WO2019026574A1

WO2019026574A1 - Information providing control device and information providing control program

Info

Publication number: WO2019026574A1
Application number: PCT/JP2018/026140
Authority: WO
Inventors: 孝則稲留; 田口　清貴; 三摩　紀雄; 繁高田
Original assignee: 株式会社デンソー; 株式会社Ｓｏｋｅｎ
Priority date: 2017-08-03
Filing date: 2018-07-11
Publication date: 2019-02-07
Also published as: JP6720939B2; JP2019026216A

Abstract

This information providing control device provides information to a user through a control for causing vibration in a plurality of providing surface parts (81a-83a) that are provided so as to come into contact with a user who boards an automatically operable vehicle. The information providing control device comprises: an information acquisition unit (51) that acquires behavior information indicating future behavior of an autonomously traveling vehicle; a behavior determination unit (52) that, on the basis of the behavior information, determines whether or not a change in the behavior provided to the user will occur in the vehicle; and a providing control unit (53) that individually controls the vibrations of the plurality of providing surface parts and notifies a driver in advance of the specifics of the provided change in behavior before the occurrence of the provided change in behavior that the behavior determination unit has determined should be provided.

Description

Information presentation control device and information presentation control program

Cross-reference to related applications

This application is based on Japanese Patent Application No. 2017-150912 filed on Aug. 3, 2017, the contents of which are incorporated herein by reference.

The present disclosure relates to a technology of information presentation control for presenting information to a user of a vehicle.

As a configuration for presenting information to the user through somatic sensation, for example, Patent Document 1 discloses a footrest for moving a footrest, a sheet for moving a backrest, and the like. The footrest and the seat can notify the user of the contents of the future behavior change of the autonomously traveling vehicle before the occurrence of the behavior change by the movement of the footrest and the backrest. As an example, in Patent Document 1, the actual vehicle deceleration starts after the footrest is tilted backward as a notice of deceleration.

JP2016-107968 A

The mechanism for moving the footrest of the footrest, the backrest of the seat, etc. is easily enlarged. Therefore, it could be difficult to secure the mountability to a vehicle.

An object of the present disclosure is to provide an information presentation control device capable of notifying a user through somatic feeling while ensuring mountability of a configuration for information presentation on a vehicle.

An information presentation control device according to an aspect of the present disclosure is an information presentation control device that presents information to a user by control of vibrating a plurality of presentation surface portions provided to be in contact with a user boarding a vehicle capable of automatic driving. And an information acquisition unit that acquires behavior information indicating a future behavior of the vehicle traveling autonomously, a behavior determination unit that determines whether or not a behavior change to be presented to the user occurs in the vehicle based on the behavior information, and a behavior determination And a presentation control unit configured to individually control the vibrations of the plurality of presentation surfaces and to notify the driver in advance of the contents of the presentation behavior change before occurrence of the presentation behavior change determined to be presented by the unit.

An information presentation control program according to an aspect of the present disclosure is an information presentation control program for presenting information to a user by control of vibrating a plurality of presentation surface portions provided to be in contact with a user boarding a vehicle capable of automatic driving. To determine whether a change in behavior to be presented to the user occurs in the vehicle, based on the information acquisition unit that acquires behavior information indicating the future behavior of the autonomously traveling vehicle and at least one processing unit. The behavior judgment unit and the vibration of a plurality of presentation surface units are individually controlled before occurrence of the presentation behavior change determined to be presented by the behavior judgment unit, and the driver is notified beforehand of the contents of the presentation behavior change It functions as a control unit.

An information presentation control method according to an aspect of the present disclosure is an information presentation control method for presenting information to a user by control of vibrating a plurality of presentation surface portions provided to be in contact with a user boarding a vehicle capable of automatic driving). Acquiring the behavior information indicating the future behavior of the autonomously traveling vehicle, determining whether or not the behavior change to be presented to the user is generated in the vehicle based on the behavior information, and presenting the behavior determination unit Controlling the vibration of the plurality of presentation surfaces individually before the occurrence of the presentation behavior change determined to be to be performed, and notifying the driver of the content of the presentation behavior change in advance.

According to the present disclosure, if the vibrations of the plurality of presentation surfaces are individually controlled, it is possible to notify the user of the contents of the behavior change that will occur in the vehicle traveling autonomously in the future. The mechanism for moving the footrest, the seat, etc. can be omitted if the behavior can be notified by vibration in the future. Therefore, while ensuring the mountability of the configuration for information presentation to the vehicle, it becomes possible to notify the user of the behavior change through the somatic feeling.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. In the attached drawings,
FIG. 1 is a view showing a layout around a driver's seat of a vehicle, showing a footrest device mounted on a vehicle, FIG. 2 is a block diagram showing a vibration presentation system including a footrest device together with a vehicle system etc. FIG. 3 is a perspective view showing the structure of the footrest device, FIG. 4 is a plan view of the footrest device, showing the arrangement of the presentation surface portion on the mounting surface, 5 is a cross-sectional view taken along the line V-V of FIG. FIG. 6 is a diagram showing the relationship between the points of the soles and their distances necessary to define the arrangement of the presentation surfaces, FIG. 7 is a diagram showing the structure and operation principle of the vibration speaker; FIG. 8 is a state transition diagram showing an overview of transition of the operation mode of the footrest device; FIG. 9 is a flowchart showing the details of a request degree presentation process of switching the vibration interval in the request degree presentation mode according to the driving participation request degree, FIG. 10A is a diagram showing control of the vibration speaker when the driving participation request degree is “low” in the request degree presentation mode, FIG. 10B is a time chart showing control of the vibration speaker when the degree of driving participation request is “low” in the request degree presentation mode, FIG. 11A is a diagram showing control of the vibration speaker when the driving participation request degree is “high” in the request degree presentation mode, FIG. 11B is a diagram of a time chart showing control of the vibration speaker when the degree of driving participation request in the request degree presentation mode is “high”; FIG. 12A is a diagram showing details of control of each vibration speaker in the driving action induction mode, FIG. 12B is a diagram of a time chart showing details of control of each vibration speaker in the driving action induction mode, FIG. 13 is a flowchart showing details of transition control processing for controlling switching of the operation mode between the request degree presentation mode and the prior presentation mode, FIG. 14 is a flowchart showing the details of the prior presentation process of switching the control of each vibration speaker in the prior presentation mode according to the content of the behavior change scheduled in the travel plan, FIG. 15A is a diagram showing control of each vibration speaker in the acceleration operation presentation, FIG. 15B is a diagram of a time chart showing control of each vibration speaker in the acceleration operation presentation, FIG. 16A is a diagram showing control of each vibration speaker in the deceleration operation presentation, FIG. 16B is a diagram of a time chart showing control of each vibration speaker in the deceleration operation presentation, FIG. 17A is a diagram showing control of each vibration speaker in the right turn presentation, FIG. 17B is a diagram of a time chart showing control of each vibration speaker in the right turn presentation, FIG. 18A is a diagram showing control of each vibration speaker in the left turning motion presentation, FIG. 18B is a diagram of a time chart showing control of each vibration speaker at the time of presentation of a left turn, FIG. 19A is a diagram showing control of the vibration speaker in the requested degree presentation mode according to the second embodiment, FIG. 19B is a diagram of a time chart showing control of the vibration speaker in the requested degree presentation mode according to the second embodiment, FIG. 20A is a diagram showing control of each vibration speaker in the right turning operation presentation according to the second embodiment, FIG. 20B is a diagram of a time chart showing control of each vibration speaker in the right turning operation presentation according to the second embodiment, FIG. 21A is a diagram showing control of each vibration speaker in the left turning operation presentation according to the second embodiment, FIG. 21B is a diagram of a time chart showing control of each vibration speaker at the time of presenting the left turning motion according to the second embodiment, FIG. 22A is a diagram showing control of each vibration speaker at the time of presenting the right turn operation according to the third embodiment, FIG. 22B is a diagram of a time chart showing control of each vibration speaker at the time of presenting the right turn operation according to the third embodiment, FIG. 23A is a diagram showing control of each vibration speaker in the left turning operation presentation according to the third embodiment, FIG. 23B is a diagram of a time chart showing control of each vibration speaker in the left turning operation presentation according to the third embodiment, FIG. 24A is a diagram showing control of each vibration speaker in composite action presentation, FIG. 24B is a diagram of time charts showing control of the respective vibration speakers in composite action presentation.

Hereinafter, a plurality of embodiments for carrying out the present disclosure will be described with reference to the drawings.

First Embodiment
In the first embodiment of the present disclosure illustrated in FIG. 1 and FIG. 2, the function of the information presentation control device is realized by a human machine interface control unit (HCU) 40. The HCU 40 constitutes a vibration presentation system together with the footrest device 100 and the drive device 60 and the like. The vibration presentation system is mounted on a vehicle capable of autonomous driving, and performs information presentation to a user (hereinafter referred to as a driver) seated on the driver's seat 11 of the vehicle by vibration.

The footrest device 100 is one of a plurality of HMI (Human Machine Interface) devices mounted on a vehicle. The footrest device 100 has a plurality of presentation surface portions 81a to 83a on a mounting surface 73 on which the placement of the soles of the driver riding the vehicle is assumed. The footrest device 100 presents information mainly related to the automatic driving of the vehicle through the sense of the sole of the driver, specifically the sense of vibration, by the vibration of the presentation surface portions 81a to 83a.

As shown in FIGS. 1 and 3, the footrest device 100 is formed in a longitudinal plate shape as a whole. The footrest device 100 is attached to the mounting portion 16 provided on the vehicle in a posture in which the mounting surface 73 on which the left foot of the driver is placed is directed to the driver's seat 11 side. The longitudinal direction LD of the mounting surface 73 is along a vertical cross section perpendicular to the front-rear direction and the vertical direction of the vehicle. The width direction (also referred to as the short side direction) CD of the mounting surface 73 is along the left-right direction of the vehicle. The mounting surface 73 is inclined upward as it goes from the rear to the front of the vehicle. As shown in FIGS. 3 to 5, the footrest device 100 is configured of a footrest base 70 and a plurality of (three) vibration speakers 81 to 83 and the like. The vibration speakers 81 to 83 are also referred to as first to third vibration speakers, respectively.

The footrest base 70 is fixed to the mounting portion 16 of the vehicle by a fastening member such as a bolt. The footrest base 70 is configured of an upper cover member 71, a lower base plate 76, a base cushioning material 78, a speaker cushioning material 79, and the like.

The upper cover member 71 is formed by affixing a thin plate-like decorative plate 72 on the bottom surface of a base having a shallow container shape with a bottom. The upper cover member 71 is formed of a metal material as a whole. The upper cover member 71 has a support wall 71a and a bottom wall 71b. The support wall 71a is provided on the outer edge of the bottom wall 71b, and is erected substantially perpendicularly to the bottom wall 71b. The support wall 71 a defines the distance between the bottom wall 71 b and the lower base plate 76. The bottom wall 71 b forms a mounting surface 73 which is long and flat. The bottom wall 71 b is provided with an insertion opening 74. The insertion opening 74 is a perfect circular opening that penetrates the bottom wall portion 71 b including the decorative plate 72 in the thickness direction. Three insertion openings 74 are opened in the bottom wall portion 71b in a mutually spaced arrangement.

The lower base plate 76 is formed in a flat plate shape by a metal material. The outer shape of the lower base plate 76 is substantially the same as the bottom wall 71 b of the upper cover member 71. The lower base plate 76 is located on the opposite side of the mounting surface 73 with respect to the upper cover member 71. The top of the support wall 71 a is in contact with the outer edge of the lower base plate 76. The lower base plate 76 holds the three vibration speakers 81 to 83 individually.

The base cushioning material 78 is formed of, for example, urethane or the like in a sheet shape thicker than the lower base plate 76. The base cushioning material 78 is disposed between the lower base plate 76 and the mounting portion 16 in a compressed state in the thickness direction. The footrest base 70 is firmly fixed to the mounting portion 16 via the base cushioning material 78. By such attachment, the vibration of the lower base plate 76 caused by the operation of each vibration speaker 81 to 83 is considered to be fixed end reflection at the boundary between the lower base plate 76 and the base cushioning material 78. As a result, the vibration of the footrest base 70 is reduced by the substantial cancellation of the incident wave and the reflected wave that are in antiphase with each other.

The speaker cushioning material 79 is formed in a cylindrical shape by, for example, a sponge or the like which is excellent in flexibility. The speaker cushioning material 79 is externally fitted to a member (for example, a screw, a bolt, a pin, or the like) that fixes the vibration speakers 81 to 83 to the lower base plate 76. The speaker cushioning material 79 functions as an elastic body between the vibration speakers 81 to 83 and the lower base plate 76, and reflects the vibration generated in each of the vibration speakers 81 to 83 at its free end. As a result, the amplitude of the composite wave (the standing wave) of the incident wave and the reflected wave in the same phase is increased.

The vibration speakers 81 to 83 are held by the lower base plate 76 in a mutually spaced arrangement. The vibration speakers 81 to 83 are fixed in a floating state from the lower base plate 76 by the interposition of the speaker cushioning material 79. The vibration speakers 81 to 83 have presentation surface portions 81a to 83a, respectively.

The presentation surface portions 81a to 83a vibrate in a direction substantially perpendicular to the mounting surface 73, and vibrate the sole of the driver placed on the mounting surface 73. The vibration of the presentation surface portions 81a to 83a is a push-up vibration that pushes up the bottom of the driver's footwear, and can be transmitted to the driver's sole through the driver's footwear. The vibrations of the individual presentation surfaces 81a to 83a are individually controlled.

The presentation surface portions 81a to 83a are exposed through the respective insertion openings 74 at places different from each other on the placement surface 73. The presentation surface portions 81a to 83a project further than the upper cover member 71 in the direction in which the placement surface 73 faces. The presentation surface portions 81a to 83a are exposed to the placement surface 73 in a mutually offset arrangement with respect to each of the longitudinal direction LD and the width direction CD. Specifically, the two

presentation surfaces

81a and 82a are arranged along the longitudinal direction LD of the mounting surface 73, and the two

presentation surfaces

81a and 83a are arranged along the width direction CD of the mounting surface 73. There is. The presentation surface 83a is located between the presentation surface 81a and the presentation surface 82a in the longitudinal direction LD, and the presentation surface 82a is located between the presentation surface 81a and the presentation surface 83a in the width direction CD. doing.

When the driver places the left foot on the placement surface 73, the presentation surface portions 81a to 83a are respectively the heel center C2, the base of the thumb (hereinafter, the ball ball center C1) and the base of the little finger (hereinafter, the small finger ball center C3) It is placed in a position where you can touch naturally. When describing separately, the presentation surface part 81a is provided in the range where placement of the center C1 of the ball of the driver of the driver and the periphery (the ball part of the finger) on the placement surface 73 is assumed. The presentation surface portion 82 a is provided in a range where placement of the crucible center C 2 and the periphery (ridge portion) thereof is assumed on the placement surface 73. The presentation surface portion 83a is provided in a range in which placement of the little toe ball center C3 and the periphery (the little toe portion) on the placement surface 73 is assumed. First, with reference to FIG. 6, respective positions of the heel center C2, the thumb ball center C1, and the little finger center C3 will be described.

A foot length FL, a heel point HP, a second finger tip FT, a shin side middle foot point SFP and a heel side middle foot point CFP can be defined on the sole. Then, a virtual line connecting the heel point HP and the second finger tip FT is the foot axis Af. Further, the distance between the heel point HP and the shin mid-foot point SFP is the inner non-step length IL, and the distance between the heel point HP and the mid-side mid-foot point CFP is the outer non-step length FIL. Furthermore, the distance between the shin side midfoot point SFP and the foot axis Af is within the half foot width HWi, and the distance between the heel side midfoot point CFP and the foot axis Af is half foot outside HWo.

The heel center C2 is defined from the heel point HP at a position on the foot axis Af which is “foot length FL × 0.18 (refer to L0)” in the toe direction. The ball ball center C1 is a position "inward step length IL" in the toe direction from the heel point HP, and is a position "in in half foot width HWi x 0.5" in the inward direction of the foot. The small toe ball center C3 is a position "outside step length FIL" in the toe direction from the heel point HP, and is a position "half foot width outside x 0.5" in the outward direction of the foot.

Then, as shown in FIGS. 4 and 6, in the footrest device 100, with the left foot naturally placed on the placement surface 73, it is assumed that the foot tip is slightly inclined outward with respect to the heel point HP. ing. As an example, it is assumed that the foot axis Af is inclined outward by 8 ° with respect to the longitudinal direction LD of the mounting surface 73.

The presentation surface 82a is assumed to excite the crucible center C2, and is disposed at a position closer to the rear end than the front end, of both ends of the mounting surface 73 in the longitudinal direction LD. The positions of the

presentation surface portions

81a and 83a are defined based on a state in which the eyebrow center C2 overlaps the center of the presentation surface portion 82a.

The center of the presentation surface 81a assumed to excite the ball C1 is disposed at a position L1 from the center of the presentation surface 82a to the tip of the toe and at a position L2 in the inward direction of the foot from the foot axis Af It is done. L1 is a value obtained by subtracting L0 (see FIG. 6) from the inner step length IL, and is defined to, for example, about 136.8 mm. As described above, L2 is half the value of HWi within the half width, and is defined to be, for example, 23.1 mm.

The center of the presentation surface 83a assumed to excite the small toe ball center C3 is disposed at a position L3 from the center of the presentation surface 82a in the toe direction and at a position L4 from the foot axis Af outward of the foot ing. L3 is a value obtained by subtracting L0 (see FIG. 6) from the outer non-stepping length FIL, and is defined to, for example, about 112.9 mm. As described above, L4 is half the value of the half-foot-wide HWo, and is defined to be, for example, about 26.9 mm. The dimensions L1 to L4 are an example of values based on the data of the foot size measurement business report published by the Japan Leather Industry Association.

As shown in FIG. 5, the protrusion amounts of the presentation surface portions 81a to 83a from the insertion opening 74 are different from each other. The protrusion amount of the presentation surface portion 83a in the vibration speaker 83 far from the center line DCL (see FIG. 1) of the driver's seat 11 along the longitudinal direction of the vehicle is larger than the protrusion amount of the presentation surface portion 81a in the vibration speaker 81 near the center line DCL It is done. In other words, the protrusion amount of the presentation surface portion 83a provided in the outer range of the mounting surface 73 where the placement of the outer part of the sole is assumed is the placement surface where the placement of the inner part of the sole is assumed It is larger than the protrusion amount of the presentation surface 81 a provided in the inner area 73. In addition, the protrusion amount of the presentation surface 82a in the vibration speaker 82 is larger than the protrusion amount of the

presentation surface

81a, 83a in the

other vibration speakers

81, 83.

The vibration speakers 81 to 83 are configured by a housing 84, a yoke 85, a vibrating body 87, an attachment 89, and the like, as shown in FIGS. The housing 84 is formed in a container shape, for example, of a resin material or the like. The housing 84 has a flat square pole shape. The housing 84 accommodates the yoke 85 and the vibrator 87.

The yoke 85 is formed of a magnetic metal material in a bottomed container shape. The yoke 85 is formed with a bottom wall 85a, an outer peripheral wall 85b, and a central wall 85c. A magnet 86 is provided on the inner peripheral side of the outer peripheral wall 85 b. The magnet 86 forms a magnetic field MF which goes around the outer peripheral wall 85 b, the center wall 85 c and the bottom wall 85 a.

The vibrating body 87 is formed in a cylindrical shape with a bottom. A coil 88 is provided on the outer peripheral surface of the cylindrical wall 87 a of the vibrating body 87. The coil 88 is arranged in the magnetic field MF formed by the yoke 85 and the magnet 86. A drive signal is applied to the coil 88 by any one of the amplifiers 62a to 62c of the drive device 60. By applying the drive signal to the coil 88, an electromagnetic force in the axial direction acts on the vibrating body 87. The vibrating body 87 is axially displaced relative to the yoke 85 to exert a stress on the attachment 89.

The attachment 89 is formed of a flexible material such as a rubber material. The attachment 89 is attached to the housing 84 and blocks the opening of the housing 84. The attachment 89 forms presentation surface portions 81a to 83a which are convexly curved. The curvature of the cross section of the attachment 89 gradually decreases from the outer edge toward the radial center. With such a configuration, each of the presentation surface portions 81a to 83a brings the central portion into surface contact with the bottom surface (foot sole) of the footwear. The height of the attachment 89 is different for each of the vibration speakers 81 to 83. By making the heights of the attachments 89 different, the amount of protrusion of the presentation surface portions 81a to 83a from the insertion opening 74 is adjusted.

The drive device 60 operates the footrest device 100 based on a control signal input from the HCU 40, as shown in FIG. The driving device 60 is configured to drive the respective vibration speakers 81 to 83 of the footrest device 100, and includes a plurality of (three) digital-analog converters (hereinafter, D / A converters) 61a to 61c; And amplifiers 62a to 62c). The number of D / A converters 61a to 61c and amplifiers 62a to 62c is equal to the number of vibration speakers 81 to 83 so that the vibrations of the presentation surfaces 81a to 83a of the vibration speakers 81 to 83 can be individually controlled. I do.

The D / A converters 61a to 61c are electric circuits that convert digital type electric signals into analog type electric signals. The D / A converters 61a to 61c are electrically connected to the HCU 40 and the amplifiers 62a to 62c. The D / A converters 61a to 61c convert control signals input from the HCU 40 into analog signals, and output the converted signals to the amplifiers 62a to 62c.

The amplifiers 62a to 62c are electric circuits that output a voltage or current proportional to the input signal. The amplifiers 62a to 62c are electrically connected to the D / A converters 61a to 61c and the vibration speakers 81 to 83, respectively. The amplifiers 62a to 62c generate drive signals by amplifying analog signals input from the D / A converters 61a to 61c. The amplifiers 62a to 62c drive the vibration speakers 81 to 83 by applying the generated drive signals to the vibration speakers 81 to 83.

The HCU 40 is one of a plurality of electronic control units mounted on a vehicle, as shown in FIGS. 1 and 2. The HCU 40 is electrically connected to the drive device 60 and controls the operation of the footrest device 100 together with the drive device 60. The HCU 40 is communicably connected to the in-vehicle network 30. The HCU 40 acquires information from the vehicle system 20 via the in-vehicle network 30. The vehicle system 20 includes an electronic control unit that enables autonomous traveling of the vehicle, various on-vehicle sensors that detect the state of the vehicle, and communication devices that communicate with the outside of the vehicle.

The control circuit of the HCU 40 mainly includes a computer having a processing unit 41, a storage unit 42, a RAM 43, and the like. The processing unit 41 is configured to include at least one of a central processing unit (CPU), a graphics processing unit (GPU), and a field-programmable gate array (FPGA). The processing unit 41 executes various arithmetic processing. The storage unit 42 is configured to include a non-volatile storage medium. The storage unit 42 stores various programs including an information presentation control program so that the processing unit 41 can read them. A random access memory (RAM) 43 is a volatile semiconductor memory. The RAM 43 functions as a work area of calculation processing by the processing unit 41.

The HCU 40 constructs a plurality of functional blocks by causing the processing unit 41 to execute the information presentation program stored in the storage unit 42. Specifically, in the HCU 40, an information acquisition unit 51, a mode transition control unit 52, a signal output unit 53, and the like are constructed as functional blocks that control the footrest device 100.

The information acquisition unit 51 acquires various information related to the vehicle, such as map data around the vehicle, current vehicle speed data, and steering angle data, from the vehicle system 20. In addition, the information acquisition unit 51 can acquire various information of a system related to the automatic driving of the vehicle (hereinafter, an automatic driving system). Specifically, the information acquisition unit 51 acquires status information indicating start and stop of the automatic driving function, and a travel plan for realizing autonomous traveling by the automatic driving function. Furthermore, status information of the automatic driving system, for example, information indicating the reception sensitivity of positioning signals transmitted from positioning satellites of the Global Navigation Satellite System (GNSS), status information indicating the detection status of external sensors such as cameras and lidar, etc. Is acquired by the information acquisition unit 51.

The mode transition control unit 52 switches the operation of the footrest device 100 based on the information acquired by the information acquisition unit 51. Specifically, the mode transition control unit 52 starts information presentation using the footrest device 100 with switching from manual operation to automatic operation (automatic operation ON) based on status information of automatic operation. Then, with the switching from the automatic driving to the manual driving (automatic driving OFF), the information presentation using the footrest device 100 is stopped.

The mode transition control unit 52 switches the operation mode of the footrest device 100. Specifically, in the mode transition control unit 52, two request degree presentation modes, a driving behavior induction mode and a preceding presentation mode are set in advance as a plurality of operation modes (see FIG. 8). The mode transition control unit 52 causes the operation mode of the footrest device 100 to transition based on the information acquired by the information acquisition unit 51. When the manual operation is switched to the automatic operation, the mode transition control unit 52 first selects the request degree presentation mode.

The demand degree presentation mode is an operation mode that presents the degree of demand for driving participation to the driver from the automatic driving function, and generates a simulated heartbeat of the automatic driving system, and is reproduced by the vibration of the presentation surface 82a. This is an operation mode in which the driver is biofeedbacked. The mode transition control unit 52 determines the degree of request for the driver's participation in driving based on the state information of the automatic driving system.

For example, when automatic driving is performed in a state where the automatic driving system has a margin based on the sensitivity information of the GNSS and the status information of the external sensor, the mode transition control unit 52 It is determined that On the other hand, when the difficulty level of the automatic driving is rising based on the sensitivity information of the GNSS and the status information of the external sensor, the mode transition control unit 52 determines that the driving participation degree is "high". The mode transition control unit 52 switches between a requested degree presentation mode in which the requested degree of driving participation is “low” and a requested degree presentation mode in which the requested degree of driving participation is “high” based on the degree of requested degree of driving participation. .

The driving behavior induction mode is an operation mode that urges a driver who is away from driving behavior during automatic driving to start driving behavior. The mode transition control unit 52 causes the operation mode to transition from the requested degree presentation mode to the driving action induction mode when the automatic driving system is in the specific state. The specific state is a state in which a drive change request (Take-Over Request) from the automatic driving function to the driver is generated in the travel plan. As one example, when the end point of the permitted section of the automatic driving approaches, a driving shift request is generated. Furthermore, even if it is difficult to continue the automatic driving due to the deterioration of the reception sensitivity of the positioning signal or the detection state of the external sensor, a driving shift request occurs. The driving behavior induction mode causes the operation mode to transition from the driving behavior induction mode to the request degree presentation mode with the end of the predefined induction operation.

The advance presentation mode is an operation mode in which the driver is notified in advance of the contents of the behavior change that will occur before the behavior change occurs in the autonomously traveling vehicle. The mode transition control unit 52 changes the behavior to be presented to the driver (hereinafter referred to as presentation behavior change), for example, after several seconds (about 1 to 3 seconds) based on the travel plan showing the future behavior of the autonomously traveling vehicle. It is determined whether or not it occurs in the vehicle. A scene where a presentation behavior change occurs (hereinafter, referred to as a prior presentation scene) is, for example, a scene in which the driver performs acceleration / deceleration such as anxiety, and turning to the left and right and lane change. The mode transition control unit 52 changes the operation mode from the request degree presentation mode to the advance presentation mode when the advance presentation scene is scheduled in the travel plan. Then, in the advance presentation mode, a notice of the contents of the presentation behavior change using the plurality of presentation surface parts 81a to 83a is carried out, and the notice is ended before the behavior change of the vehicle occurs. When the presentation operation of the future behavior corresponding to the presentation behavior change is finished, the mode transition control unit 52 causes the operation mode to transition from the preceding presentation mode to the request degree presentation mode.

The signal output unit 53 generates a control signal for controlling the operation of the footrest device 100. Control signals corresponding to each operation mode are defined in advance in the signal output unit 53. The signal output unit 53 generates a control signal corresponding to the operation mode selected by the mode transition control unit 52 and the information acquired by the information acquisition unit 51, and directs the generated control signal to the drive device 60. Output.

Details of the information presentation implemented by the HCU 40 using the footrest device 100 described above will be described below based on FIGS. 9 to 18B and with reference to FIG.

The request degree presentation process shown in FIG. 9 is started by the signal output unit 53 by the transition of the operation mode to the request degree presentation mode accompanying the start of the automatic driving. The request degree presentation process is repeated by the signal output unit 53 until the automatic operation is stopped. However, during the transition period to the driving action induction mode or the advance presentation mode, the signal output unit 53 operates the respective vibration speakers 81 to 83 in the vibration pattern defined in the driving action induction mode or the advance presentation mode. Prioritize.

In S101, the setting of the interval Tin1 (see FIGS. 10A and 10B) in the case where the degree of driving participation request is “low” is acquired from the storage unit 42 as the initial setting, and the process proceeds to S102. The interval Tin1 may be a value preset at the time of design of the system, or may be a value set by the user of the vehicle.

In S102, based on the status information of the automatic driving acquired by the information acquiring unit 51, it is determined whether the automatic driving is in the on state. If it is determined in S102 that the automatic driving is in the OFF state, the process proceeds to S108, and the operation of the vibration speakers 81 to 83 is stopped. On the other hand, when it is determined in S102 that the automatic driving on state is continued, the process proceeds to S103.

In S103, the operation of the vibration speaker 82 is started with the setting of the acquired latest interval (see FIG. 10A, FIG. 10B and FIG. 11A, FIG. 11B), and the process proceeds to S104. In S104, the latest driving participation request degree determined by the mode transition control unit 52 is acquired, and the process proceeds to S105. In S105, it is determined whether the driving participation request degree acquired in S104 is "high". When the driving participation request degree acquired in S104 is "high", the process proceeds from S105 to S106. On the other hand, when the driving participation request degree acquired in S104 is "low", the process proceeds from S105 to S107.

In S106, the setting of the interval Tin2 (see FIGS. 11A and 11B) when the degree of driving participation request is “high” is acquired from the storage unit 42, and the process returns to S102. The interval Tin2 in this case may also be a value preset at the time of system design, or may be a value set by the user of the vehicle, as in the case where the degree of driving participation request is "low". . On the other hand, in S107, as in S101, the setting of the interval Tin1 (see FIGS. 10A and 10B) in the case where the degree of driving participation request is “low” is acquired from the storage unit 42, and the process proceeds to S102.

According to the above request degree presentation processing, the request degree presentation mode when the driving participation request degree is "low" and the request degree presentation mode when the driving participation request degree is "high" are risk occurrence and disappearance It switches according to the state change of the automatic driving system resulting from. Details of control of the vibration speaker 82 in the request degree presentation mode will be described based on FIG. 10A, FIG. 10B and FIG. 11A and FIG. 11B.

In each requested degree presentation mode, only the vibration speaker 82 provided to be in contact with the heel portion operates, and the two

vibration speakers

81 and 83 on the toe side maintain the stopped state. The signal output unit 53 causes the vibration speaker 82 to generate pulsation by control of repeating on and off of the vibration of the vibration speaker 82, and presents the driver with the state of the automatic driving system. Pulsation is a vibration that mimics the human heartbeat. The on time Ton of the vibration of the vibration speaker 82 is substantially the same regardless of the driving participation request level. At the on time Ton, one rectangular wave is input as a drive signal from the drive device 60 to the vibration speaker 82. The push-up vibration of the vibration speaker 82 due to the input of the rectangular wave can remind the driver of a feeling close to the heartbeat of a human heart.

On the other hand, the vibration intervals Tin1 and Tin2 are changed according to the level of the driving participation request degree as described above. The interval Tin2 when the driving participation request degree is "high" is defined shorter than the interval Tin1 when the driving participation request degree is "low". That is, the off time of the vibration when the driving participation request degree is “high” is shorter than the off time when the driving participation request degree is “low”. As described above, the signal output unit 53 discretely changes the intervals Tin1 and Tin2 so that the off time is shorter as the request degree is higher based on the level of the operation participation request degree as the system state information. , The cycle of pulsing the presentation surface 82a is varied. The "higher degree of request" includes "the state of high request degree".

As an example, the vibration at interval Tin1 when the degree of driving participation request is “low” is set based on the heart rate at a human resting time (for example, about 60 times per minute), specifically about 1 hertz Is repeated. On the other hand, the vibration due to the interval Tin 2 when the driving participation request level is “high” is set based on the heart rate at the time of rising of the human (for example, about 160 times per minute), specifically 2.6 hertz It is repeated by the degree.

Next, details of control of the specific vibration speakers 81 to 83 in the driving action induction mode will be described based on FIGS. 12A and 12B. As described above, the transition from the demand degree presentation mode to the driving behavior induction mode is mainly performed based on the driving shift request from the autonomous driving system.

In the driving behavior induction mode, the number of presentation surface portions 81a to 83a to be vibrated is increased compared to the request degree presentation mode. Specifically, in the driving action induction mode, the three vibration speakers 81 to 83 are synchronously controlled, and the on and off timings of the vibrations in the three presentation surface portions 81a to 83a are synchronized. The signal output unit 59 causes all the vibration speakers 81 to 83 to repeat the on and off of the vibration. The time ratio (on-duty ratio) occupied by the on-time Ton in the drive signal is set to, for example, about 15%. The signal waves input to each of the vibration speakers 81 to 83 in the on time Ton of the driving action induction mode are continuous triangular waves whose falling time is shorter than the rising time.

Next, details of the advance presentation mode will be described. The transition control process shown in FIG. 13 is started by the HCU 40 along with the start of the automatic operation in the same manner as the request degree presentation process (see FIG. 9), and performs transition of the operation mode between the request degree presentation mode and the preceding presentation mode. . The transition control process is repeated by the HCU 40 until the automatic operation is stopped.

In S111, the travel plan formulated by the automatic driving function is acquired, and the process proceeds to S112. In S112, based on the travel plan acquired in S111, it is determined whether or not the prior presentation is necessary. In the travel plan, when the preceding presentation scene in which the presentation behavior change occurs is scheduled several seconds later, the process proceeds from S112 to S113. In S113, by switching from the request degree presentation mode to the advance presentation mode, the footrest device 100 starts an advance presentation, and the process returns to S111. On the other hand, when it is determined in S112 that the preceding presentation scene is not scheduled, the process proceeds from S112 to S114. In S114, the advance presentation is stopped by switching from the advance presentation mode to the request degree presentation mode, and the process returns to S111.

Based on the above switching to the preceding presentation mode in S113, the preceding presentation process shown in FIG. 14 is started. In the advance presentation process, the advance presentation scene scheduled next is determined, and an actuation corresponding to the next vehicle behavior is set.

In S121, based on whether or not an acceleration exceeding the acceleration threshold is to be generated in the forward direction of the vehicle, it is determined whether or not the presentation of the acceleration operation is necessary. When it is determined that the acceleration in the forward direction in the assumed preceding presentation scene is equal to or less than the acceleration threshold and the presentation of the acceleration operation is unnecessary, the process proceeds from S121 to S123. On the other hand, when it is determined that the acceleration in the forward direction of the vehicle exceeds the acceleration threshold, the process proceeds from S121 to S122. In S122, the footrest device 100 starts the advance presentation operation (hereinafter referred to as acceleration operation presentation, see FIGS. 15A and 15B) for giving a notice of the acceleration operation of the vehicle, and ends the advance presentation process.

In S123, based on whether or not an acceleration exceeding the deceleration threshold is to be generated in the backward direction of the vehicle, it is determined whether or not the presentation of the deceleration operation is necessary. When it is determined that the backward acceleration in the assumed preceding presentation scene is equal to or less than the deceleration threshold and presentation of the deceleration operation is unnecessary, the process proceeds from S123 to S125. On the other hand, when it is determined that the backward acceleration of the vehicle exceeds the deceleration threshold, the process proceeds from S123 to S124. In S124, the footrest device 100 starts the advance presentation operation (hereinafter referred to as deceleration operation presentation, see FIGS. 16A and 16B) for giving a notice of the deceleration operation of the vehicle, and the advance presentation process is ended.

In S125, based on whether acceleration exceeding the turning threshold is to be generated in the right direction of the vehicle, it is determined whether it is necessary to present the turning operation in the right direction. If it is determined that the acceleration in the right direction in the assumed preceding presentation scene is equal to or less than the turning threshold and presentation of the turning operation in the right direction is required, the process proceeds from S125 to S126. In S126, the footrest device 100 causes the footrest device 100 to start an advance presentation operation (hereinafter, right rotation operation presentation, see FIGS. 17A and 17B) for giving a notice of right rotation operation of the vehicle, and ends the advance presentation process.

On the other hand, when it is determined in S125 that the presentation of the turning operation to the right is not necessary, the process proceeds from S125 to S127. In S127, the footrest device 100 starts the advance presentation operation (hereinafter referred to as left rotation operation presentation, see FIG. 18A, FIG. 18B) for giving a notice of the left rotation operation of the vehicle, and ends the advance presentation process.

Details of the control of the respective vibration speakers 81 to 83 in the preceding presentation mode will be described based on FIGS. 15A to 18. In the advance presentation mode, at least two of the three presentation surfaces 81a to 83a are controlled to vibrate alternately along the direction of the acceleration generated on the vehicle by the presentation behavior change.

The acceleration operation presentation shown in FIGS. 15A and 15B is performed when it is determined that the vehicle is accelerated in the forward direction. In the acceleration operation presentation, vibration speakers 81 and 83 (hereinafter referred to as front speaker group 80f) disposed on the front side of the driver and in the front direction of the vehicle are integrally and synchronously controlled. The signal output unit 59 alternately vibrates the vibration speaker 82 disposed on the rear side of the vehicle on the heel side of the driver and the above-described front speaker group 80f at predetermined time intervals.

Specifically, the time interval from the stop of the vibration of the vibration speaker 82 to the start of the vibration of the front speaker group 80f is the first off time T1f. On the other hand, the time interval from the stop of the vibration of the front speaker group 80f to the start of the vibration of the vibration speaker 82 is the second off time T2f. The signal output unit 59 sets the first off time T1f shorter than the second off time T2f. By setting each of the off times T1f and T2f, the vibration of the series of vibration speakers 81 to 83 reminds the driver of an image pushed forward.

The deceleration operation presentation shown in FIGS. 16A and 16B is performed when it is determined that the vehicle is accelerated in the backward direction. Even in the deceleration operation presentation, the front speaker group 80f is integrally and synchronously controlled. The signal output unit 59 alternately vibrates the front speaker group 80 f and the vibration speaker 82 at time intervals different from the acceleration operation presentation.

Specifically, in the deceleration operation presentation, the time interval from the stop of the vibration of the front speaker group 80f to the start of the vibration of the vibration speaker 82 is taken as a first off time T1b. On the other hand, the time interval from the stop of the vibration of the vibration speaker 82 to the start of the vibration of the front speaker group 80f is taken as a second off time T2b. The signal output unit 59 sets the first off time T1b shorter than the second off time T2b. By setting the respective off-times T1b and T2b, the vibration of the series of vibration speakers 81 to 83 reminds the driver of an image pulled back in the backward direction.

In the acceleration operation presentation and the deceleration operation presentation, the on time of the vibration of the front speaker group 80f and the on time of the vibration of the vibration speaker 82 are substantially the same. In addition, the vibration intensity (amplitude) of the front speaker group 80f and the vibration intensity (amplitude) of the vibration speaker 82 are also substantially the same.

The right turn operation presentation shown in FIGS. 17A and 17B is performed when it is determined that acceleration in the right direction is generated in the vehicle. In the right turn motion presentation, only the two

vibration speakers

81, 82 aligned in the width direction CD operate, and the vibration speaker 82 on the heel side maintains the stop state. The signal output unit 59 alternately vibrates the two

vibration speakers

81 and 82 at predetermined time intervals.

In the right turn operation presentation, the time interval from the stop of the vibration of the vibration speaker 83 located on the left to the start of the vibration of the vibration speaker 83 located on the right is taken as the first off time T1r. On the other hand, the time interval from the stop of the vibration of the vibration speaker 81 located on the right to the start of the vibration of the vibration speaker 83 located on the left is taken as a second off time T2r. The signal output unit 59 sets the first off time T1r to be shorter than the second off time T2r. By setting each of the off times T1r and T2r, the vibration of the series of

vibration speakers

81 and 82 reminds the driver of an image moving to the right.

The left turn action presentation shown in FIGS. 18A and 18B is performed when it is determined that acceleration in the left direction occurs in the vehicle. The signal output unit 53 alternately vibrates the two

vibration speakers

81 and 82 at a predetermined time interval while maintaining the stop state of the vibration speaker 82 on the heel side also in the left turning motion presentation.

In the left turning operation presentation, the time interval from the stop of the vibration of the vibration speaker 81 located on the right side of the two to the start of the vibration of the vibration speaker 83 located on the left side of the two is the first off time T1l. Be done. On the other hand, the time interval from the stop of the vibration of the vibration speaker 83 located on the left to the start of the vibration of the vibration speaker 81 located on the right is taken as the second off time T21. The signal output unit 59 sets the first off time T1 l shorter than the second off time T2 l. By setting each of the off times T11 and T21, the vibration of the series of

vibration speakers

81 and 82 reminds the driver of an image moving to the left.

In the right turning motion presentation and the left turning motion presentation, the on time and strength (amplitude) of the vibration of the two

vibration speakers

81 and 83 are substantially the same. Furthermore, the signal waves input to the respective vibration speakers 81 to 83 in each presentation operation are continuous triangular waves whose fall time is shorter than the rise time. With such a waveform of the drive signal, vibrations that push up the sole are transmitted from the respective presentation surface portions 81a to 83a to respective positions on the sole.

As in the first embodiment described above, if the vibrations of the plurality of presentation surfaces 81a to 83a are individually controlled, it is possible to notify the driver of the contents of the behavior change that will occur to the autonomously traveling vehicle in the future. . The mechanism for moving the footrest or the like can be omitted if the behavior can be notified by vibration in the future. Therefore, while ensuring the mountability of the configuration for information presentation to the vehicle, it becomes possible to notify the user of the behavior change through the somatic feeling.

In addition, in the case of information presentation by vibration as in the first embodiment, the posture of the driver sitting on the driver's seat 11 changes temporarily, and the posture of the footrest can be changed even if a large gap occurs in the driver's trunk. The ease of transmission of the information presentation to the driver as compared to the changing form can be maintained. That is, the information presentation by vibration is easier to ensure tolerance to trunk displacement than the information presentation by the posture change of the footrest.

In the first embodiment, when acceleration is generated in the vehicle by a future behavior change, the signal output unit 53 sets at least two of the plurality of presentation surface units 81 a to 83 a along the direction of the acceleration to be generated. Vibrate alternately. According to such control, even if the footrest device 100 has a simple configuration, the driver can be easily notified of the direction of the acceleration generated in the vehicle by the future behavior change.

In the acceleration operation presentation of the first embodiment, the first off time T1f from the stop of the vibration of the vibration speaker 82 to the start of the vibration of the front speaker group 80f is the start of the vibration of the vibration speaker 82 after the stop of the vibration of the front speaker group 80f. It is defined to be shorter than the second off time T2f. In addition, each of the first off-times T1 b, T1 r, T1 l is shorter than the respective second off-times T2 b, T2 r, T2 l in each of the deceleration action presentation, the right turning action presentation, and the left turning action presentation. . As described above, according to the control in which the length of each off time is changed depending on the direction of acceleration while vibrating each vibration speaker 81 to 83 alternately, the longitudinal and lateral directions of the acceleration to be generated in the vehicle Can be notified to the person in a more understandable manner.

In the first embodiment, the advance notice of the contents of the behavior change due to the vibration of each of the presentation surface portions 81a to 83a is ended before the behavior change occurs in the vehicle. As described above, if the advance notice due to the vibration of the vibration speakers 81 to 83 is completed before the occurrence of the behavior change, the driver can easily grasp the timing from the advance notice to the start of the behavior change. Therefore, the notification of the behavior change to the driver through somatic sensation can be information presentation that is easy for the driver to understand.

In the first embodiment, the HCU 40 corresponds to the “information presentation control device”, the mode transition control unit 52 (S112) corresponds to the “behavior determination unit”, and the signal output unit 53 corresponds to the “presentation control unit”. The travel plan corresponds to "behavior information". Moreover, in acceleration operation | movement presentation,

presentation surface part

81a, 83a corresponds to a "1st presentation surface part", and the other (remaining) presentation surface part 82a corresponds to a "2nd presentation surface part." On the other hand, in the deceleration operation presentation, the presentation surface 82a corresponds to the "first presentation surface", and the presentation surfaces 81a and 83a correspond to the "second presentation surface". Similarly, in the right turn operation presentation, the presentation surface 81a corresponds to the "first presentation surface" and the presentation surface 83a corresponds to the "second presentation surface", while in the left rotation operation presentation, the presentation surface 83a is It corresponds to a "1st presentation surface part", and the presentation surface part 81a corresponds to a "2nd presentation surface part."

Second Embodiment
The second embodiment of the present disclosure shown in FIGS. 19A to 21B is a modification of the first embodiment. In the demand degree presentation mode and the prior presentation mode of the second embodiment, the vibration patterns of the respective vibration speakers 81 to 83 are different from those of the first embodiment.

In the request degree presentation mode, in addition to the intervals Tin1 and Tin2 of the vibration speaker 82, the magnitude of the amplitude is also changed according to the request degree of the driving participation. As shown in FIGS. 19A and 19B, the amplitude (see solid line) when the degree of request for driving participation is “high” is from the amplitude (see the alternate long and short dashed line) when the degree of request for driving participation is “low”. Is also enlarged. By such control, when the degree of request for participation in driving is increased, it is possible to more clearly notify the driver to that effect.

In the preceding presentation mode, the vibration of the three vibration speakers 81 to 83 is simultaneously started. Specifically, in the right-turning action presentation shown in FIGS. 20A and 20B, the on time Tonr for continuing the vibration of the vibration speaker 81 is set to about twice the on time Tonl for continuing the vibration of the

vibration speakers

82 and 83. It is done. That is, after the vibration of the vibration speakers 81 to 83 is started, the signal output unit 53 (see FIG. 2) stops the vibration of the

vibration speakers

82 and 83 earlier than the vibration speaker 81. By setting each on-time Ton1 and Tonr, the vibration of the series of vibration speakers 81 to 83 makes use of the aftermath of the vibration of the

vibration speakers

82 and 83 stopped earlier to move the image moving rightward to the driver. Remind me. The vibration patterns of the vibration speakers 81 to 83 may be repeated a plurality of times at predetermined time intervals as the right turning operation presentation.

In the left turning operation presentation shown in FIGS. 21A and 21B, the on time Ton1 for continuing the vibration of the vibration speaker 83 is set to about twice the on time Tonr for continuing the vibration of the

vibration speakers

81 and 82. That is, after the vibration of the vibration speakers 81 to 83 is started, the signal output unit 53 (see FIG. 2) stops the vibration of the

vibration speakers

81 and 82 earlier than the vibration speaker 83. By setting each on-time Tonr, Tonl, the vibration of the series of vibration speakers 81 to 83 uses the afterglow of the vibration of the

vibration speakers

81 and 82 to be stopped first to move the image moving in the left direction to the driver. Remind me. The vibration patterns of the vibration speakers 81 to 83 may be repeated a plurality of times at predetermined time intervals as the left turning motion presentation.

Furthermore, in the acceleration operation presentation, after the vibration of each of the vibration speakers 81 to 83 is simultaneously started, the vibration of the vibration speaker 82 is stopped earlier than the front speaker group 80f. Similarly, in the deceleration operation presentation, after the vibration of each of the vibration speakers 81 to 83 is simultaneously started, the vibration of the front speaker group 80f is stopped earlier than the vibration speaker 82. Even with such control, an image moving forward or backward can be recalled to the driver by using the aftermath of the vibration of the vibration speakers 81 to 83 which are stopped first.

As in the preceding presentation mode of the second embodiment described above, even in the presentation method using the afterglow of the vibration speakers 81 to 83 whose vibration has been stopped, to the driver as in the first embodiment, The content of the behavior change can be notified with high certainty.

Third Embodiment
The third embodiment of the present disclosure shown in FIGS. 22A, 22B and 23A, 23B is a modification of the second embodiment. In the right turn operation presentation and the left turn operation presentation of the third embodiment, only the

vibration speakers

81 and 83 vibrate, and the vibration speaker 82 maintains the stop state. Specifically, in the right-turning action presentation shown in FIGS. 22A and 22B, the on-time Tonr for continuing the vibration of the vibration speaker 81 is set to about twice the on-time Tonl for continuing the vibration of the vibration speaker 83. There is. That is, the signal output unit 53 (see FIG. 2) stops the vibration of the presentation surface 83a faster than the presentation surface 81a after simultaneously causing the vibration of both the presentation surface 81a and the presentation surface 83a. From the above, the driver may recall an image moving to the right from the contrast between the continuation of the vibration of the presentation surface 83a stopped earlier and the vibration of the presentation surface 81a continued.

On the other hand, in the left turning operation presentation shown in FIGS. 23A and 23B, the on time Ton1 for continuing the vibration of the vibration speaker 83 is set to about twice the on time Tonr for continuing the vibration of the vibration speaker 81. That is, the signal output unit 53 (see FIG. 2) stops the vibration of the presentation surface 81a faster than the presentation surface 83a after simultaneously causing the vibrations of both the presentation surface 83a and the presentation surface 81a. From the above, the driver may recall an image moving in the left direction from the contrast between the continuation of the vibration of the presentation surface 81a stopped earlier and the vibration of the presentation surface 83a continued.

Also in the preceding presentation mode of the above third embodiment, as in the second embodiment, the contents of the behavior change to the user through the somatic sensation by using the afterglow of the vibration speakers 81 to 83 whose vibration is stopped. Notification of is possible. The vibration patterns of the

vibration speakers

81 and 83 may be repeated a plurality of times with a predetermined time interval as the right turning operation presentation and the left turning operation presentation. The acceleration operation presentation and the deceleration operation presentation in the third embodiment may be substantially the same as those in the second embodiment.

(Other embodiments)
Although the plurality of embodiments of the present disclosure have been described above, the present disclosure is not construed as being limited to the embodiments, and is applied to various embodiments and combinations without departing from the scope of the present disclosure. be able to.

The footrest device according to the first modification of the embodiment is provided with an adjustment mechanism capable of adjusting the relative position of each vibration speaker with respect to the lower base plate for each vibration speaker. The adjustment mechanism is provided between the lower base plate and the housing of each vibration speaker, and moves the position of the presentation surface by extension and contraction in the direction perpendicular to the mounting surface. The adjustment function adjusts the amount of protrusion of the presentation surface relative to the upper cover member. The function of the adjustment mechanism allows the presentation surface to be given priority to the driver, for example, to be appropriately changed according to the information to be presented to the driver. The adjustment mechanism may be built in each vibration speaker.

In the embodiment, through the insertion opening provided in the upper cover member, each presentation surface is exposed to the mounting surface so as to abut on the sole. However, each vibration speaker which is a vibration presentation speaker does not need to have a presentation surface part exposed to a mounting surface. Each of the vibration speakers can individually vibrate different places on the mounting surface while being accommodated between the upper cover member and the lower base plate. In other words, the configuration for propagating the vibration of the vibration speaker to the sole on the mounting surface may be provided integrally with the upper cover member forming the mounting surface.

The attachment of the embodiment is formed in a flat convex spherical shape that forms a convexly curved presentation surface. However, the shape of the attachment can be changed as appropriate. The attachment may, for example, be in the form of a flat cone or a square pyramid, or may be in the form of a flat cylinder forming a planar presentation surface. In addition, the surface of the presentation surface may be smooth. Alternatively, a concavo-convex or convex pattern or the like that functions as a slip stopper may be formed on the presentation surface.

Furthermore, when each presentation surface can not be placed at the target position due to factors such as the size or shape of each vibration speaker, the excitation point is adjusted by making the apex position of the attachment eccentric with respect to the center of the vibration speaker. The optimization of may be made.

In addition, a gap may be secured between the inner peripheral wall of the insertion opening and the outer peripheral wall of the attachment to prevent the propagation of vibration from the attachment to the upper cover member. Alternatively, a flexible material that hardly transmits vibration may be provided between the attachment and the inner peripheral wall of the insertion opening. Furthermore, a bowl-shaped portion that blocks the insertion opening from the mounting surface side or the lower base surface side may be provided on the outer periphery of the attachment.

In the embodiment, all the presentation surfaces were protruded from the upper cover member. However, at least a part of the presentation surface may be flush with the outer surface of the bottom wall of the upper cover member. In addition, the protrusion amount of each presentation surface may be changed as appropriate, and the ball area of the ball of the thumb or the area of the pinky ball may be larger than that of the heel area. Furthermore, the protrusion amount of each presentation surface may be substantially the same as one another.

In the embodiment, three presentation surfaces are provided on the mounting surface. The positions of these three presentation surfaces may be changed as appropriate. For example, of the placement surfaces, an area closer to the lower end than the upper end is set as a range where placement of the heel portion of the user is assumed, and the presentation surface 82a (see FIG. 4) is appropriately changed in position within this range. It is also good. Similarly, in the mounting surface, an area closer to the upper end than the lower end and closer to the inner end than the outer end is set as a range where placement of the user's thumb ball portion is assumed, and the presentation surface 81a (see FIG. 4) May be appropriately changed within this range. Furthermore, of the placement surfaces, an area closer to the upper end than the lower end and closer to the outer end than the inner end is a range where placement of the user's thumb ball portion is assumed, and the presentation surface 83a (see FIG. 4) The position may be changed as appropriate within this range. Moreover, the presentation surface part 83a provided in the outer side range of a mounting surface may be provided in the position which can excite the toe part outside rather than the small toe ball part of a foot sole rather than an arch.

Furthermore, the number of presentation surface parts provided on the placement surface is not limited to three. For example, only two presentation surface parts may be provided on the placement surface in an arrangement aligned along the longitudinal direction or the width direction. Alternatively, four or more presentation surfaces may be provided on the placement surface. As an example, in addition to the two presentation surface parts that excite the torus ball center C1 and the small toe ball center C3, two presentation surface parts that excite the eyelid portion on both sides of the eyelid center C2 in the width direction CD are provided. It may be done.

In the embodiment, the shape of the mounting surface, which is in the form of a long flat plate, may be changed as appropriate. For example, the mounting surface may be convexly curved, and specifically, may be a partially cylindrical surface having a slight curvature in the longitudinal direction LD. Furthermore, the external shape of the mounting surface may be square, elliptical, trapezoidal or the like.

The footrest device of the embodiment is attached to the mounting portion in a posture inclined only in the longitudinal direction of the vehicle. In other words, the width direction CD of the mounting surface 73 is in the horizontal direction of the vehicle. However, the mounting posture of the footrest device may be changed as appropriate. For example, the mounting surface 73 may be directed outward (center tunnel side) by mounting in which the width direction CD is slightly inclined with respect to the horizontal direction of the vehicle. If it is such an attachment posture, the protrusion amount of the presentation surface part 83a (refer FIG. 4) provided in the outer range of a mounting surface and the presentation surface 81a (refer FIG. 4) provided in the inner range of a mounting surface is substantially identical. It may be taken.

In the embodiment, the details of the footrest device provided at a position adjacent to the center tunnel in the vehicle with the right handle have been described, but this footrest device may be set behind the hall house in the vehicle with the left handle . That is, the footrest device having substantially the same configuration is applicable to both right-handed and left-handed vehicles.

In the embodiment, the presentation surface portion that excites the sole is provided on the mounting surface of the footrest device. However, the configuration for providing the presentation surface is not limited to the footrest device. For example, a tread surface such as the accelerator pedal 12 (see FIG. 1), the brake pedal 13 (see FIG. 1), or the clutch pedal may be a "mounting surface", and a presentation surface may be provided on the tread surfaces of these pedals. Furthermore, a presentation surface portion may be provided on the floor surface 14 with the floor surface 14 (see FIG. 1) in front of the driver's seat 11 as a mounting surface. The accelerator pedal 12 may be locked at a specific position so as not to stroke due to the application of the stepping force by the driver during autonomous traveling.

Furthermore, the presentation surface controlled by the HCU is not limited to the configuration that excites the driver's sole. The presentation surface may be provided at any position in the vehicle compartment as long as it can contact the user of the vehicle. For example, the HCU notifies the driver of the future behavior of the vehicle by individually controlling the vibration of a plurality of presentation surfaces provided on the seat surface of the driver's seat 11 (see FIG. 1), the backrest, and the armrest. You may

In the embodiment, the vibration speaker is used as a vibration presentation device. The waveform of the drive signal input to such a vibration speaker may be changed as appropriate. Also, the excitation presenter is not limited to the vibration speaker. For example, a vibration motor or the like that generates a vibration by rotation of a mass body whose center of gravity is offset from the rotation center may be used as a vibration presentation device. Alternatively, a part of the plurality of presentation surfaces may be formed by the vibration speaker, and another part may be formed by the vibration motor.

The rise time and fall time of the excitation in the vibration speaker can be shorter than that of the vibration motor. In addition, the control of vibration frequency and amplitude is also easier for vibration speakers than vibration motors. In addition, the vibration speaker generates vibration in a direction perpendicular to the mounting surface. Therefore, the vibration speaker can locally excite a part of the foot sole, and the driver can easily identify the location of the vibration. For the above reasons, the vibration speaker has a suitable configuration as a vibration presentation device.

The determination result of the degree of request for operation participation by the mode transition control unit 52 (see FIG. 2) of the second modification of the first embodiment is not a discrete value such as “high” and “low” but a continuous value Is output as Then, the signal output unit 53 (see FIG. 2) continuously changes the off time based on the value of the degree of request for driving participation. More specifically, the signal output unit 53 gradually reduces the vibration interval as the degree of request for participation in driving increases, and gradually increases the interval for vibration as the degree of request for participation in driving decreases. As described above, the increase and decrease of the interval in the request degree presentation mode may not be performed discretely. In addition, the continuous value is determined by, for example, a function using the reception sensitivity of the positioning signal, the detection state of the external sensor, and the like as variables.

In the demand degree presentation mode of the first embodiment, only the vibration speaker 82 (see FIGS. 10A and 10B) disposed in the heel portion excites the driver's sole. However, the vibration speaker that reproduces the heartbeat in the requested degree presentation mode may not be only the vibration speaker 82 disposed in the heel portion. Other vibration speakers 81 and 83 (see FIG. 10A and FIG. 10B) may perform a vibration that reproduces a pseudo heartbeat. Furthermore, artificial biofeedback may be implemented by synchronous control of a plurality of vibration speakers.

The degree of request for driving participation in the embodiment increases due to deterioration of the reception sensitivity of the positioning signal, the detection state of the external sensor, and the like. Such an increase in the degree of request for driving participation occurs, for example, along with deterioration of weather conditions such as rainfall, snowfall and thick fog, building shadows in urban areas, entry into tunnels, underground and inside facilities and the like. Furthermore, even in a scene where lane markings are divided, a scene entering a sharp curve, or the like, the degree of demand for driving participation may increase.

In the driving behavior induction mode (see FIGS. 12A and 12B) of the first embodiment, the three vibration speakers 81 to 83 are synchronously controlled. However, if strong incongruity can be given to the driver, for example, control may be performed to randomly generate vibrations of the three vibration speakers 81 to 83. Furthermore, the duty ratio, which is about 15% in the first embodiment, may be changed as appropriate. For example, the duty ratio occupied by the on time Ton in the drive signal may be set to about 50%. Furthermore, the duty ratio of the on time Ton may be gradually increased with the passage of time.

The signal output unit 53 (see FIG. 2) of the third and fourth modifications of the first embodiment alternately vibrates in the preceding presentation mode to distinguish between the longitudinal direction and the lateral direction of the acceleration. The strength (amplitude) of the vibration of ̃83a is set to a different value. Specifically, in the acceleration operation presentation of the third modification, the vibration intensity of the

presentation surface portions

81a and 83a is stronger than the vibration intensity of the presentation surface portion 82a, and in the deceleration operation presentation, the vibration intensity of the presentation surface portions 82a is, The strength of the vibration of the

presentation surface portions

81a and 83a is made stronger. Similarly, in the right turn operation presentation of the third modification, the vibration intensity of the presentation surface 81a is stronger than the vibration intensity of the presentation surface 83a, and in the left rotation speed operation presentation, the vibration intensity of the presentation surface 83a is , And the strength of the vibration of the presentation surface 81a.

In contrast, in the acceleration operation presentation of the fourth modification, the vibration intensity of the presentation surface 82a is stronger than the vibration intensity of the presentation surfaces 81a and 83a, and in the deceleration operation presentation, the vibration intensity of the presentation surfaces 81a and 83a is , And the strength of the vibration of the presentation surface 82a. Similarly, in the right turning operation presentation of the fourth modification, the vibration intensity of the presenting surface 83a is stronger than the vibration intensity of the presenting surface 81a, and in the left turning speed operation presentation, the vibration intensity of the presenting surface 81a is , And the strength of the vibration of the presentation surface 83a.

The prediction of the content of the presentation behavior change in the first embodiment was completed before the behavior change occurred in the vehicle. However, the anteroposterior relationship between the completion timing of each action presentation and the generation start timing of the acceleration accompanying the behavior change may be appropriately adjusted. For example, the behavior change of the vehicle may be initiated during the continuation of the motion presentation. In this case, the completion timing of the motion presentation is later than the generation start timing of the acceleration accompanying the behavior change. Furthermore, the completion timing of the operation presentation may be set so as to be substantially simultaneous with the generation start timing of the acceleration accompanying the behavior change.

Each motion presentation described in the first embodiment is a motion presentation when one of acceleration, deceleration, and turning is performed as the next behavior of the vehicle. However, it may be assumed that complex behavior is scheduled as the next behavior of the vehicle, such as right turn while decelerating. In such a case, for example, combined action presentation as shown in FIGS. 24A and 24B is performed. Specifically, the signal output unit first alternately vibrates the front speaker group 80f and the vibration speaker 81 (for example, twice each) as shown in the deceleration operation presentation (see FIGS. 10A and 10B). After that, the signal output unit alternately vibrates the vibration speaker 81 and the vibration speaker 83 (for example, two times each) as shown in the right-turning motion presentation (see FIGS. 17A and 17B). In the combined motion presentation, the deceleration motion presentation and the right turning motion presentation may be repeated multiple times.

The acceleration threshold value, the deceleration threshold value, and the left and right turning threshold values used in the embodiment can be set to different values. The user of the vehicle is more anxious about the acceleration in the forward (acceleration) direction and the lateral direction than the acceleration in the backward (deceleration) direction. Therefore, the acceleration threshold and the turning threshold may be set to lower values than the deceleration threshold. Furthermore, if the next vehicle behavior is proactively presented, each threshold may be set to a low value as a whole. In addition, when priority is given to the reduction of the user's inconvenience, each threshold may be set to a high value as a whole. Each of these thresholds may be adjustable by the user of the vehicle.

In the embodiment, the HCU, the drive device and the footrest device are provided as separate configurations. However, the configuration of the drive may be provided integrally with the HCU or the footrest device. Furthermore, the arithmetic processing of the HCU for controlling the footrest device may be performed by another control device different from the HCU, or may be performed by a control circuit provided in the footrest device 100.

Furthermore, various non-transitory tangible storage media can be employed as a storage unit for storing an information presentation control program executed by the processing unit. Such non-transitory tangible storage media may be various non-volatile storage media such as flash memory, hard disk and optical disk, or may be volatile storage media such as RAM. The storage medium is not limited to the storage unit provided in the control device such as the HCU, and may be an optical disk serving as a copy source to the storage unit, a hard disk drive of a general-purpose computer, or the like.

Here, the flowchart described in the present application or the process of the flowchart is composed of a plurality of steps (or referred to as sections), and each step is expressed as, for example, S101. Furthermore, each step may be divided into multiple sub-steps, while multiple steps may be combined into one step.

The embodiments, configurations, and aspects of the information presentation control device and the information presentation control program according to one aspect of the present disclosure have been illustrated above, but the embodiments, configurations, and aspects according to the present disclosure are the respective embodiments described above, It is not limited to composition and each mode. For example, embodiments, configurations and aspects obtained by appropriately combining technical parts respectively disclosed in different embodiments, configurations and aspects are also included in the scope of embodiments, configurations and aspects according to the present disclosure.

Claims

An information presentation control device that presents information to a user by means of control of vibrating a plurality of presentation surface portions (81a to 83a) provided to be in contact with a user boarding a vehicle capable of autonomous driving,
An information acquisition unit (51) for acquiring behavior information indicating a future behavior of the vehicle traveling autonomously;
A behavior determining unit (52) that determines whether or not a change in behavior to be presented to the user occurs in the vehicle based on the behavior information;
A presentation control unit that individually controls the vibrations of the plurality of presentation surfaces before generating the presentation behavior change determined to be presented by the behavior determination unit, and notifies the driver of the content of the presentation behavior change in advance (53) An information presentation control device comprising:
The information presentation control device according to claim 1, wherein the presentation control unit alternately vibrates at least two of the presentation surface units arranged along a direction of acceleration generated in the vehicle by the presentation behavior change.
Among the two presentation surface portions whose vibration is controlled by the presentation control portion, the presentation surface portion located in the direction of acceleration is a first presentation surface portion, and the presentation surface portion different from the first presentation surface portion is a second presentation surface portion Then,
The presentation control unit is configured to perform a first off time (T1 f, T1 b, T1 r, T1 l) to start the vibration of the first presentation surface after stopping the vibration of the second presentation surface in the first presentation surface. The information presentation control device according to claim 2, wherein a second off time (T2f, T2b, T2r, T2l) from the stop of the vibration to the start of the vibration of the second presentation surface portion is made shorter.
Among the two presentation surface parts aligned along the direction of acceleration generated on the vehicle by the presentation behavior change, the presentation surface part located in the direction of acceleration is the first presentation surface part, and the presentation surface part different from the first presentation surface part And the second presentation surface,
The presentation control unit according to claim 1, wherein the vibration of the second presentation surface is stopped earlier than the first presentation surface after the vibration of both the first presentation surface and the second presentation surface is started. Information presentation control device.
The information presentation control device according to claim 3, wherein the presentation control unit vibrates the first presentation surface unit more strongly than the second presentation surface unit.
The information presentation control device according to claim 3, wherein the presentation control unit vibrates the second presentation surface unit more strongly than the first presentation surface unit.
The information according to any one of claims 1 to 6, wherein the presentation control unit ends the advance notice of the content of the presentation behavior change using the plurality of presentation surface units before the behavior change occurs in the vehicle. Presentation control device.
An information presentation control program for presenting information to a user by means of control of vibrating a plurality of presentation surface parts (81a to 83a) provided to be in contact with a user boarding an autonomously drivable vehicle,
At least one processing unit (41),
An information acquisition unit (51) for acquiring behavior information indicating a future behavior of the vehicle traveling autonomously;
A behavior determining unit (52) that determines whether or not a change in behavior to be presented to the user occurs in the vehicle based on the behavior information;
A presentation control unit that individually controls the vibrations of the plurality of presentation surfaces before generating the presentation behavior change determined to be presented by the behavior determination unit, and notifies the driver of the content of the presentation behavior change in advance (53) Information presentation control program to function.
A non-transitory computer readable storage medium storing the information presentation control program according to claim 8.
It is an information presentation control method of presenting information to a user by control of vibrating a plurality of presentation surface parts (81a to 83a) provided to be in contact with a user boarding a vehicle capable of autonomous driving,
Acquiring behavior information indicating a future behavior of the vehicle traveling autonomously;
Determining whether or not a change in behavior to be presented to the user occurs in the vehicle based on the behavior information;
Controlling the vibrations of the plurality of presentation surfaces individually and notifying the driver of the contents of the presentation behavior change in advance, before occurrence of the presentation behavior change determined to be presented by the behavior determination unit; Information presentation control method provided.