity and angular acceleration of the vehicle from the gyroscope 305 and the GPS signal from the GPS receiver 306, and based on these information and the map data 307, determines the current position of the vehicle. Acquired as the running state.
　次に、ステップＳ２１で走行状態取得部２０２が取得した車両の走行状態に基づき、挙動演算部２０３が、車両の次の挙動を演算する（ステップＳ２２）。挙動演算部２０３の演算結果は、報知音出力制御装置１０２の慣性力予測部１に送られる。 Next, the behavior calculation unit 203 calculates the next behavior of the vehicle based on the vehicle driving state acquired by the driving state acquisition unit 202 in step S21 (step S22). The calculation result of the behavior calculation unit 203 is sent to the inertial force prediction unit 1 of the notification sound output control device 102.
　慣性力予測部１は、車両の次の挙動によって車両に発生する慣性力の大きさおよび方向を予測する（ステップＳ２３）。 The inertial force predicting unit 1 predicts the magnitude and direction of the inertial force generated in the vehicle by the next behavior of the vehicle (step S23).
　次に、出力要否判断部５が、報知音の出力要否を判断する（ステップＳ２４）。出力要否の判断方法については、後述する。 Next, the output necessity determination unit 5 determines whether the notification sound needs to be output (step S24). A method for determining whether output is necessary will be described later.
　出力要否判断部５が報知音を出力不要と判断した場合、報知音出力制御装置１０２は処理を終了する。一方、出力要否判断部５が報知音を出力要と判断した場合、報知音作成部２が報知音を作成する（ステップＳ２５）。そして、報知音出力制御部が報知音の出力制御を行う（ステップＳ２６）。報知音出力制御部３による報知音の出力制御タイミングは、ステップＳ２３で予測した慣性力が発生する前、特に直前であることが好ましい。その場合、搭乗者は慣性力が発生する前に慣性力の方向と反対側に体を傾けて、慣性力に備えることが出来るからである。 When the output necessity determination unit 5 determines that the notification sound is not required to be output, the notification sound output control device 102 ends the process. On the other hand, when the output necessity determination unit 5 determines that the notification sound is required to be output, the notification sound creation unit 2 creates the notification sound (step S25). And a notification sound output control part performs output control of a notification sound (step S26). The output control timing of the notification sound by the notification sound output control unit 3 is preferably immediately before the inertia force predicted in step S23 is generated. In this case, the passenger can prepare for the inertial force by tilting his / her body in the direction opposite to the direction of the inertial force before the inertial force is generated.
　＜Ｂ－３．出力要否判断＞
　図６は、出力要否判断部５による出力要否の判断動作を示すフローチャートであり、図５のステップＳ２４の詳細を示している。まず、出力要否判断部５は、自動運転制御装置２０１から車両の自動化レベルを取得し、自動化レベルがレベル３以上か否かを判断する（ステップＳ２４１）。ここで、レベル３は自動化レベルの閾値の一例である。出力要否判断部５は、自動化レベルがレベル３未満であれば、報知音の出力を不要と判断する（ステップＳ２４６）。このように、出力要否判断部５は、自動化レベルが閾値よりも低ければ搭乗者は運転に集中しており、慣性力を受けても姿勢を崩すおそれがないと判断して、報知音の出力を不要と判断する。一方、自動化レベルがレベル３以上であれば、ステップＳ２４２に進む。 <B-3. Output necessity judgment>
FIG. 6 is a flowchart showing an output necessity judgment operation by the output necessity judgment unit 5, and shows details of step S24 in FIG. First, the output necessity determination part 5 acquires the automation level of the vehicle from the automatic driving control apparatus 201, and determines whether or not the automation level is level 3 or higher (step S241). Here, level 3 is an example of an automation level threshold. If the automation level is less than level 3, the output necessity determination unit 5 determines that the output of the notification sound is unnecessary (step S246). In this way, the output necessity determination unit 5 determines that the passenger is concentrated on driving if the automation level is lower than the threshold value, and that there is no risk of losing posture even when subjected to inertial force. Judge that output is unnecessary. On the other hand, if the automation level is level 3 or higher, the process proceeds to step S242.
　ステップＳ２４２において、出力要否判断部５は、車両の次の挙動による慣性力が閾値以上か否かを判断する。出力要否判断部５は、予め慣性力の閾値を定めておき、慣性力が閾値未満となる場合には、報知音の出力を不要と判断する（ステップＳ２４６）。このように、出力要否判断部５は、慣性力が小さければ、搭乗者が姿勢を崩すおそれがないと判断して、報知音の出力を不要と判断する。 In step S242, the output necessity determination unit 5 determines whether the inertial force due to the next behavior of the vehicle is equal to or greater than a threshold value. The output necessity determination unit 5 sets a threshold value of the inertial force in advance, and determines that the output of the notification sound is unnecessary when the inertial force is less than the threshold value (step S246). Thus, if the inertia force is small, the output necessity determination unit 5 determines that there is no possibility that the passenger will lose his posture, and determines that the output of the notification sound is unnecessary.
　なお、慣性力の閾値は、慣性力の方向に応じて異なった値が設定されていても良い。例えば、搭乗者は、シートで支持されているため後ろ方向の慣性力に強く、シートベルトで支持されているため前方向の慣性力にある程度強く、左右方向の慣性力に最も弱いと考えられる。従って、前方向の慣性力の閾値が最も大きく、左右方向の慣性力が最も小さくても良い。 The threshold value of the inertial force may be set to a different value depending on the direction of the inertial force. For example, it is considered that the occupant is strong against the inertial force in the rear direction because it is supported by the seat, is strong to some extent in the forward direction and is weakest to the inertial force in the left-right direction because it is supported by the seat belt. Therefore, the threshold value of the inertial force in the forward direction may be the largest and the inertial force in the left-right direction may be the smallest.
　ステップＳ２４２で、慣性力が閾値以上である場合には、ステップＳ２４３に移行する。ステップＳ２４３では、運転集中度測定部６が搭乗者の運転集中度を測定する。 If it is determined in step S242 that the inertial force is equal to or greater than the threshold value, the process proceeds to step S243. In step S243, the driving concentration measuring unit 6 measures the driving concentration of the passenger.
　その後、出力要否判断部５が、ステップＳ２４３で測定した搭乗者の運転集中度が閾値以下か否かを判断する（ステップＳ２４４）。出力要否判断部５は、予め運転集中度の閾値を定めておき、搭乗者の運転集中度が閾値より大きい場合には、報知音の出力を不要と判断する（ステップＳ２４６）。一方、搭乗者の運転集中度が閾値以下となる場合には、報知音の出力要と判断する（ステップＳ２４５）。 Thereafter, the output necessity determination unit 5 determines whether or not the passenger's driving concentration measured in step S243 is equal to or less than a threshold (step S244). The output necessity determination unit 5 sets a threshold value of the driving concentration degree in advance, and determines that the output of the notification sound is unnecessary when the driving concentration level of the passenger is larger than the threshold value (step S246). On the other hand, when the driver's concentration of driving is below the threshold value, it is determined that the notification sound needs to be output (step S245).
　ここで、運転集中度の閾値には、慣性力の大きさまたは方向に応じて異なる値を用いても良い。例えば、慣性力が大きい程、搭乗者に対する報知の必要性が高いため、運転集中度の閾値を大きくしても良い。また、左右方向の慣性力に対しては、前後方向の慣性力に比べて搭乗者に対する報知の必要性が高いと考え、運転集中度の閾値を大きくしても良い。 Here, a different value may be used for the threshold of driving concentration depending on the magnitude or direction of the inertial force. For example, the greater the inertial force, the higher the need for notification to the passenger, so the threshold for driving concentration may be increased. Further, regarding the inertial force in the left-right direction, the threshold for the driving concentration degree may be increased because it is considered that there is a higher need for notification to the passenger than the inertial force in the front-rear direction.
　反対に、運転集中度に応じてステップＳ２４２における慣性力の閾値を変化させても良い。 Conversely, the threshold value of the inertial force in step S242 may be changed according to the driving concentration.
　以上の説明では、出力要否判断部５は、自動運転化レベル、慣性力、および運転集中度という３つの要素に基づき、報知音の出力要否を判断した。しかし、出力要否判断部５は、これら３つの要素のうちいずれかの１つの要素によって出力要否を判断しても良いし、任意の２つの要素の組み合わせに基づき出力要否を判断しても良い。 In the above description, the output necessity determination unit 5 determines whether the notification sound needs to be output based on the three factors of the automatic driving level, the inertial force, and the driving concentration. However, the output necessity determination unit 5 may determine whether the output is necessary based on any one of these three elements, or may determine whether the output is necessary based on a combination of two arbitrary elements. Also good.
　＜Ｂ－４．報知音出力制御＞
　報知音出力制御部３は、報知音作成部２が作成した報知音を、その音像が搭乗者に対して慣性力の方向に位置するように、スピーカ４を駆動して出力制御する。図２では、左方向の慣性力Ｇに対して、報知音Ａの音像ＩＡを搭乗者に対して慣性力の方向、すなわち左側に配置した例を示した。 <B-4. Notification sound output control>
The notification sound output control unit 3 controls the output of the notification sound created by the notification sound creation unit 2 by driving the speaker 4 so that the sound image thereof is positioned in the direction of inertial force with respect to the passenger. In Figure 2, the left direction of the inertial force G, the direction of the inertial force sound image I A of alarm signals A to the passenger, i.e. an example has been described disposed on the left side.
　図２では、音像ＩＡの位置を固定としたが、移動させても良い。例えば、図７に示すように、左方向の慣性力Ｇに対して、音像ＩＡを、初期位置から搭乗者に対して一直線に近づくように移動させても良い。これにより、搭乗者が右方向へ、すなわち音像ＩＡと反対側に姿勢を傾ける効果が大きくなる。 In Figure 2, it has been a fixed position of the sound image I A, may be moved. For example, as shown in FIG. 7, the left direction of the inertial force G, the sound image I A, may be moved so as to approach a straight line relative to the passenger from the initial position. Thus, the rider to the right, i.e. the effect is increased to tilt the orientation on the opposite side of the sound image I A.
　また、音像ＩＡを一直線ではなく、図８に示すようにジグザグに移動させても良い。これにより、搭乗者には報知音Ａが振動しているように聞こえる。 Further, instead of the straight line a sound image I A, may be moved in a zigzag as shown in FIG. As a result, the passenger hears the notification sound A oscillating.
　しかし、搭乗者を超えて反対側にまで音像ＩＡを移動させることはしない。図９に示すように、左方向の慣性力Ｇに対して、初期位置で搭乗者の左にある音像ＩＡが搭乗者の右にまで移動すると、搭乗者は音像ＩＡと反対側、すなわち左側に体を傾けようとするため、慣性力Ｇを相殺する向きに体を傾ける効果が生じないからである。 However, no attempt is made to move the sound image I A to the opposite side beyond the passenger. As shown in FIG. 9, the left direction of the inertial force G, the sound image I A to the left of the occupant at the initial position is moved to the right of the rider, the rider side opposite to the sound image I A, i.e. This is because the effect of tilting the body in a direction that cancels out the inertial force G does not occur because the body is tilted to the left.
　また、報知音は一つだけでなく、複数あっても良い。図１０では、２種類の報知音Ａ，Ｂを出力する様子を示している。左方向の慣性力Ｇに対して、報知音Ａの音像ＩＡ、報知音Ｂの音像ＩＢともに搭乗者の左に位置する。但し、音像ＩＡが固定であるのに対して、音像ＩＢは、搭乗者の左側で前後方向に移動する。 In addition, there may be a plurality of notification sounds instead of only one. FIG. 10 shows a state in which two types of notification sounds A and B are output. Both the sound image I A of the notification sound A and the sound image I B of the notification sound B are located to the left of the passenger with respect to the inertia force G in the left direction. However, while the sound image I A is fixed, the sound image I B is moved in the front-rear direction at the left side of the occupant.
　このように、複数種類の報知音を出力する場合、報知音ごとに慣性力の異なる情報を搭乗者に伝えることができる。図１０の例では、報知音Ａの音量によって慣性力の発生要因を伝達することができる。例えば、他車両が自車両の前に割り込んだことによる自車両の挙動の変化により慣性力が生じた場合には、報知音Ａの音量を大きくする。一方、自車両が他車両を追い越す際の挙動により慣性力が生じた場合には、報知音Ａの音量を小さくする。このように、慣性力の発生要因が自車両に起因するものか、他車両に起因するものかによって報知音Ａの音量を調整することができる。また、慣性力が大きいほど、報知音Ｂの振動幅を大きくすることによって、慣性力の大きさを伝達することができる。 Thus, when a plurality of types of notification sounds are output, information having different inertial forces can be transmitted to the passenger for each notification sound. In the example of FIG. 10, the cause of the inertial force can be transmitted by the volume of the notification sound A. For example, when an inertial force is generated due to a change in the behavior of the own vehicle due to the other vehicle interrupting in front of the own vehicle, the volume of the notification sound A is increased. On the other hand, when the inertial force is generated due to the behavior of the host vehicle overtaking another vehicle, the volume of the notification sound A is reduced. Thus, the volume of the notification sound A can be adjusted depending on whether the cause of the inertial force is caused by the own vehicle or the other vehicle. Further, the greater the inertial force, the greater the inertial force can be transmitted by increasing the vibration width of the notification sound B.
　なお、報知音の音量、振動幅だけでなく、音色、音圧、発生のタイミング、音像の大きさ等を調整することによって、搭乗者に慣性力に関する情報を伝達することができる。 It should be noted that information on inertial force can be transmitted to the passenger by adjusting not only the sound volume and vibration width of the notification sound, but also the tone color, sound pressure, generation timing, sound image size, and the like.
　＜Ｂ－５．効果＞
　本発明の実施の形態２に係る報知音出力制御装置１０２は、自動運転制御装置２０１により自動運転制御される車両において報知音の出力制御を行うものであり、慣性力予測部１は、自動運転制御装置２０１が決定する将来の時刻における車両の操舵角に基づき、慣性力の方向を予測する。自動運転の場合、搭乗者は運転に集中しないことが多いため、慣性力によって姿勢を崩さない様、報知音によりアシストする必要性が高い。 <B-5. Effect>
The notification sound output control apparatus 102 according to Embodiment 2 of the present invention performs output control of the notification sound in a vehicle that is automatically operated and controlled by the automatic operation control apparatus 201, and the inertial force prediction unit 1 performs automatic operation. The direction of the inertial force is predicted based on the steering angle of the vehicle at a future time determined by the control device 201. In the case of automatic driving, the passenger often does not concentrate on driving, so there is a high need for assisting with a notification sound so as not to break his posture due to inertial force.
　報知音出力制御部３は、慣性力予測部１が慣性力の発生を予測した将来の時刻より前に報知音が出力されるよう制御する。これにより、搭乗者は報知音を聞いて身構えてから慣性力を受けるため、姿勢の崩れを小さくすることが出来る。 The notification sound output control unit 3 performs control so that the notification sound is output before a future time when the inertial force prediction unit 1 predicts the generation of the inertial force. As a result, the passenger receives inertial force after listening to the notification sound, so that the posture collapse can be reduced.
　また、報知音出力制御装置１０２は、報知音の出力要否を判断する出力要否判断部５を備え、出力要否判断部５が出力要と判断した場合にのみ、報知音出力制御部３は報知音の出力制御を行う。従って、報知音出力制御装置１０２は、慣性力が生じる場合に常に報知音を出力するのではなく、搭乗者が姿勢を崩す恐れが高いと考えられる場合にのみ、報知音を出力することができる。 Further, the notification sound output control device 102 includes an output necessity determination unit 5 that determines whether the notification sound needs to be output, and only when the output necessity determination unit 5 determines that the output is necessary, the notification sound output control unit 3. Performs output control of notification sound. Therefore, the notification sound output control device 102 does not always output the notification sound when inertial force is generated, but can output the notification sound only when it is considered that the passenger is likely to lose his / her posture. .
　また、報知音出力制御装置１０２において、慣性力予測部１は、将来の時刻における車両の走行速度に基づき慣性力の大きさを予測し、出力要否判断部５は、慣性力の大きさに基づき報知音の出力要否を判断する。従って、慣性力が小さく搭乗者が姿勢を崩すおそれが低い場合には、報知音の出力を抑制することができる。 In the notification sound output control device 102, the inertia force prediction unit 1 predicts the magnitude of the inertia force based on the traveling speed of the vehicle at a future time, and the output necessity determination unit 5 determines the magnitude of the inertia force. Based on this, it is determined whether the notification sound needs to be output. Therefore, when the inertial force is small and the possibility that the occupant loses his / her posture is low, the output of the notification sound can be suppressed.
　また、報知音出力制御装置１０２において、出力要否判断部５は、車両の自動化レベルに基づき報知音の出力要否を判断することができる。車両の自動化レベルが上がる程、搭乗者の運転集中度が下がるため、例えば車両の自動化レベルが大きい場合に報知音の出力を要、小さい場合に報知音の出力を不要と判断することによって、必要なときに報知音の出力を行うことができる。 In the notification sound output control apparatus 102, the output necessity determination unit 5 can determine whether the notification sound needs to be output based on the vehicle automation level. As the vehicle automation level increases, the driver's concentration of driving decreases, so for example, it is necessary to output a notification sound when the vehicle automation level is high, and by determining that the notification sound output is unnecessary when the vehicle automation level is low The notification sound can be output at any time.
　また、報知音出力制御装置１０２は、搭乗者の運転集中度を測定する運転集中度測定部６を備え、出力要否判断部５は、搭乗者の運転集中度に基づき報知音の出力要否を判断する。搭乗者は、運転集中度が低いほど慣性力によって不意に姿勢を崩す可能性が高くなるため、例えば運転集中度が低い場合に報知音の出力を要、高い場合に報知音の出力を不要と判断することによって、必要なときに報知音の出力を行うことができる。 Further, the notification sound output control device 102 includes a driving concentration level measuring unit 6 that measures the driving concentration level of the passenger, and the output necessity determination unit 5 determines whether the notification sound needs to be output based on the driving concentration level of the passenger. Judging. Passengers are more likely to unexpectedly lose their posture due to inertial force as the driving concentration is lower.For example, it is necessary to output a notification sound when the driving concentration is low, and it is not necessary to output a notification sound when the driving concentration is high. By determining, it is possible to output a notification sound when necessary.
　＜Ｃ．実施の形態３＞
　実施の形態３では、手動運転車両における報知音の出力制御について説明する。手動運転車両においても、搭乗者が運転に集中しないことはあり得るため、報知音を出力して、慣性力による姿勢の崩れを抑制することには実益がある。 <C. Embodiment 3>
In the third embodiment, output control of notification sound in a manually operated vehicle will be described. Even in a manually operated vehicle, it is possible that the passenger does not concentrate on driving, so there is an actual advantage in outputting a notification sound and suppressing the posture collapse caused by the inertial force.
　＜Ｃ－１．構成＞
　図１１は、実施の形態３に係る報知音出力制御装置１０３とその周辺装置の構成を示すブロック図である。報知音出力制御装置１０３は、例えば車両に搭載された装置として構成され、実施の形態１に係る報知音出力制御装置１０１と同様の構成である。報知音出力制御装置１０３が搭載される車両は手動運転車両であり、カーナビゲーション装置２２０が搭載されている。報知音出力制御装置１０３はカーナビゲーション装置２２０から車両の経路情報と位置情報を取得し、これらに基づき車両に搭載されたスピーカ４を駆動して、報知音の出力制御を行う。 <C-1. Configuration>
FIG. 11 is a block diagram illustrating the configuration of the notification sound output control device 103 and its peripheral devices according to the third embodiment. The notification sound output control device 103 is configured, for example, as a device mounted on a vehicle, and has the same configuration as the notification sound output control device 101 according to the first embodiment. A vehicle on which the notification sound output control device 103 is mounted is a manually operated vehicle, and a car navigation device 220 is mounted on the vehicle. The notification sound output control device 103 acquires vehicle route information and position information from the car navigation device 220, and drives the speaker 4 mounted on the vehicle based on these information to control output of the notification sound.
　カーナビゲーション装置２２０は、車両の位置情報を検出する位置検出部２２１と、車両の走行経路を探索する経路探索部２２２を備えている。例えば、搭乗者がカーナビゲーション装置２２０に目的地を入力すると、車両の現在位置から目的地までの走行経路を経路探索部２２２が探索する。 The car navigation device 220 includes a position detection unit 221 that detects vehicle position information, and a route search unit 222 that searches for a travel route of the vehicle. For example, when a passenger inputs a destination to the car navigation device 220, the route search unit 222 searches for a travel route from the current position of the vehicle to the destination.
　なお、報知音出力制御装置１０３は、実施の形態２に係る報知音出力制御装置１０２と同様に、出力要否判断部５および運転集中度測定部６を備えていても良い。 Note that the notification sound output control device 103 may include the output necessity determination unit 5 and the driving concentration degree measurement unit 6 similarly to the notification sound output control device 102 according to the second embodiment.
　＜Ｃ－２．動作＞
　図１２は、報知音出力制御装置１０３の動作を示すフローチャートである。このフローは、一定周期など随時に繰り返して行われる。 <C-2. Operation>
FIG. 12 is a flowchart showing the operation of the notification sound output control device 103. This flow is repeated at any time such as a fixed period.
　慣性力予測部１は、カーナビゲーション装置２２０から、経路探索部２２２が探索した車両の走行経路情報を取得し（ステップＳ３１）、位置検出部２２１が検出した車両の位置情報を取得する（ステップＳ３２）。 The inertial force prediction unit 1 acquires the travel route information of the vehicle searched by the route search unit 222 from the car navigation device 220 (step S31), and acquires the position information of the vehicle detected by the position detection unit 221 (step S32). ).
　次に、慣性力予測部１は、車両の位置情報と走行経路情報から、車両が走行経路上の左折地点または右折地点から１０ｍ以内に近づいたか否かを判断する（ステップＳ３３）。車両が走行経路上の左折地点または右折地点から１０ｍ以内に近づいていなければ、ステップＳ３２に戻り、再び慣性力予測部１は車両の位置情報をカーナビゲーション装置２２０から取得する。 Next, the inertial force prediction unit 1 determines whether or not the vehicle approaches within 10 m from the left turn point or the right turn point on the travel route from the vehicle position information and the travel route information (step S33). If the vehicle is not approaching within 10 m from the left turn point or the right turn point on the travel route, the process returns to step S <b> 32, and the inertial force prediction unit 1 acquires the vehicle position information from the car navigation device 220 again.
　車両が走行経路上の左折地点または右折地点から１０ｍ以内に近づいた場合、慣性力予測部１は、左折又は右折に応じて慣性力の方向を予測する（ステップＳ３４）。すなわち、走行経路上の当該地点が左折地点であれば、慣性力方向を右方向と予測し、当該地点が右折地点であれば、慣性力方向を左方向と予測する。このように、慣性力予測部１は、手動運転車両では車両の将来の挙動を正確に予測することはできないが、走行経路が定まっている場合には、車両が走行経路通りに走行することを前提として、交差点等進路が大きく変わる地点において発生する慣性力の方向を予測することが出来る。なお、上記の説明での１０ｍは例示である。 When the vehicle approaches within 10 m from the left turn point or the right turn point on the travel route, the inertia force prediction unit 1 predicts the direction of the inertia force according to the left turn or the right turn (step S34). That is, if the point on the travel route is a left turn point, the inertial force direction is predicted as the right direction, and if the point is a right turn point, the inertial force direction is predicted as the left direction. As described above, the inertial force prediction unit 1 cannot accurately predict the future behavior of the vehicle with a manually operated vehicle. However, when the travel route is fixed, the inertial force prediction unit 1 determines that the vehicle travels according to the travel route. As a premise, it is possible to predict the direction of the inertial force generated at a point where the course of the intersection changes greatly. In the above description, 10 m is an example.
　次に、報知音作成部２が報知音を作成する（ステップＳ３５）。そして、報知音出力制御部３が、報知音の出力制御を行う（ステップＳ３６）。 Next, the notification sound creation unit 2 creates a notification sound (step S35). And the notification sound output control part 3 performs output control of a notification sound (step S36).
　＜Ｃ－３．効果＞
　本発明の実施の形態３に係る報知音出力制御装置１０３において、慣性力予測部１は、車両の将来の走行経路から、慣性力の方向を予測する。このように、車両の走行経路から慣性力の方向を予測することによって、手動運転車両においても、慣性力による搭乗者の姿勢の崩れを抑制するための報知音の出力制御が可能となる。 <C-3. Effect>
In notification sound output control apparatus 103 according to Embodiment 3 of the present invention, inertial force prediction unit 1 predicts the direction of inertial force from the future travel route of the vehicle. As described above, by predicting the direction of the inertial force from the travel route of the vehicle, it is possible to perform output control of the notification sound for suppressing the collapse of the posture of the passenger due to the inertial force even in the manually operated vehicle.
　＜Ｄ．ハードウェア構成＞
　以上の説明では、実施の形態１ないし３に係る報知音出力制御装置１０１，１０２，１０３を、車載装置とした。しかし、報知音出力制御装置１０１，１０２，１０３は、車載装置、ＰＤＡ（Portable Navigation Device）、通信端末（例えば携帯電話、スマートフォン、およびタブレット等の携帯端末）、およびこれらにインストールされるアプリケーションの機能、並びにサーバなどを適宜に組み合わせて構築されたシステムにも適用することができる。この場合、以上で説明した報知音出力制御装置の１０１，１０２，１０３の各機能または各構成要素は、システムを構築する各機器に分散して配置されてもよいし、いずれかの機器に集中して配置されても良い。その一例として、図１３に示すように、報知音出力制御装置１０１は、慣性力予測部１と報知音作成部２がサーバで構成され、報知音出力制御部３がスピーカ４と共に車載装置として構成されていても良い。 <D. Hardware configuration>
In the above description, the notification sound output control devices 101, 102, and 103 according to Embodiments 1 to 3 are in-vehicle devices. However, the notification sound output control devices 101, 102, and 103 are in-vehicle devices, PDAs (Portable Navigation Devices), communication terminals (for example, mobile terminals such as mobile phones, smartphones, and tablets), and functions of applications installed on these devices. And a system constructed by appropriately combining servers and the like. In this case, each function or each component of the notification sound output control device 101, 102, 103 described above may be distributed and arranged in each device constituting the system, or concentrated on any device. May be arranged. As an example thereof, as shown in FIG. 13, the notification sound output control device 101 includes an inertial force prediction unit 1 and a notification sound creation unit 2 configured as a server, and the notification sound output control unit 3 includes a speaker 4 as an in-vehicle device. May be.
　報知音出力制御装置１０１，１０２，１０３における、慣性力予測部１、報知音作成部２、報知音出力制御部３、出力要否判断部５、および運転集中度測定部６は、図１４に示す処理回路４０１により実現される。すなわち、処理回路４０１は、慣性力予測部１、報知音作成部２、報知音出力制御部３、出力要否判断部５、および運転集中度測定部６を備える。処理回路４０１には、専用のハードウェアが適用されても良いし、メモリに格納されるプログラムを実行するプロセッサが適用されても良い。プロセッサは、例えば中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）等である。 In the notification sound output control devices 101, 102, 103, the inertial force prediction unit 1, the notification sound creation unit 2, the notification sound output control unit 3, the output necessity determination unit 5, and the driving concentration degree measurement unit 6 are shown in FIG. The processing circuit 401 shown in FIG. That is, the processing circuit 401 includes an inertial force prediction unit 1, a notification sound creation unit 2, a notification sound output control unit 3, an output necessity determination unit 5, and a driving concentration degree measurement unit 6. Dedicated hardware may be applied to the processing circuit 401, or a processor that executes a program stored in the memory may be applied. The processor is, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor) or the like.
　処理回路４０１が専用のハードウェアである場合、処理回路４０１は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field-Programmable Gate Array）、またはこれらを組み合わせたものが該当する。慣性力予測部１などの各部の機能それぞれは、複数の処理回路４０１で実現されてもよいし、各部の機能がまとめて一つの処理回路で実現されても良い。 When the processing circuit 401 is dedicated hardware, the processing circuit 401 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable). Gate Array) or a combination of these. Each function of each unit such as the inertial force prediction unit 1 may be realized by a plurality of processing circuits 401, or the function of each unit may be realized by a single processing circuit.
　処理回路４０１がプロセッサである場合、慣性力予測部１等の機能は、ソフトウェア等（ソフトウェア、ファームウェアまたはソフトウェアとファームウェア）との組み合わせにより実現される。ソフトウェア等はプログラムとして記述され、メモリに格納される。図１５に示すように、処理回路４０１に適用されるプロセッサ４０２は、メモリ４０３に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、報知音出力制御装置１０１，１０２，１０３は、処理回路４０１により実行されるときに、将来の時刻における車両の挙動により生じる慣性力の方向を予測することと、慣性力の発生を搭乗者に報知するための報知音を作成することと、車両に搭載されたスピーカを駆動し、報知音の音像が搭乗者に対して慣性力の方向に位置するように、報知音の出力制御を行うことと、が結果的に実行されることになるプログラムを格納するためのメモリ４０３を備える。換言すれば、このプログラムは、慣性力予測部１等の手順や方法をコンピュータに実行させるものであるともいえる。ここで、メモリ４０３には、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリ、ＥＰＲＯＭ（Electrically Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）などの、不揮発性または揮発性の半導体メモリ、ＨＤＤ（Hard Disk Drive）、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Digital Versatile Disk）及びそのドライブ装置の少なくともいずれか１つが含まれる。 When the processing circuit 401 is a processor, the functions of the inertial force prediction unit 1 and the like are realized by a combination with software or the like (software, firmware, or software and firmware). Software or the like is described as a program and stored in a memory. As illustrated in FIG. 15, the processor 402 applied to the processing circuit 401 implements the functions of the respective units by reading and executing a program stored in the memory 403. That is, the notification sound output control devices 101, 102, and 103 predict the direction of inertial force generated by the behavior of the vehicle at a future time and execute generation of inertial force when executed by the processing circuit 401. A notification sound for informing the vehicle and driving a speaker mounted on the vehicle to control the output of the notification sound so that the sound image of the notification sound is positioned in the direction of inertial force with respect to the passenger And a memory 403 for storing a program to be executed as a result. In other words, it can be said that this program causes a computer to execute the procedure and method of the inertial force prediction unit 1 and the like. Here, the memory 403 is non-volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Electrically Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. Alternatively, at least one of a volatile semiconductor memory, an HDD (Hard Disk Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disk), and a drive device thereof is included.
　以上、慣性力予測部１等の各機能が、ハードウェア及びソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、慣性力予測部１等の一部を専用のハードウェアで実現し、別の一部をソフトウェア等で実現する構成であってもよい。例えば、慣性力予測部１については専用のハードウェアとしての処理回路でその機能を実現し、それ以外についてはプロセッサ４０２としての処理回路４０１がメモリ４０３に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。 As described above, the configuration in which each function of the inertial force prediction unit 1 and the like is realized by either hardware or software has been described. However, the present invention is not limited to this, and a configuration in which a part of the inertial force prediction unit 1 or the like is realized by dedicated hardware and another part is realized by software or the like. For example, the inertial force prediction unit 1 realizes its function by a processing circuit as dedicated hardware, and otherwise the processing circuit 401 as the processor 402 reads and executes a program stored in the memory 403. The function can be realized.
　以上のように、処理回路は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the processing circuit can realize the functions described above by hardware, software, or the like, or a combination thereof.
　なお、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略することが可能である。 It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.
　この発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.
　１　慣性力予測部、２　報知音作成部、３　報知音出力制御部、４　スピーカ、５　出力要否判断部、６　運転集中度測定部、５１　ハンドル、５２　搭乗者、１０１，１０２，１０３　報知音出力制御装置、２０１　自動運転制御装置、２０２　走行状態取得部、２０３　挙動演算部、２２０　カーナビゲーション装置、２２１　位置検出部、２２２　経路探索部、３０１　操舵角センサ、３０２　車速センサ、３０３　レーダ、３０４　カメラ、３０５　ジャイロスコープ、３０６　ＧＰＳ受信機、３０７　地図データ、３０８　操舵ＥＣＵ、３０９　加速ＥＣＵ、３１０　制動ＥＣＵ、４０１　処理回路、４０２　プロセッサ、４０３　メモリ。 1 Inertial force prediction unit, 2 Notification sound generation unit, 3 Notification sound output control unit, 4 Speaker, 5 Output necessity determination unit, 6 Driving concentration measurement unit, 51 Handle, 52 Passenger, 101, 102, 103 Notification sound Output control device, 201 Automatic driving control device, 202 Driving state acquisition unit, 203 Behavior calculation unit, 220 Car navigation device, 221 Position detection unit, 222 Route search unit, 301 Steering angle sensor, 302 Vehicle speed sensor, 303 Radar, 304 Camera 305, gyroscope, 306 GPS receiver, 307 map data, 308 steering ECU, 309 acceleration ECU, 310 braking ECU, 401 processing circuit, 402 processor, 403 memory.

Claims (9)

  1. 　将来の時刻における車両の挙動により生じる慣性力の方向を予測する慣性力予測部と、
    　前記慣性力の発生を前記車両の搭乗者に報知するための報知音を作成する報知音作成部と、
    　前記車両に搭載されたスピーカを駆動し、前記報知音の音像が前記搭乗者に対して前記慣性力の方向に位置するように、前記報知音の出力制御を行う報知音出力制御部と、を備える、
    報知音出力制御装置。     An inertial force prediction unit that predicts the direction of the inertial force generated by the behavior of the vehicle at a future time;
    A notification sound creating unit for creating a notification sound for notifying a passenger of the vehicle of the generation of the inertial force;
    A notification sound output control unit that drives a speaker mounted on the vehicle and performs output control of the notification sound so that the sound image of the notification sound is positioned in the direction of the inertial force with respect to the occupant; Prepare
    Notification sound output control device.
  2. 　前記車両は、自動運転制御装置により自動運転制御され、
    　前記慣性力予測部は、前記自動運転制御装置が決定する前記将来の時刻における前記車両の操舵角に基づき、前記慣性力の方向を予測する、
    請求項１に記載の報知音出力制御装置。     The vehicle is automatically driven and controlled by an automatic driving control device,
    The inertial force prediction unit predicts a direction of the inertial force based on a steering angle of the vehicle at the future time determined by the automatic driving control device;
    The notification sound output control device according to claim 1.
  3. 　前記慣性力予測部は、前記車両の走行経路から、前記慣性力の方向を予測する、
    請求項１に記載の報知音出力制御装置。     The inertia force prediction unit predicts a direction of the inertia force from a travel route of the vehicle;
    The notification sound output control device according to claim 1.
  4. 　前記報知音出力制御部は、前記報知音が前記将来の時刻より前に出力されるよう制御する、
    請求項１に記載の報知音出力制御装置。     The notification sound output control unit controls the notification sound to be output before the future time.
    The notification sound output control device according to claim 1.
  5. 　前記報知音の出力要否を判断する出力要否判断部をさらに備え、
    　前記出力要否判断部が出力要と判断した場合にのみ、前記報知音出力制御部は前記報知音の出力制御を行う、
    請求項１に記載の報知音出力制御装置。     An output necessity determining unit for determining whether the notification sound is output;
    The notification sound output control unit performs output control of the notification sound only when the output necessity determination unit determines that the output is necessary.
    The notification sound output control device according to claim 1.
  6. 　前記慣性力予測部は、前記将来の時刻における前記車両の走行速度に基づき前記慣性力の大きさを予測し、
    　前記出力要否判断部は、前記慣性力の大きさに基づき前記報知音の出力要否を判断する、
    請求項５に記載の報知音出力制御装置。     The inertial force prediction unit predicts a magnitude of the inertial force based on a traveling speed of the vehicle at the future time;
    The output necessity determination unit determines whether the notification sound needs to be output based on the magnitude of the inertia force.
    The notification sound output control device according to claim 5.
  7. 　前記出力要否判断部は、前記車両の自動化レベルに基づき前記報知音の出力要否を判断する、
    請求項５に記載の報知音出力制御装置。     The output necessity determination unit determines whether the notification sound needs to be output based on an automation level of the vehicle.
    The notification sound output control device according to claim 5.
  8. 　前記搭乗者の運転集中度を測定する運転集中度測定部をさらに備え、
    　前記出力要否判断部は、前記搭乗者の運転集中度に基づき前記報知音の出力要否を判断する、
    請求項５に記載の報知音出力制御装置。     A driving concentration measuring unit that measures the driving concentration of the passenger;
    The output necessity determination unit determines whether the notification sound needs to be output based on the driving concentration of the passenger.
    The notification sound output control device according to claim 5.
  9. 　将来の時刻における車両の挙動により生じる慣性力の方向を予測し、
    　前記慣性力の発生を前記車両の搭乗者に報知するための報知音を作成し、
    　前記車両に搭載されたスピーカを駆動し、前記報知音の音像が前記搭乗者に対して前記慣性力の方向に位置するように、前記報知音の出力制御を行う、
    報知音出力制御方法。     Predict the direction of inertial force generated by the behavior of the vehicle at a future time,
    Creating a notification sound for notifying a passenger of the vehicle of the generation of the inertial force;
    Driving a speaker mounted on the vehicle, and performing output control of the notification sound so that a sound image of the notification sound is positioned in the direction of the inertial force with respect to the occupant;
    Notification sound output control method.
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