WO2018105114A1 - Reporting control device and reporting control method - Google Patents

Reporting control device and reporting control method Download PDF

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Publication number
WO2018105114A1
WO2018105114A1 PCT/JP2016/086776 JP2016086776W WO2018105114A1 WO 2018105114 A1 WO2018105114 A1 WO 2018105114A1 JP 2016086776 W JP2016086776 W JP 2016086776W WO 2018105114 A1 WO2018105114 A1 WO 2018105114A1
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WO
WIPO (PCT)
Prior art keywords
automatic driving
driver
notification
control
unit
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PCT/JP2016/086776
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French (fr)
Japanese (ja)
Inventor
悦男 轟
下谷　光生
Original Assignee
三菱電機株式会社
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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/JP2016/086776 priority Critical patent/WO2018105114A1/en
Publication of WO2018105114A1 publication Critical patent/WO2018105114A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present invention relates to a notification control device and a notification control method for informing in advance that a vehicle is automatically driven.
  • Patent Literature 1 the advance notice is given using a predetermined device at a predetermined timing without considering the driver's condition. Further, in Patent Document 2, a warning is given using the same device regardless of the state of the driver. Therefore, when the technique of Patent Document 2 is applied to Patent Document 1, it is considered possible to make a cancellation notice according to the driver's condition, but in this case, it is determined in advance at a predetermined timing. Cancellation notice will be made using the equipment.
  • Patent Documents 1 and 2 do not consider changing the method of advance notification of automatic driving cancellation according to the time until automatic driving is canceled, and cancel appropriate automatic driving for the driver. It could not be said that prior notice of
  • This invention was made in order to solve such a problem, and it aims at providing the alerting control apparatus and alerting
  • a notification control device includes a driver state information acquisition unit that acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, And a control unit that performs control to determine how to notify the cancellation of the automatic driving in advance based on the estimated time until the driving is released and the driver state information acquired by the driver state information acquisition unit.
  • the notification control method acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, the predicted time until automatic driving is canceled, and the acquired driving Based on the person state information, control is performed to determine how to notify the cancellation of the automatic driving in advance.
  • the notification control device includes a driver state information acquisition unit that acquires driver state information, which is information indicating a driver's state in a vehicle that is traveling in automatic driving, and automatic driving is canceled.
  • driver state information which is information indicating a driver's state in a vehicle that is traveling in automatic driving
  • automatic driving is canceled.
  • the notification control method acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, the predicted time until automatic driving is canceled, and the acquired driver state information Based on the above, since the control for determining how to cancel the automatic driving in advance is performed, it is possible to appropriately perform the prior notification of the automatic driving cancellation.
  • FIG. 1 is a block diagram showing an example of the configuration of the notification control apparatus 1 according to the present embodiment. Note that FIG. 1 shows the minimum necessary components constituting the notification control apparatus according to the present embodiment.
  • the notification control device 1 is mounted on a vehicle, and the vehicle can be switched between automatic driving for automatically performing all of acceleration, steering, and braking, and manual driving by a driver.
  • the notification control device 1 includes a driver state information acquisition unit 2 and a control unit 3.
  • the driver state information acquisition unit 2 acquires driver state information that is information indicating the state of the driver in a vehicle that is traveling in automatic driving.
  • the control unit 3 performs control for determining how to cancel the automatic driving in advance based on the predicted time until the automatic driving is canceled and the driver state information acquired by the driver state information acquiring unit 2. Do.
  • FIG. 2 is a block diagram illustrating an example of the configuration of the notification control device 4.
  • the notification control device 4 includes a control unit 3, a current position information acquisition unit 5, an automatic driving plan generation unit 6, a first communication unit 7, a second communication unit 8, and display output.
  • the first communication unit 7 is communicably connected to each of the occupant state recognition device 11 and the interior interior control device 13.
  • the second communication unit 8 is communicably connected to the mobile communication terminal 16.
  • the display output unit 9 is connected to the display unit 17.
  • the audio output unit 10 is connected to the speaker 18.
  • the current position information acquisition unit 5 acquires the current position information of the vehicle from, for example, GPS (Global Positioning System).
  • the automatic driving plan generation unit 6 is configured to store the vehicle current position information acquired by the current position information acquisition unit 5 according to an instruction from the control unit 3, a destination preset by a user such as a driver, and map information storage (not shown). Based on the map information stored in the unit, an automatic driving plan for the vehicle is generated.
  • the automatic operation plan includes a long-term automatic operation plan and a short-term automatic operation plan.
  • a long-term automatic operation plan refers to an automatic operation plan that is performed along the route from the current position to the destination.
  • a short-term automatic driving plan refers to an automatic driving plan that is performed based on the situation around the vehicle.
  • the map information stored in the map information storage unit includes information on road sections where automatic driving is possible and information on positions where automatic driving is canceled.
  • the map information storage unit may be provided inside the vehicle or may be provided outside.
  • the automatic driving plan generation unit 6 has a function of calculating a route from the current position to the destination.
  • the automatic operation plan generated by the automatic operation plan generation unit 6 includes a predicted time until the automatic operation is canceled. Specifically, the automatic driving plan generation unit 6 predicts the time until the automatic driving is canceled based on the current position of the vehicle acquired from the current position information acquisition unit 5 every predetermined time and the map information. To do.
  • the automatic driving plan may include a position for canceling automatic driving, or may include both a predicted time until canceling automatic driving and a position for canceling automatic driving.
  • the first communication unit 7 acquires occupant state information indicating the occupant state of the vehicle from the occupant state recognition device 11 in accordance with an instruction from the control unit 3.
  • the occupant includes a driver and a passenger present in the vehicle. That is, the 1st communication part 7 functions as the driver
  • the first communication unit 7 acquires at least driver state information.
  • the occupant state recognition device 11 recognizes the awake state as the state of the occupant from the image inside the vehicle taken by the camera 12.
  • the occupant state recognition device 11 acquires at least a binary value of “high” or “low” as the wake state of the occupant. For example, “high” in the awake state indicates a state in which the occupant is gazing at the front of the vehicle, and “low” in the awake state indicates other states.
  • the wakefulness state of the occupant can be determined using a known technique.
  • the occupant state recognition device 11 is not limited to recognizing the wakefulness state of the occupant, and may recognize the occupant state by other methods. For example, the occupant state recognition device 11 may recognize the degree of blur according to the state of the occupant's pupil.
  • the first communication unit 7 outputs the seat control information or the seat belt control information generated by the control unit 3 to the interior interior control device 13 according to the instruction of the control unit 3.
  • the vehicle interior control device 13 controls the vibration of the seat 14 based on the seat control information transmitted from the first communication unit 7.
  • the interior control device 13 controls the tightening strength of the seat belt 15 based on the seat belt control information.
  • the interior interior control device 13 may control interior interiors other than the seat 14 and the seat belt 15, and may control a handle (not shown), for example. In this case, the vehicle interior control device 13 controls the vibration of the steering wheel based on the steering wheel control information generated by the control unit 3.
  • the second communication unit 8 acquires operation information from the mobile communication terminal 16 in accordance with an instruction from the control unit 3.
  • the operation information is information indicating that the passenger is operating the mobile communication terminal 16.
  • the operation information is, for example, information indicating that the occupant is touch-operating the mobile communication terminal 16 or whether the occupant is operating the mobile communication terminal 16 with a camera mounted on the mobile communication terminal 16. Contains information about whether or not.
  • Examples of the mobile communication terminal 16 include a smartphone that a passenger has brought into the vehicle.
  • the second communication unit 8 establishes communication with the mobile communication terminal 16 by an application installed in the mobile communication terminal 16 in accordance with an instruction from the control unit 3, and a warning message for notifying automatic driving cancellation, and automatic driving cancellation Is transmitted to the mobile communication terminal 16.
  • the warning message and the warning sound are generated by the control unit 3.
  • an application installed in the mobile communication terminal 16 for example, a dedicated application for notifying automatic driving cancellation or an existing application such as e-mail may be used.
  • the display output unit 9 outputs a warning message for notifying automatic driving cancellation or a warning icon for notifying automatic driving cancellation to the display unit 17 in accordance with an instruction from the control unit 3.
  • a warning message or a warning icon is displayed on the display unit 17.
  • the warning message or warning icon is generated by the control unit 3.
  • HUD Head Up Display
  • a display device provided on the instrument panel, and a center display are installed in the vehicle as display device 17.
  • the voice output unit 10 outputs a warning sound for notifying the automatic driving release to the speaker 18 in accordance with an instruction from the control unit 3.
  • a warning sound is output from the speaker 18.
  • the warning sound is generated by the control unit 3.
  • a plurality of speakers 18 may be provided in the vehicle.
  • control unit 3 Based on the predicted time included in the automatic driving plan generated by the automatic driving plan generating unit 6 and the occupant state information acquired by the first communication unit 7, the control unit 3 determines how to notify the automatic driving cancellation in advance. Control to decide. In addition, the control unit 3 controls the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the voice output unit 10.
  • FIG. 3 is a block diagram illustrating an example of a hardware configuration of the notification control device 4. The same applies to the notification control apparatus 1.
  • the functions of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the audio output unit 10 in the notification control device 4 are as follows. Realized by a processing circuit. That is, the notification control device 4 performs control for determining how to notify the automatic driving release in advance, acquires current position information, generates an automatic driving plan, acquires occupant state information, and communicates with the mobile communication terminal 16. And a processing circuit for displaying information on the display 17 and outputting sound from the speaker 18.
  • the processing circuit is a processor 19 (also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in the memory 20.
  • a processor 19 also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)
  • control unit 3 The functions of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the audio output unit 10 in the notification control device 4 are as follows. It is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 20. The processing circuit reads out and executes the program stored in the memory 20, thereby realizing the function of each unit.
  • the notification control device 4 performs a control for determining how to notify the automatic driving release in advance, a step for acquiring current position information, a step for generating an automatic driving plan, a step for acquiring occupant state information, mobile communication
  • a memory 20 is provided for storing a program in which a step of communicating with the terminal 16, a step of displaying information on the display unit 17, and a step of outputting sound from the speaker 18 are executed as a result.
  • these programs are the procedure of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the voice output unit 10, or It can be said that the method is executed by a computer.
  • the memory is non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. All types of storage media such as volatile semiconductor memories, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs, and the like are applicable.
  • FIG. 4 is a flowchart showing an example of the operation of the notification control device 4.
  • step S1 the control unit 3 sets the warning level to “Mid” as an initial value.
  • the warning level includes three levels of “Low”, “Mid”, and “High”.
  • step S2 the automatic driving plan generation unit 6 follows the current position information of the vehicle acquired by the current position information acquisition unit 5, the preset destination, and the map information in accordance with an instruction from the control unit 3.
  • An automatic driving plan including at least an estimated time until the automatic driving is canceled is generated.
  • step S3 the control unit 3 determines how many minutes the predicted time T until the automatic operation cancellation included in the automatic operation plan generated by the automatic operation plan generation unit 6 is.
  • the process proceeds to step S4.
  • the case where the predicted time T is less than 0 minutes refers to the case where the current time has passed the predicted time T, that is, the case where the vehicle has canceled automatic driving.
  • the process proceeds to step S5. If the predicted time T is between 0 minutes and 5 minutes, the process proceeds to step S7.
  • 5 minutes and 10 minutes which are judgment criteria in step S3 are examples, and arbitrary time may be sufficient.
  • step S4 the control unit 3 performs control to stop notification of all automatic driving cancellations. Thereafter, the process proceeds to step S1. Thereby, the mobile communication terminal 16 and the display device 17 do not display the warning message and the warning icon. The mobile communication terminal 16 and the speaker 18 do not output a warning sound. The vehicle interior control device 13 stops the vibration of the seat 14.
  • step S5 the control unit 3 sets the warning level to “Low”.
  • step S6 the control unit 3 performs control so that, for example, a warning icon shown in FIG. Thereafter, the process proceeds to step S2.
  • the warning icon shown in FIG. 5 indicates that the automatic operation is canceled 10 minutes after the current time.
  • the period during which the occupant prepares for switching from automatic operation to manual operation is shown between two and a half minutes and ten minutes after the current time.
  • warning icon is not limited to the warning icon illustrated in FIG. 5, and may be an icon indicating that automatic driving is canceled.
  • the warning icon may be displayed on all the display devices 17, that is, the HUD, the display device provided on the instrument panel, and the center display. Moreover, you may display a warning icon only on the indicator 17 which a passenger
  • step S ⁇ b> 7 the first communication unit 7 acquires driver state information indicating the driver's arousal state from the occupant state recognition device 11 in accordance with an instruction from the control unit 3.
  • step S8 the control unit 3 determines whether the driver's arousal state acquired by the first communication unit 7 is “high” or “low”. When the driver's arousal state is “high”, the process proceeds to step S17. When the driver's arousal state is “low”, the process proceeds to step S9.
  • step S9 the control unit 3 determines whether the set warning level is “High” or “Other than High”. When the warning level is “High”, the process proceeds to step S14. When the warning level is “other than High”, that is, “Mid” or “Low”, the process proceeds to step S10.
  • step S10 the control unit 3 controls the display output unit 9 to display a warning message on all the display units 17, that is, the display units provided in the HUD, the instrument panel, and the center display.
  • the warning message may be a message notifying that automatic driving is released, such as a message “automatic driving will be released in T minutes”. “T minutes” corresponds to the predicted time T until the automatic operation is canceled.
  • step S11 the control unit 3 controls the audio output unit 10 to output a warning sound from the speaker 18.
  • a warning sound for example, a sound that informs that automatic driving is canceled, such as a voice “automatic driving is canceled in T minutes later” or an alarm sound, may be used. “T minutes” corresponds to the predicted time T until the automatic operation is canceled.
  • a warning sound may be output from all the speakers 18 or a warning sound may be output from any speaker 18.
  • a warning sound may be output from the speaker 18 near the passenger.
  • the position of the occupant may be determined based on, for example, an image captured by a camera installed in the vehicle. The camera that shoots at this time may also be used as the camera 12.
  • step S12 the vehicle interior control device 13 controls the seat 14 to vibrate weakly based on the seat control information transmitted from the first communication unit 7.
  • the interior interior control device 13 may control the seat belt 15 to be tightened weakly based on the seat belt control information transmitted from the first communication unit 7.
  • the interior interior control device 13 may perform control so that the steering wheel vibrates weakly based on the steering wheel control information transmitted from the first communication unit 7.
  • step S13 the control unit 3 sets the warning level to “High”. Thereafter, the process proceeds to step S2.
  • step S14 the control unit 3 controls the audio output unit 10 to increase the volume of the warning sound output from the speaker 18 and output the warning sound whose volume has been increased. As a result, a warning sound with an increased volume is output from the speaker 18.
  • step S15 the interior interior control device 13 controls the seat 14 to vibrate strongly based on the seat control information transmitted from the first communication unit 7.
  • the vehicle interior control device 13 may perform control so that the seat belt 15 is strongly tightened based on the seat belt control information transmitted from the first communication unit 7. Further, the interior interior control device 13 may perform control so that the steering wheel vibrates strongly based on the steering wheel control information transmitted from the first communication unit 7.
  • step S ⁇ b> 16 the second communication unit 8 transmits a warning message and a warning sound to the mobile communication terminal 16 in accordance with an instruction from the control unit 3.
  • the mobile communication terminal 16 displays a warning message and outputs a warning sound.
  • the warning message may be the same as the warning message in step S10, for example.
  • the warning sound may be the same as the warning sound in step S11, for example.
  • the control unit 3 identifies the mobile communication terminal 16 being operated by the occupant based on the operation information acquired from the mobile communication terminal 16 via the second communication unit 8, and warns only the specified mobile communication terminal 16.
  • the second communication unit 8 may be controlled to transmit a message and a warning sound.
  • step S17 the control unit 3 sets the warning level to “Mid”.
  • step S18 the vehicle interior control device 13 performs control so as to stop the vibration of the seat 14 based on the seat control information transmitted from the first communication unit 7.
  • the control unit 3 controls the audio output unit 10 so as not to output a warning sound from the speaker 18.
  • the control unit 3 returns the volume of the warning sound output from the speaker 18 to the initially set volume.
  • the control unit 3 controls the second communication unit 8 so as not to transmit the warning message and the warning sound to the mobile communication terminal 16.
  • step S18 is omitted when the driver's arousal state is “high” from the beginning. That is, the process of step S18 is performed when the driver's arousal state changes from “low” to “high”.
  • step S19 the control unit 3 controls the display output unit 9 to display, for example, a warning icon as shown in FIG. 5 on the display 17 provided on the HUD and the instrument panel.
  • step S20 the control unit 3 controls the audio output unit 10 to output a warning sound from the speaker 18.
  • the warning sound may be the same as the warning sound in step S11, for example.
  • the present invention is not limited to this.
  • the manner of notification may be changed according to the passenger's arousal state.
  • the vibration of the seat 14 on which the passenger is sitting is controlled according to the awakening state of the passenger, or the seat belt 15 used by the passenger is changed.
  • the degree of tightening may be controlled.
  • FIG. 6 is a block diagram illustrating an example of a configuration of the notification control device 21 according to a modification.
  • the notification control device 21 is connected to an automatic operation control device 22.
  • Other configurations and operations are the same as those of the notification control device 4 shown in FIG.
  • the control unit 3 directly acquires time information from the automatic operation control device 22 until the automatic driving is canceled, rather than acquiring the automatic driving plan including the predicted time T until the automatic driving cancellation generated by the automatic driving plan generation unit 6. It is possible to acquire the time until the automatic driving is canceled earlier. For example, if the control unit 3 determines in step S3 in FIG. 4 that the predicted time T until the automatic driving is canceled is within one minute, the control unit 3 acquires information on the time until the automatic driving is canceled from the automatic driving control device 22. You may do it. Specifically, the first communication unit 7 acquires information on the time from the automatic driving control device 22 until the automatic driving is canceled according to the instruction of the control unit 3.
  • FIG. 2 illustrates the case where the mobile communication terminal 16 displays a warning message and outputs a warning sound when the driver's arousal state is low and the warning level is “high”.
  • the present invention is not limited to this. Absent. You may make it perform notification of automatic driving
  • the occupant state recognition device 11 can recognize the driver's wakefulness in four stages: “sleeping”, “low wakefulness”, “slightly low wakefulness”, and “high wakefulness”.
  • the driver's arousal state is “sleeping”
  • the mobile communication terminal 16 may be vibrated, an alarm sound may be output, and the seat 14 and the handle may be vibrated.
  • the driver's arousal state is “low arousal state”
  • the mobile communication terminal 16 may be vibrated and the seat 14 and the handle may be vibrated weakly.
  • the driver's arousal state is “the arousal state is slightly low”
  • the mobile communication terminal 16 may be vibrated and a warning sound may be output from the speaker 18.
  • a warning message or a warning icon may be displayed on the display unit 17 and a warning sound may be output from the speaker 18. Even in such a case, it is possible to appropriately perform advance notification of automatic driving cancellation.
  • the method of prior notification of automatic driving cancellation according to the time until automatic driving cancellation and the driver's awakening state specifically, a device that performs prior notification, The content to be notified can be determined. Accordingly, it is possible to appropriately perform advance notification of automatic driving cancellation. For example, when the driver's arousal state is low, the vibration of the seat is increased stepwise or the volume of the warning sound is increased stepwise. It is more effective from the viewpoint of power consumption than the case of making it.
  • the notification control device described above is not only a vehicle navigation device, that is, a car navigation device, but also a navigation device or navigation constructed as a system by appropriately combining a PND (Portable Navigation Device) and a server that can be mounted on a vehicle.
  • the present invention can be applied to apparatuses other than the apparatus. In this case, each function or each component of the notification control device is distributed and arranged in each function that constructs the system.
  • the function of the notification control device can be arranged in a server or a mobile communication terminal.
  • a notification control device 23 an occupant state recognition device 11, a camera 12, an interior interior control device 13, a seat 14, a seat belt 15, a mobile communication terminal 16, a display 17, and a speaker are provided on the vehicle side.
  • the server 24 is provided with the automatic operation plan generation unit 6, a notification control system can be constructed.
  • the notification control device 21 shown in FIG. the notification control device 23 acquires an automatic driving plan including a predicted time until cancellation of the automatic driving from the server 24.
  • the mobile communication terminal 16 may include the automatic driving plan generation unit 6 instead of the server 24.
  • the notification control device 23 acquires an automatic driving plan including a predicted time until the automatic driving is canceled from the mobile communication terminal 16.
  • software for executing the operation in the above embodiment may be incorporated in, for example, a server or a mobile communication terminal.
  • the above-described notification control method obtains driver state information that is information indicating the state of the driver in a vehicle that is running in automatic driving, and the estimated time until automatic driving is canceled. Then, based on the acquired driver state information, control is performed to determine how to notify the cancellation of automatic driving in advance.
  • 1 notification control device 1 notification control device, 2 driver status information acquisition unit, 3 control unit, 4 notification control device, 5 current position information acquisition unit, 6 automatic operation plan generation unit, 7 first communication unit, 8 second communication unit, 9 display Output unit, 10 audio output unit, 11 occupant state recognition device, 12 camera, 13 interior control device, 14 seat, 15 seat belt, 16 mobile communication terminal, 17 display, 18 speaker, 19 processor, 20 memory, 21 notification Control device, 22 automatic operation control device, 23 notification control device, 24 servers.

Abstract

A purpose of the present invention is to provide a reporting control device and a reporting control method with which advance reporting of autonomous driving cancellation can be properly performed. A reporting control device according to the present invention comprises: a driver status information acquisition unit that acquires driver status information, being information indicating the status of a driver of a vehicle that is traveling according to autonomous driving; and a control unit that, on the basis of the driver status information acquired by the driver status information acquisition unit and an estimated time until autonomous driving will be cancelled, performs control to determine a method of advance reporting of autonomous driving cancellation.

Description

報知制御装置および報知制御方法Notification control device and notification control method
　本発明は、車両の自動運転解除を事前報知する報知制御装置および報知制御方法に関する。 The present invention relates to a notification control device and a notification control method for informing in advance that a vehicle is automatically driven.
　自動運転システムでは、自動運転を行うシステムと運転者との間で意思の疎通が十分に図られていることが重要である。従来、車両の自動運転の解除予告を行う技術が開示されている（例えば、特許文献１参照）。自動運転の解除予告は、自動運転解除の事前報知と同義である。また、運転者の覚醒度が低下傾向にあるか否かの判定を行い、運転者の覚醒度が低下傾向にある場合は当該運転者に与える警告の強度を変更する技術が開示されている（例えば、特許文献２参照）。 In the automatic driving system, it is important that communication between the system that performs automatic driving and the driver is sufficiently communicated. 2. Description of the Related Art Conventionally, a technique for performing advance notice of canceling automatic driving of a vehicle has been disclosed (see, for example, Patent Document 1). The cancellation notice of automatic driving is synonymous with prior notification of automatic driving cancellation. Further, a technique is disclosed in which it is determined whether or not the driver's arousal level is in a decreasing tendency, and when the driver's arousal level is in a decreasing trend, the intensity of a warning given to the driver is changed ( For example, see Patent Document 2).
特開２０１５－２３０５７３号公報Japanese Patent Laid-Open No. 2015-230573 特開２００１－２１９７６０号公報JP 2001-219760 A
　特許文献１では、運転者の状態を考慮せず、予め定められたタイミングで予め定められた機器を用いて解除予告を行っている。また、特許文献２では、運転者がどのような状態であっても同じ機器を用いて警告を行っている。従って、特許文献１に特許文献２の技術を適用した場合は、運転者の状態に応じた解除予告を行うことが可能であると考えられるが、この場合、予め定められたタイミングで予め定められた機器を用いて解除予告が行われることになる。 In Patent Literature 1, the advance notice is given using a predetermined device at a predetermined timing without considering the driver's condition. Further, in Patent Document 2, a warning is given using the same device regardless of the state of the driver. Therefore, when the technique of Patent Document 2 is applied to Patent Document 1, it is considered possible to make a cancellation notice according to the driver's condition, but in this case, it is determined in advance at a predetermined timing. Cancellation notice will be made using the equipment.
　一方、自動運転が解除されるまでの時間に応じて自動運転解除の事前報知の仕方を変更すれば、運転者に対してより適切な自動運転解除の事前報知を行うことができると考えられる。しかし、特許文献１，２では、自動運転が解除されるまでの時間に応じて自動運転解除の事前報知の仕方を変更することについて考慮されておらず、運転者に対して適切な自動運転解除の事前報知を行っているとはいえなかった。 On the other hand, if the method of prior notification of automatic driving cancellation is changed according to the time until automatic driving is canceled, it is considered that more appropriate prior notification of automatic driving cancellation can be performed to the driver. However, Patent Documents 1 and 2 do not consider changing the method of advance notification of automatic driving cancellation according to the time until automatic driving is canceled, and cancel appropriate automatic driving for the driver. It could not be said that prior notice of
　本発明は、このような問題を解決するためになされたものであり、自動運転解除の事前報知を適切に行うことが可能な報知制御装置および報知制御方法を提供することを目的とする。 This invention was made in order to solve such a problem, and it aims at providing the alerting control apparatus and alerting | reporting control method which can perform prior alert | report of automatic driving | operation cancellation | release appropriately.
　上記の課題を解決するために、本発明による報知制御装置は、自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得する運転者状態情報取得部と、自動運転が解除されるまでの予測時間と、運転者状態情報取得部が取得した運転者状態情報とに基づいて、自動運転の解除を事前報知する仕方を決定する制御を行う制御部とを備える。 In order to solve the above-described problem, a notification control device according to the present invention includes a driver state information acquisition unit that acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, And a control unit that performs control to determine how to notify the cancellation of the automatic driving in advance based on the estimated time until the driving is released and the driver state information acquired by the driver state information acquisition unit.
　また、本発明による報知制御方法は、自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得し、自動運転が解除されるまでの予測時間と、取得した運転者状態情報とに基づいて、自動運転の解除を事前報知する仕方を決定する制御を行う。 In addition, the notification control method according to the present invention acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, the predicted time until automatic driving is canceled, and the acquired driving Based on the person state information, control is performed to determine how to notify the cancellation of the automatic driving in advance.
　本発明によると、報知制御装置は、自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得する運転者状態情報取得部と、自動運転が解除されるまでの予測時間と、運転者状態情報取得部が取得した運転者状態情報とに基づいて、自動運転の解除を事前報知する仕方を決定する制御を行う制御部とを備えるため、自動運転解除の事前報知を適切に行うことが可能となる。 According to the present invention, the notification control device includes a driver state information acquisition unit that acquires driver state information, which is information indicating a driver's state in a vehicle that is traveling in automatic driving, and automatic driving is canceled. In order to provide a control unit that performs control for determining how to cancel automatic driving in advance based on the predicted time and the driver state information acquired by the driver state information acquiring unit, prior notification of automatic driving cancellation Can be performed appropriately.
　また、報知制御方法は、自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得し、自動運転が解除されるまでの予測時間と、取得した運転者状態情報とに基づいて、自動運転の解除を事前報知する仕方を決定する制御を行うため、自動運転解除の事前報知を適切に行うことが可能となる。 Further, the notification control method acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, the predicted time until automatic driving is canceled, and the acquired driver state information Based on the above, since the control for determining how to cancel the automatic driving in advance is performed, it is possible to appropriately perform the prior notification of the automatic driving cancellation.
　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.
本発明の実施の形態による報知制御装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of a structure of the alerting | reporting control apparatus by embodiment of this invention. 本発明の実施の形態による報知制御装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of a structure of the alerting | reporting control apparatus by embodiment of this invention. 本発明の実施の形態による報知制御装置のハードウェア構成の一例を示すブロック図である。It is a block diagram which shows an example of the hardware constitutions of the alerting | reporting control apparatus by embodiment of this invention. 本発明の実施の形態による報知制御装置の動作の一例を示すフローチャートである。It is a flowchart which shows an example of operation | movement of the alerting | reporting control apparatus by embodiment of this invention. 本発明の実施の形態による報知制御装置における表示の一例を示す図である。It is a figure which shows an example of the display in the alerting | reporting control apparatus by embodiment of this invention. 本発明の実施の形態による報知制御装置の構成の一例を示すブロック図である。It is a block diagram which shows an example of a structure of the alerting | reporting control apparatus by embodiment of this invention. 本発明の実施の形態による報知制御システムの構成の一例を示すブロック図である。It is a block diagram which shows an example of a structure of the alerting | reporting control system by embodiment of this invention.
　本発明の実施の形態について、図面に基づいて以下に説明する。 Embodiments of the present invention will be described below based on the drawings.
　＜実施の形態＞
　＜構成＞
　まず、本発明の実施の形態による報知制御装置の構成について説明する。 <Embodiment>
<Configuration>
First, the configuration of the notification control apparatus according to the embodiment of the present invention will be described.
　図１は、本実施の形態による報知制御装置１の構成の一例を示すブロック図である。なお、図１では、本実施の形態による報知制御装置を構成する必要最小限の構成要素を示している。また、報知制御装置１は車両に搭載されており、車両は加速、操舵、および制動の全てを自動で行う自動運転と、ドライバによる手動運転との切り替えが可能であるものとする。 FIG. 1 is a block diagram showing an example of the configuration of the notification control apparatus 1 according to the present embodiment. Note that FIG. 1 shows the minimum necessary components constituting the notification control apparatus according to the present embodiment. In addition, the notification control device 1 is mounted on a vehicle, and the vehicle can be switched between automatic driving for automatically performing all of acceleration, steering, and braking, and manual driving by a driver.
　図１に示すように、報知制御装置１は、運転者状態情報取得部２と制御部３とを備えている。運転者状態情報取得部２は、自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得する。制御部３は、自動運転が解除されるまでの予測時間と、運転者状態情報取得部２が取得した運転者状態情報とに基づいて、自動運転の解除を事前報知する仕方を決定する制御を行う。 As shown in FIG. 1, the notification control device 1 includes a driver state information acquisition unit 2 and a control unit 3. The driver state information acquisition unit 2 acquires driver state information that is information indicating the state of the driver in a vehicle that is traveling in automatic driving. The control unit 3 performs control for determining how to cancel the automatic driving in advance based on the predicted time until the automatic driving is canceled and the driver state information acquired by the driver state information acquiring unit 2. Do.
　次に、図１に示す報知制御装置１を含む報知制御装置の他の構成について説明する。 Next, another configuration of the notification control device including the notification control device 1 shown in FIG. 1 will be described.
　図２は、報知制御装置４の構成の一例を示すブロック図である。 FIG. 2 is a block diagram illustrating an example of the configuration of the notification control device 4.
　図２に示すように、報知制御装置４は、制御部３と、現在位置情報取得部５と、自動運転計画生成部６と、第１通信部７と、第２通信部８と、表示出力部９と、音声出力部１０とを備えている。第１通信部７は、乗員状態認識装置１１および車内インテリア制御装置１３の各々と通信可能に接続されている。第２通信部８は、携帯通信端末１６と通信可能に接続されている。表示出力部９は、表示器１７に接続されている。音声出力部１０は、スピーカ１８に接続されている。 As shown in FIG. 2, the notification control device 4 includes a control unit 3, a current position information acquisition unit 5, an automatic driving plan generation unit 6, a first communication unit 7, a second communication unit 8, and display output. Unit 9 and an audio output unit 10. The first communication unit 7 is communicably connected to each of the occupant state recognition device 11 and the interior interior control device 13. The second communication unit 8 is communicably connected to the mobile communication terminal 16. The display output unit 9 is connected to the display unit 17. The audio output unit 10 is connected to the speaker 18.
　現在位置情報取得部５は、例えばＧＰＳ（Global Positioning System）から車両の現在位置情報を取得する。自動運転計画生成部６は、制御部３の指示に従って、現在位置情報取得部５が取得した車両の現在位置情報と、運転者などのユーザによって予め設定された目的地と、図示しない地図情報記憶部に記憶されている地図情報とに基づいて、車両の自動運転計画を生成する。自動運転計画には、長期的な自動運転計画と、短期的な自動運転計画とが含まれている。長期的な自動運転計画とは、現在位置から目的地までの経路に沿って行われる自動運転の計画のことをいう。短期的な自動運転計画とは、車両の周辺状況に基づいて行われる自動運転の計画のことをいう。地図情報記憶部が記憶している地図情報には、自動運転が可能な道路区間の情報、および自動運転解除の位置の情報が含まれている。なお、地図情報記憶部は、車両内に設けられてもよく、外部に設けられてもよい。自動運転計画生成部６は、現在位置から目的地までの経路を算出する機能を有している。 The current position information acquisition unit 5 acquires the current position information of the vehicle from, for example, GPS (Global Positioning System). The automatic driving plan generation unit 6 is configured to store the vehicle current position information acquired by the current position information acquisition unit 5 according to an instruction from the control unit 3, a destination preset by a user such as a driver, and map information storage (not shown). Based on the map information stored in the unit, an automatic driving plan for the vehicle is generated. The automatic operation plan includes a long-term automatic operation plan and a short-term automatic operation plan. A long-term automatic operation plan refers to an automatic operation plan that is performed along the route from the current position to the destination. A short-term automatic driving plan refers to an automatic driving plan that is performed based on the situation around the vehicle. The map information stored in the map information storage unit includes information on road sections where automatic driving is possible and information on positions where automatic driving is canceled. The map information storage unit may be provided inside the vehicle or may be provided outside. The automatic driving plan generation unit 6 has a function of calculating a route from the current position to the destination.
　また、自動運転計画生成部６が生成する自動運転計画には、自動運転解除までの予測時間が含まれている。具体的には、自動運転計画生成部６は、現在位置情報取得部５から予め定められた時間ごとに取得する車両の現在位置と、地図情報とに基づいて、自動運転解除までの時間を予測する。なお、自動運転計画は、自動運転解除の位置を含んでもよく、自動運転解除までの予測時間、および自動運転解除の位置の両方を含んでもよい。 In addition, the automatic operation plan generated by the automatic operation plan generation unit 6 includes a predicted time until the automatic operation is canceled. Specifically, the automatic driving plan generation unit 6 predicts the time until the automatic driving is canceled based on the current position of the vehicle acquired from the current position information acquisition unit 5 every predetermined time and the map information. To do. The automatic driving plan may include a position for canceling automatic driving, or may include both a predicted time until canceling automatic driving and a position for canceling automatic driving.
　第１通信部７は、制御部３の指示に従って、車両の乗員の状態を示す乗員状態情報を乗員状態認識装置１１から取得する。乗員は、車両内に存在する運転者と同乗者とを含む。すなわち、第１通信部７は、図１に示す運転者状態情報取得部２として機能し、乗員状態情報には運転者の覚醒状態を示す運転者状態情報が含まれている。本実施の形態において、第１通信部７は、少なくとも運転者状態情報を取得する。 The first communication unit 7 acquires occupant state information indicating the occupant state of the vehicle from the occupant state recognition device 11 in accordance with an instruction from the control unit 3. The occupant includes a driver and a passenger present in the vehicle. That is, the 1st communication part 7 functions as the driver | operator state information acquisition part 2 shown in FIG. 1, and the driver | operator state information contains the driver | operator state information which shows a driver | operator's arousal state. In the present embodiment, the first communication unit 7 acquires at least driver state information.
　乗員状態認識装置１１は、カメラ１２が撮影した車両内の映像から、乗員の状態として覚醒状態を認識する。乗員状態認識装置１１は、乗員の覚醒状態として、少なくとも覚醒状態が「高」または「低」の２値を取得する。例えば、覚醒状態が「高」とは乗員が車両の前方を注視している状態を示し、覚醒状態が「低」とはそれ以外の状態を示している。なお、乗員の覚醒状態は、周知の技術を用いて判断することができる。 The occupant state recognition device 11 recognizes the awake state as the state of the occupant from the image inside the vehicle taken by the camera 12. The occupant state recognition device 11 acquires at least a binary value of “high” or “low” as the wake state of the occupant. For example, “high” in the awake state indicates a state in which the occupant is gazing at the front of the vehicle, and “low” in the awake state indicates other states. The wakefulness state of the occupant can be determined using a known technique.
　また、乗員状態認識装置１１は、乗員の覚醒状態を認識することに限らず、他の方法で乗員の状態を認識してもよい。例えば、乗員状態認識装置１１は、乗員の瞳孔の状態に応じたぼんやり度を認識してもよい。 Also, the occupant state recognition device 11 is not limited to recognizing the wakefulness state of the occupant, and may recognize the occupant state by other methods. For example, the occupant state recognition device 11 may recognize the degree of blur according to the state of the occupant's pupil.
　第１通信部７は、制御部３の指示に従って、制御部３で生成された座席制御情報またはシートベルト制御情報を車内インテリア制御装置１３に出力する。車内インテリア制御装置１３は、第１通信部７から送信された座席制御情報に基づいて座席１４の振動を制御する。また、車内インテリア制御装置１３は、シートベルト制御情報に基づいてシートベルト１５の締め付けの強弱を制御する。なお、車内インテリア制御装置１３は、座席１４およびシートベルト１５以外の車内インテリアを制御してもよく、例えば図示しないハンドルを制御してもよい。この場合、車内インテリア制御装置１３は、制御部３で生成されたハンドル制御情報に基づいてハンドルの振動を制御する。 The first communication unit 7 outputs the seat control information or the seat belt control information generated by the control unit 3 to the interior interior control device 13 according to the instruction of the control unit 3. The vehicle interior control device 13 controls the vibration of the seat 14 based on the seat control information transmitted from the first communication unit 7. The interior control device 13 controls the tightening strength of the seat belt 15 based on the seat belt control information. The interior interior control device 13 may control interior interiors other than the seat 14 and the seat belt 15, and may control a handle (not shown), for example. In this case, the vehicle interior control device 13 controls the vibration of the steering wheel based on the steering wheel control information generated by the control unit 3.
　第２通信部８は、制御部３の指示に従って、携帯通信端末１６から操作情報を取得する。操作情報とは、乗員が携帯通信端末１６を操作していることを示す情報である。具体的には、操作情報は、例えば乗員が携帯通信端末１６をタッチ操作していることを示す情報、または携帯通信端末１６に搭載されているカメラによって乗員が携帯通信端末１６を操作しているか否かを判断した情報を含む。携帯通信端末１６としては、例えば乗員が車両内に持ち込んだスマートフォンなどが挙げられる。 The second communication unit 8 acquires operation information from the mobile communication terminal 16 in accordance with an instruction from the control unit 3. The operation information is information indicating that the passenger is operating the mobile communication terminal 16. Specifically, the operation information is, for example, information indicating that the occupant is touch-operating the mobile communication terminal 16 or whether the occupant is operating the mobile communication terminal 16 with a camera mounted on the mobile communication terminal 16. Contains information about whether or not. Examples of the mobile communication terminal 16 include a smartphone that a passenger has brought into the vehicle.
　また、第２通信部８は、制御部３の指示に従って、携帯通信端末１６にインストールされたアプリケーションによって携帯通信端末１６との通信を確立し、自動運転解除を報知する警告メッセージ、および自動運転解除を報知する警告音を携帯通信端末１６に送信する。警告メッセージおよび警告音は、制御部３で生成される。なお、携帯通信端末１６にインストールされたアプリケーションとしては、例えば自動運転解除を報知する専用のアプリケーションでもよく、メールなどの既存のアプリケーションでもよい。 In addition, the second communication unit 8 establishes communication with the mobile communication terminal 16 by an application installed in the mobile communication terminal 16 in accordance with an instruction from the control unit 3, and a warning message for notifying automatic driving cancellation, and automatic driving cancellation Is transmitted to the mobile communication terminal 16. The warning message and the warning sound are generated by the control unit 3. In addition, as an application installed in the mobile communication terminal 16, for example, a dedicated application for notifying automatic driving cancellation or an existing application such as e-mail may be used.
　表示出力部９は、制御部３の指示に従って、自動運転解除を報知する警告メッセージ、または自動運転解除を報知する警告アイコンを表示器１７に出力する。表示器１７には、警告メッセージまたは警告アイコンが表示される。警告メッセージまたは警告アイコンは、制御部３で生成される。本実施の形態では、表示器１７としてＨＵＤ（Head Up Display）、インストルメントパネルに設けられた表示器、およびセンターディスプレイを車両に設置しているものとする。 The display output unit 9 outputs a warning message for notifying automatic driving cancellation or a warning icon for notifying automatic driving cancellation to the display unit 17 in accordance with an instruction from the control unit 3. A warning message or a warning icon is displayed on the display unit 17. The warning message or warning icon is generated by the control unit 3. In the present embodiment, it is assumed that HUD (Head Up Display), a display device provided on the instrument panel, and a center display are installed in the vehicle as display device 17.
　音声出力部１０は、制御部３の指示に従って、自動運転解除を報知する警告音をスピーカ１８に出力する。スピーカ１８からは警告音が出力される。警告音は、制御部３で生成される。なお、スピーカ１８は車両に複数設けられていてもよい。 The voice output unit 10 outputs a warning sound for notifying the automatic driving release to the speaker 18 in accordance with an instruction from the control unit 3. A warning sound is output from the speaker 18. The warning sound is generated by the control unit 3. A plurality of speakers 18 may be provided in the vehicle.
　制御部３は、自動運転計画生成部６で生成された自動運転計画に含まれる予測時間と、第１通信部７が取得した乗員状態情報とに基づいて、自動運転解除を事前報知する仕方を決定する制御を行う。また、制御部３は、自動運転計画生成部６、第１通信部７、第２通信部８、表示出力部９、および音声出力部１０を制御する。 Based on the predicted time included in the automatic driving plan generated by the automatic driving plan generating unit 6 and the occupant state information acquired by the first communication unit 7, the control unit 3 determines how to notify the automatic driving cancellation in advance. Control to decide. In addition, the control unit 3 controls the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the voice output unit 10.
　図３は、報知制御装置４のハードウェア構成の一例を示すブロック図である。なお、報知制御装置１についても同様である。 FIG. 3 is a block diagram illustrating an example of a hardware configuration of the notification control device 4. The same applies to the notification control apparatus 1.
　報知制御装置４における制御部３、現在位置情報取得部５、自動運転計画生成部６、第１通信部７、第２通信部８、表示出力部９、および音声出力部１０の各機能は、処理回路により実現される。すなわち、報知制御装置４は、自動運転解除を事前報知する仕方を決定する制御を行い、現在位置情報を取得し、自動運転計画を生成し、乗員状態情報を取得し、携帯通信端末１６と通信し、表示器１７に情報を表示し、スピーカ１８から音声を出力するための処理回路を備える。処理回路は、メモリ２０に格納されたプログラムを実行するプロセッサ１９（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）ともいう）である。 The functions of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the audio output unit 10 in the notification control device 4 are as follows. Realized by a processing circuit. That is, the notification control device 4 performs control for determining how to notify the automatic driving release in advance, acquires current position information, generates an automatic driving plan, acquires occupant state information, and communicates with the mobile communication terminal 16. And a processing circuit for displaying information on the display 17 and outputting sound from the speaker 18. The processing circuit is a processor 19 (also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in the memory 20.
　報知制御装置４における制御部３、現在位置情報取得部５、自動運転計画生成部６、第１通信部７、第２通信部８、表示出力部９、および音声出力部１０の各機能は、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。ソフトウェアまたはファームウェアは、プログラムとして記述され、メモリ２０に格納される。処理回路は、メモリ２０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、報知制御装置４は、自動運転解除を事前報知する仕方を決定する制御を行うステップ、現在位置情報を取得するステップ、自動運転計画を生成するステップ、乗員状態情報を取得するステップ、携帯通信端末１６と通信するステップ、表示器１７に情報を表示するステップ、スピーカ１８から音声を出力するステップ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２０を備える。また、これらのプログラムは、制御部３、現在位置情報取得部５、自動運転計画生成部６、第１通信部７、第２通信部８、表示出力部９、および音声出力部１０の手順または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、メモリとは、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリ、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）等の不揮発性または揮発性の半導体メモリ、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等、あらゆる記憶媒体が該当する。 The functions of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the audio output unit 10 in the notification control device 4 are as follows. It is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 20. The processing circuit reads out and executes the program stored in the memory 20, thereby realizing the function of each unit. That is, the notification control device 4 performs a control for determining how to notify the automatic driving release in advance, a step for acquiring current position information, a step for generating an automatic driving plan, a step for acquiring occupant state information, mobile communication A memory 20 is provided for storing a program in which a step of communicating with the terminal 16, a step of displaying information on the display unit 17, and a step of outputting sound from the speaker 18 are executed as a result. In addition, these programs are the procedure of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the voice output unit 10, or It can be said that the method is executed by a computer. Here, the memory is non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. All types of storage media such as volatile semiconductor memories, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs, and the like are applicable.
　＜動作＞
　次に、報知制御装置４の動作について説明する。 <Operation>
Next, the operation of the notification control device 4 will be described.
　図４は、報知制御装置４の動作の一例を示すフローチャートである。 FIG. 4 is a flowchart showing an example of the operation of the notification control device 4.
　ステップＳ１において、制御部３は、初期値として警告レベルを「Ｍｉｄ」に設定する。警告レベルは、「Ｌｏｗ」、「Ｍｉｄ」、および「Ｈｉｇｈ」の３つのレベルを含んでいる。 In step S1, the control unit 3 sets the warning level to “Mid” as an initial value. The warning level includes three levels of “Low”, “Mid”, and “High”.
　ステップＳ２において、自動運転計画生成部６は、制御部３の指示に従って、現在位置情報取得部５が取得した車両の現在位置情報と、予め設定された目的地と、地図情報とに基づいて、少なくとも自動運転解除までの予測時間を含む自動運転計画を生成する。 In step S2, the automatic driving plan generation unit 6 follows the current position information of the vehicle acquired by the current position information acquisition unit 5, the preset destination, and the map information in accordance with an instruction from the control unit 3. An automatic driving plan including at least an estimated time until the automatic driving is canceled is generated.
　ステップＳ３において、制御部３は、自動運転計画生成部６が生成した自動運転計画に含まれる自動運転解除までの予測時間Ｔが何分であるか判断する。予測時間Ｔが０分未満の場合、または予測時間Ｔが１０分よりも長い場合は、ステップＳ４に移行する。予測時間Ｔが０分未満の場合とは、現在時刻が予測時間Ｔを経過している場合、すなわち車両が自動運転解除を行った場合のことをいう。予測時間Ｔが５分よりも長く１０分以内である場合は、ステップＳ５に移行する。予測時間Ｔが０分以上５分以内の場合は、ステップＳ７に移行する。なお、ステップＳ３において判断基準となっている５分および１０分は一例であり、任意の時間でよい。 In step S3, the control unit 3 determines how many minutes the predicted time T until the automatic operation cancellation included in the automatic operation plan generated by the automatic operation plan generation unit 6 is. When the predicted time T is less than 0 minutes or when the predicted time T is longer than 10 minutes, the process proceeds to step S4. The case where the predicted time T is less than 0 minutes refers to the case where the current time has passed the predicted time T, that is, the case where the vehicle has canceled automatic driving. When the predicted time T is longer than 5 minutes and within 10 minutes, the process proceeds to step S5. If the predicted time T is between 0 minutes and 5 minutes, the process proceeds to step S7. In addition, 5 minutes and 10 minutes which are judgment criteria in step S3 are examples, and arbitrary time may be sufficient.
　ステップＳ４において、制御部３は、全ての自動運転解除の報知を停止する制御を行う。その後、ステップＳ１に移行する。これにより、携帯通信端末１６および表示器１７は、警告メッセージおよび警告アイコンを表示しない。携帯通信端末１６およびスピーカ１８は、警告音を出力しない。車内インテリア制御装置１３は、座席１４の振動を停止する。 In step S4, the control unit 3 performs control to stop notification of all automatic driving cancellations. Thereafter, the process proceeds to step S1. Thereby, the mobile communication terminal 16 and the display device 17 do not display the warning message and the warning icon. The mobile communication terminal 16 and the speaker 18 do not output a warning sound. The vehicle interior control device 13 stops the vibration of the seat 14.
　ステップＳ５において、制御部３は、警告レベルを「Ｌｏｗ」に設定する。ステップＳ６において、制御部３は、例えば図５に示す警告アイコンを表示器１７に表示するように制御する。その後、ステップＳ２に移行する。図５に示す警告アイコンは、現在時刻の１０分後に自動運転が解除されることを示している。また、現在時刻の２分半後から１０分後の間は、乗員が自動運転から手動運転に切り替わることに対して準備する期間を示している。 In step S5, the control unit 3 sets the warning level to “Low”. In step S6, the control unit 3 performs control so that, for example, a warning icon shown in FIG. Thereafter, the process proceeds to step S2. The warning icon shown in FIG. 5 indicates that the automatic operation is canceled 10 minutes after the current time. In addition, the period during which the occupant prepares for switching from automatic operation to manual operation is shown between two and a half minutes and ten minutes after the current time.
　なお、警告アイコンは、図５に示す警告アイコンに限らず、自動運転が解除されることを示すアイコンであればよい。警告アイコンは、全ての表示器１７、すなわちＨＵＤ、インストルメントパネルに設けられた表示器、およびセンターディスプレイに表示してもよい。また、乗員が注目している表示器１７にのみ警告アイコンを表示してもよい。乗員がどの表示器１７に注目しているのかは、例えば車内に設置されたカメラで撮影した映像に基づいて判断してもよい。このとき撮影するカメラは、カメラ１２を兼用してもよい。 Note that the warning icon is not limited to the warning icon illustrated in FIG. 5, and may be an icon indicating that automatic driving is canceled. The warning icon may be displayed on all the display devices 17, that is, the HUD, the display device provided on the instrument panel, and the center display. Moreover, you may display a warning icon only on the indicator 17 which a passenger | crew is paying attention to. Which display unit 17 the passenger is paying attention to may be determined based on, for example, an image captured by a camera installed in the vehicle. The camera that shoots at this time may also be used as the camera 12.
　ステップＳ７において、第１通信部７は、制御部３の指示に従って、乗員状態認識装置１１から運転者の覚醒状態を示す運転者状態情報を取得する。ステップＳ８において、制御部３は、第１通信部７が取得した運転者の覚醒状態が「高」または「低」のいずれであるのか判断する。運転者の覚醒状態が「高」である場合は、ステップＳ１７に移行する。運転者の覚醒状態が「低」である場合は、ステップＳ９に移行する。 In step S <b> 7, the first communication unit 7 acquires driver state information indicating the driver's arousal state from the occupant state recognition device 11 in accordance with an instruction from the control unit 3. In step S8, the control unit 3 determines whether the driver's arousal state acquired by the first communication unit 7 is “high” or “low”. When the driver's arousal state is “high”, the process proceeds to step S17. When the driver's arousal state is “low”, the process proceeds to step S9.
　ステップＳ９において、制御部３は、設定されている警告レベルが「Ｈｉｇｈ」または「Ｈｉｇｈ以外」のいずれであるのか判断する。警告レベルが「Ｈｉｇｈ」である場合は、ステップＳ１４に移行する。警告レベルが「Ｈｉｇｈ以外」、すなわち「Ｍｉｄ」または「Ｌｏｗ」である場合は、ステップＳ１０に移行する。 In step S9, the control unit 3 determines whether the set warning level is “High” or “Other than High”. When the warning level is “High”, the process proceeds to step S14. When the warning level is “other than High”, that is, “Mid” or “Low”, the process proceeds to step S10.
　ステップＳ１０において、制御部３は、全ての表示器１７、すなわちＨＵＤ、インストルメントパネルに設けられた表示器、およびセンターディスプレイに警告メッセージを表示するように表示出力部９を制御する。警告メッセージとしては、例えば「あとＴ分で自動運転が解除されます。」というメッセージなど、自動運転が解除されることを報知するメッセージであればよい。なお、「Ｔ分」は、自動運転解除までの予測時間Ｔに相当する。 In step S10, the control unit 3 controls the display output unit 9 to display a warning message on all the display units 17, that is, the display units provided in the HUD, the instrument panel, and the center display. The warning message may be a message notifying that automatic driving is released, such as a message “automatic driving will be released in T minutes”. “T minutes” corresponds to the predicted time T until the automatic operation is canceled.
　ステップＳ１１において、制御部３は、スピーカ１８から警告音を出力するように音声出力部１０を制御する。警告音としては、例えば「あとＴ分で自動運転が解除されます。」という音声、またはアラーム音など、自動運転が解除されることを報知する音であればよい。なお、「Ｔ分」は、自動運転解除までの予測時間Ｔに相当する。なお、スピーカ１８が複数設置されている場合は、全てのスピーカ１８から警告音を出力してもよく、任意のスピーカ１８から警告音を出力してもよい。任意のスピーカ１８から警告音を出力する場合は、例えば乗員の近くのスピーカ１８から警告音を出力するようにしてもよい。乗員の位置は、例えば車内に設置されたカメラで撮影した映像に基づいて判断してもよい。このとき撮影するカメラは、カメラ１２を兼用してもよい。 In step S11, the control unit 3 controls the audio output unit 10 to output a warning sound from the speaker 18. As a warning sound, for example, a sound that informs that automatic driving is canceled, such as a voice “automatic driving is canceled in T minutes later” or an alarm sound, may be used. “T minutes” corresponds to the predicted time T until the automatic operation is canceled. When a plurality of speakers 18 are installed, a warning sound may be output from all the speakers 18 or a warning sound may be output from any speaker 18. When a warning sound is output from any speaker 18, for example, a warning sound may be output from the speaker 18 near the passenger. The position of the occupant may be determined based on, for example, an image captured by a camera installed in the vehicle. The camera that shoots at this time may also be used as the camera 12.
　ステップＳ１２において、車内インテリア制御装置１３は、第１通信部７から送信された座席制御情報に基づいて座席１４が弱く振動するように制御する。このとき、車内インテリア制御装置１３は、第１通信部７から送信されたシートベルト制御情報に基づいてシートベルト１５を弱く締め付けるように制御してもよい。また、車内インテリア制御装置１３は、第１通信部７から送信されたハンドル制御情報に基づいてハンドルが弱く振動するように制御してもよい。 In step S12, the vehicle interior control device 13 controls the seat 14 to vibrate weakly based on the seat control information transmitted from the first communication unit 7. At this time, the interior interior control device 13 may control the seat belt 15 to be tightened weakly based on the seat belt control information transmitted from the first communication unit 7. In addition, the interior interior control device 13 may perform control so that the steering wheel vibrates weakly based on the steering wheel control information transmitted from the first communication unit 7.
　ステップＳ１３において、制御部３は、警告レベルを「Ｈｉｇｈ」に設定する。その後、ステップＳ２に移行する。 In step S13, the control unit 3 sets the warning level to “High”. Thereafter, the process proceeds to step S2.
　ステップＳ１４において、制御部３は、スピーカ１８から出力される警告音の音量を上げ、音量を上げた警告音を出力するように音声出力部１０を制御する。これにより、スピーカ１８からは音量が上げられた警告音が出力される。 In step S14, the control unit 3 controls the audio output unit 10 to increase the volume of the warning sound output from the speaker 18 and output the warning sound whose volume has been increased. As a result, a warning sound with an increased volume is output from the speaker 18.
　ステップＳ１５において、車内インテリア制御装置１３は、第１通信部７から送信された座席制御情報に基づいて座席１４が強く振動するように制御する。このとき、車内インテリア制御装置１３は、第１通信部７から送信されたシートベルト制御情報に基づいてシートベルト１５を強く締め付けるように制御してもよい。また、車内インテリア制御装置１３は、第１通信部７から送信されたハンドル制御情報に基づいてハンドルが強く振動するように制御してもよい。 In step S15, the interior interior control device 13 controls the seat 14 to vibrate strongly based on the seat control information transmitted from the first communication unit 7. At this time, the vehicle interior control device 13 may perform control so that the seat belt 15 is strongly tightened based on the seat belt control information transmitted from the first communication unit 7. Further, the interior interior control device 13 may perform control so that the steering wheel vibrates strongly based on the steering wheel control information transmitted from the first communication unit 7.
　ステップＳ１６において、第２通信部８は、制御部３の指示に従って、警告メッセージおよび警告音を携帯通信端末１６に送信する。携帯通信端末１６は、警告メッセージを表示するとともに警告音を出力する。警告メッセージは、例えばステップＳ１０における警告メッセージと同様であってもよい。警告音は、例えばステップＳ１１における警告音と同様であってもよい。なお、制御部３は、第２通信部８を介して携帯通信端末１６から取得した操作情報に基づいて乗員が操作中の携帯通信端末１６を特定し、当該特定した携帯通信端末１６にのみ警告メッセージおよび警告音を送信するように第２通信部８を制御してもよい。 In step S <b> 16, the second communication unit 8 transmits a warning message and a warning sound to the mobile communication terminal 16 in accordance with an instruction from the control unit 3. The mobile communication terminal 16 displays a warning message and outputs a warning sound. The warning message may be the same as the warning message in step S10, for example. The warning sound may be the same as the warning sound in step S11, for example. The control unit 3 identifies the mobile communication terminal 16 being operated by the occupant based on the operation information acquired from the mobile communication terminal 16 via the second communication unit 8, and warns only the specified mobile communication terminal 16. The second communication unit 8 may be controlled to transmit a message and a warning sound.
　ステップＳ１７において、制御部３は、警告レベルを「Ｍｉｄ」に設定する。 In step S17, the control unit 3 sets the warning level to “Mid”.
　ステップＳ１８において、車内インテリア制御装置１３は、第１通信部７から送信された座席制御情報に基づいて座席１４の振動を停止するように制御する。制御部３は、スピーカ１８から警告音を出力しないように音声出力部１０を制御する。制御部３は、スピーカ１８から出力される警告音の音量を初期設定した音量に戻す。制御部３は、携帯通信端末１６に警告メッセージおよび警告音を送信しないように第２通信部８を制御する。 In step S18, the vehicle interior control device 13 performs control so as to stop the vibration of the seat 14 based on the seat control information transmitted from the first communication unit 7. The control unit 3 controls the audio output unit 10 so as not to output a warning sound from the speaker 18. The control unit 3 returns the volume of the warning sound output from the speaker 18 to the initially set volume. The control unit 3 controls the second communication unit 8 so as not to transmit the warning message and the warning sound to the mobile communication terminal 16.
　なお、ステップＳ１８の処理は、初めから運転者の覚醒状態が「高」である場合は省略する。すなわち、ステップＳ１８の処理は、運転者の覚醒状態が「低」から「高」になったときに行われる。 Note that the process of step S18 is omitted when the driver's arousal state is “high” from the beginning. That is, the process of step S18 is performed when the driver's arousal state changes from “low” to “high”.
　ステップＳ１９において、制御部３は、ＨＵＤ、およびインストルメントパネルに設けられた表示器１７に、例えば図５に示すような警告アイコンを表示するように表示出力部９を制御する。 In step S19, the control unit 3 controls the display output unit 9 to display, for example, a warning icon as shown in FIG. 5 on the display 17 provided on the HUD and the instrument panel.
　ステップＳ２０において、制御部３は、スピーカ１８から警告音を出力するように音声出力部１０を制御する。警告音は、例えばステップＳ１１における警告音と同様であってもよい。 In step S20, the control unit 3 controls the audio output unit 10 to output a warning sound from the speaker 18. The warning sound may be the same as the warning sound in step S11, for example.
　上記では、運転者の覚醒状態に応じて報知する仕方を変更する場合について説明したが、これに限るものではない。例えば、上記に加えて、同乗者の覚醒状態に応じて報知する仕方を変更してもよい。この場合、例えば上記のステップＳ９～ステップＳ１６の処理において、同乗者の覚醒状態に応じて、同乗者が座っている座席１４の振動を制御したり、同乗者が使用しているシートベルト１５の締め付けの程度を制御したりしてもよい。 In the above description, the case where the notification method is changed according to the driver's arousal state has been described. However, the present invention is not limited to this. For example, in addition to the above, the manner of notification may be changed according to the passenger's arousal state. In this case, for example, in the processing of steps S9 to S16 described above, the vibration of the seat 14 on which the passenger is sitting is controlled according to the awakening state of the passenger, or the seat belt 15 used by the passenger is changed. The degree of tightening may be controlled.
　＜変形例＞
　次に、本実施の形態の変形例１，２について説明する。 <Modification>
Next, modified examples 1 and 2 of the present embodiment will be described.
　＜変形例１＞
　図６は、変形例による報知制御装置２１の構成の一例を示すブロック図である。 <Modification 1>
FIG. 6 is a block diagram illustrating an example of a configuration of the notification control device 21 according to a modification.
　図６に示すように、報知制御装置２１は、自動運転制御装置２２と接続されていることを特徴としている。その他の構成および動作は、図２に示す報知制御装置４と同様であるため、ここでは説明を省略する。 As shown in FIG. 6, the notification control device 21 is connected to an automatic operation control device 22. Other configurations and operations are the same as those of the notification control device 4 shown in FIG.
　制御部３は、自動運転計画生成部６が生成した自動運転解除までの予測時間Ｔを含む自動運転計画を取得するよりも、自動運転制御装置２２から自動運転解除までの時間の情報を直接取得した方が、より早く自動運転解除までの時間を取得することができる。例えば、制御部３は、図４のステップＳ３において自動運転解除までの予測時間Ｔが１分以内であると判断した場合において、自動運転制御装置２２から自動運転解除までの時間の情報を取得するようにしてもよい。具体的には、第１通信部７は、制御部３の指示に従って、自動運転制御装置２２から自動運転解除までの時間の情報を取得する。 The control unit 3 directly acquires time information from the automatic operation control device 22 until the automatic driving is canceled, rather than acquiring the automatic driving plan including the predicted time T until the automatic driving cancellation generated by the automatic driving plan generation unit 6. It is possible to acquire the time until the automatic driving is canceled earlier. For example, if the control unit 3 determines in step S3 in FIG. 4 that the predicted time T until the automatic driving is canceled is within one minute, the control unit 3 acquires information on the time until the automatic driving is canceled from the automatic driving control device 22. You may do it. Specifically, the first communication unit 7 acquires information on the time from the automatic driving control device 22 until the automatic driving is canceled according to the instruction of the control unit 3.
　このように、自動運転解除までの時間が差し迫った状況であっても、運転者は自動運転解除までの正確な時間を把握することができる。また、自動運転解除の事前報知を適切に行うことが可能となる。 In this way, even in a situation where the time until the automatic driving is released is imminent, the driver can grasp the accurate time until the automatic driving is released. In addition, it is possible to appropriately perform advance notification of automatic driving cancellation.
　＜変形例２＞
　図２では、運転者の覚醒状態が低く、かつ警告レベルが「高」であるとき、携帯通信端末１６は警告メッセージを表示するとともに警告音を出力する場合について説明したが、これに限るものではない。図２の場合よりも携帯通信端末１６と連携して自動運転解除の報知を行うようにしてもよい。また、乗員状態認識装置１１が認識する乗員の覚醒状態は、「高」または「低」の２段階に限らず、３段階以上であってもよい。 <Modification 2>
FIG. 2 illustrates the case where the mobile communication terminal 16 displays a warning message and outputs a warning sound when the driver's arousal state is low and the warning level is “high”. However, the present invention is not limited to this. Absent. You may make it perform notification of automatic driving | operation cancellation | release in cooperation with the portable communication terminal 16 rather than the case of FIG. Further, the wakefulness state of the occupant recognized by the occupant state recognition device 11 is not limited to two stages of “high” or “low”, and may be three or more stages.
　例えば、乗員状態認識装置１１が運転者の覚醒状態を「睡眠中」、「覚醒状態が低い」、「覚醒状態がやや低い」、および「覚醒状態が高い」の４段階で認識することが可能であるものとする。この場合、運転者の覚醒状態が「睡眠中」である場合は、携帯通信端末１６を振動させるとともにアラーム音を出力させ、かつ座席１４およびハンドルを振動させるようにしてもよい。運転者の覚醒状態が「覚醒状態が低い」である場合は、携帯通信端末１６を振動させ、かつ座席１４およびハンドルを弱く振動させるようにしてもよい。運転者の覚醒状態が「覚醒状態がやや低い」である場合は、携帯通信端末１６を振動させ、かつスピーカ１８から警告音を出力するようにしてもよい。運転者の覚醒状態が「覚醒状態が高い」である場合は、表示器１７に警告メッセージまたは警告アイコンを表示し、かつスピーカ１８から警告音を出力するようにしてもよい。このような場合であっても、自動運転解除の事前報知を適切に行うことが可能となる。 For example, the occupant state recognition device 11 can recognize the driver's wakefulness in four stages: “sleeping”, “low wakefulness”, “slightly low wakefulness”, and “high wakefulness”. Suppose that In this case, when the driver's arousal state is “sleeping”, the mobile communication terminal 16 may be vibrated, an alarm sound may be output, and the seat 14 and the handle may be vibrated. When the driver's arousal state is “low arousal state”, the mobile communication terminal 16 may be vibrated and the seat 14 and the handle may be vibrated weakly. When the driver's arousal state is “the arousal state is slightly low”, the mobile communication terminal 16 may be vibrated and a warning sound may be output from the speaker 18. When the driver's arousal state is “high arousal state”, a warning message or a warning icon may be displayed on the display unit 17 and a warning sound may be output from the speaker 18. Even in such a case, it is possible to appropriately perform advance notification of automatic driving cancellation.
　以上のことから、本実施の形態によれば、自動運転解除までの時間と運転者の覚醒状態とに応じて自動運転解除の事前報知の仕方、具体的には事前報知を行う機器、および事前報知を行う内容を決定することができる。従って、自動運転解除の事前報知を適切に行うことができる。また、例えば運転者の覚醒状態が低い場合において、座席の振動を段階的に強くしたり、警告音の音量を段階的に大きくしたりしているため、座席の振動または警告音の音量を一律にする場合よりも電力消費の観点からも有効である。 From the above, according to the present embodiment, the method of prior notification of automatic driving cancellation according to the time until automatic driving cancellation and the driver's awakening state, specifically, a device that performs prior notification, The content to be notified can be determined. Accordingly, it is possible to appropriately perform advance notification of automatic driving cancellation. For example, when the driver's arousal state is low, the vibration of the seat is increased stepwise or the volume of the warning sound is increased stepwise. It is more effective from the viewpoint of power consumption than the case of making it.
　以上で説明した報知制御装置は、車載用ナビゲーション装置、すなわちカーナビゲーション装置だけでなく、車両に搭載可能なＰＮＤ（Portable Navigation Device）およびサーバなどを適宜に組み合わせてシステムとして構築されるナビゲーション装置あるいはナビゲーション装置以外の装置にも適用することができる。この場合、報知制御装置の各機能あるいは各構成要素は、上記システムを構築する各機能に分散して配置される。 The notification control device described above is not only a vehicle navigation device, that is, a car navigation device, but also a navigation device or navigation constructed as a system by appropriately combining a PND (Portable Navigation Device) and a server that can be mounted on a vehicle. The present invention can be applied to apparatuses other than the apparatus. In this case, each function or each component of the notification control device is distributed and arranged in each function that constructs the system.
　具体的には、一例として、報知制御装置の機能をサーバまたは携帯通信端末に配置することができる。例えば、図７に示すように、車両側に報知制御装置２３、乗員状態認識装置１１、カメラ１２、車内インテリア制御装置１３、座席１４、シートベルト１５、携帯通信端末１６、表示器１７、およびスピーカ１８を備え、サーバ２４に自動運転計画生成部６を備えることによって、報知制御システムを構築することができる。図６に示す報知制御装置２１についても同様である。この場合、報知制御装置２３は、自動運転解除までの予測時間を含む自動運転計画をサーバ２４から取得することになる。 Specifically, as an example, the function of the notification control device can be arranged in a server or a mobile communication terminal. For example, as shown in FIG. 7, a notification control device 23, an occupant state recognition device 11, a camera 12, an interior interior control device 13, a seat 14, a seat belt 15, a mobile communication terminal 16, a display 17, and a speaker are provided on the vehicle side. 18 and the server 24 is provided with the automatic operation plan generation unit 6, a notification control system can be constructed. The same applies to the notification control device 21 shown in FIG. In this case, the notification control device 23 acquires an automatic driving plan including a predicted time until cancellation of the automatic driving from the server 24.
　なお、サーバ２４ではなく、携帯通信端末１６が自動運転計画生成部６を備えるようにしてもよい。この場合、報知制御装置２３は、自動運転解除までの予測時間を含む自動運転計画を携帯通信端末１６から取得することになる。 The mobile communication terminal 16 may include the automatic driving plan generation unit 6 instead of the server 24. In this case, the notification control device 23 acquires an automatic driving plan including a predicted time until the automatic driving is canceled from the mobile communication terminal 16.
　上記の構成とした場合であっても、上記の実施の形態と同様の効果が得られる。 Even in the case of the above configuration, the same effect as the above embodiment can be obtained.
　また、上記の実施の形態における動作を実行するソフトウェア（報知制御方法）を、例えばサーバまたは携帯通信端末に組み込んでもよい。 Further, software (notification control method) for executing the operation in the above embodiment may be incorporated in, for example, a server or a mobile communication terminal.
　具体的には、一例として、上記の報知制御方法は、自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得し、自動運転が解除されるまでの予測時間と、取得した運転者状態情報とに基づいて、自動運転の解除を事前報知する仕方を決定する制御を行う。 Specifically, as an example, the above-described notification control method obtains driver state information that is information indicating the state of the driver in a vehicle that is running in automatic driving, and the estimated time until automatic driving is canceled. Then, based on the acquired driver state information, control is performed to determine how to notify the cancellation of automatic driving in advance.
　上記より、上記の実施の形態における動作を実行するソフトウェアをサーバまたは携帯通信端末に組み込んで動作させることによって、上記の実施の形態と同様の効果が得られる。 From the above, the same effect as in the above embodiment can be obtained by operating the software that executes the operation in the above embodiment in a server or a portable communication terminal.
　なお、本発明は、その発明の範囲内において、実施の形態を適宜、変形、省略することが可能である。 In the present invention, the embodiments can be appropriately modified or omitted within the scope of the invention.
　本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　報知制御装置、２　運転者状態情報取得部、３　制御部、４　報知制御装置、５　現在位置情報取得部、６　自動運転計画生成部、７　第１通信部、８　第２通信部、９　表示出力部、１０　音声出力部、１１　乗員状態認識装置、１２　カメラ、１３　車内インテリア制御装置、１４　座席、１５　シートベルト、１６　携帯通信端末、１７　表示器、１８　スピーカ、１９　プロセッサ、２０　メモリ、２１　報知制御装置、２２　自動運転制御装置、２３　報知制御装置、２４　サーバ。 1 notification control device, 2 driver status information acquisition unit, 3 control unit, 4 notification control device, 5 current position information acquisition unit, 6 automatic operation plan generation unit, 7 first communication unit, 8 second communication unit, 9 display Output unit, 10 audio output unit, 11 occupant state recognition device, 12 camera, 13 interior control device, 14 seat, 15 seat belt, 16 mobile communication terminal, 17 display, 18 speaker, 19 processor, 20 memory, 21 notification Control device, 22 automatic operation control device, 23 notification control device, 24 servers.

Claims (10)

  1. 　自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得する運転者状態情報取得部と、
    　前記自動運転が解除されるまでの予測時間と、前記運転者状態情報取得部が取得した前記運転者状態情報とに基づいて、前記自動運転の解除を事前報知する仕方を決定する制御を行う制御部と、
    を備える、報知制御装置。     A driver state information acquisition unit for acquiring driver state information, which is information indicating a driver's state in a vehicle running in automatic driving;
    Control that performs control to determine how to notify the cancellation of the automatic driving in advance based on the predicted time until the automatic driving is canceled and the driver state information acquired by the driver state information acquisition unit And
    A notification control device comprising:
  2. 　前記制御部は、前記事前報知を行う機器を決定する制御を行うことを特徴とする、請求項１に記載の報知制御装置。 The notification control apparatus according to claim 1, wherein the control unit performs control to determine a device that performs the prior notification.
  3. 　前記機器は、前記報知制御装置と通信可能に接続された前記車両内に存在する携帯通信端末を含むことを特徴とする、請求項２に記載の報知制御装置。 3. The notification control device according to claim 2, wherein the device includes a mobile communication terminal existing in the vehicle that is communicably connected to the notification control device.
  4. 　前記制御部は、操作中の前記携帯通信端末を前記機器とすることを特徴とする、請求項３に記載の報知制御装置。 The notification control apparatus according to claim 3, wherein the control unit uses the mobile communication terminal being operated as the device.
  5. 　前記機器は、前記車両内に設置された表示器、スピーカ、および車内インテリアを含むことを特徴とする、請求項２に記載の報知制御装置。 The notification control apparatus according to claim 2, wherein the device includes a display, a speaker, and an interior of the vehicle installed in the vehicle.
  6. 　前記制御部は、前記事前報知の内容を決定する制御を行うことを特徴とする、請求項１に記載の報知制御装置。 The notification control apparatus according to claim 1, wherein the control unit performs control to determine contents of the prior notification.
  7. 　前記事前報知の内容は、アイコン、メッセージ、および音声を含むことを特徴とする、請求項６に記載の報知制御装置。 The notification control apparatus according to claim 6, wherein the content of the prior notification includes an icon, a message, and a voice.
  8. 　前記運転者の状態は、前記運転者の覚醒状態を含むことを特徴とする、請求項１に記載の報知制御装置。 The notification control apparatus according to claim 1, wherein the driver's state includes an awakening state of the driver.
  9. 　前記制御部は、前記予測時間を含む自動運転計画の情報を外部から取得することを特徴とする、請求項１に記載の報知制御装置。 The information control apparatus according to claim 1, wherein the control unit acquires information on an automatic driving plan including the predicted time from the outside.
  10. 　自動運転で走行中の車両における運転者の状態を示す情報である運転者状態情報を取得し、
    　前記自動運転が解除されるまでの予測時間と、前記取得した前記運転者状態情報とに基づいて、前記自動運転の解除を事前報知する仕方を決定する制御を行う、報知制御方法。     Obtain driver status information, which is information indicating the status of the driver in a vehicle that is running in automatic driving,
    A notification control method for performing control for determining a method for informing in advance the cancellation of the automatic driving based on the predicted time until the automatic driving is canceled and the acquired driver state information.
PCT/JP2016/086776 2016-12-09 2016-12-09 Reporting control device and reporting control method WO2018105114A1 (en)

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