WO2019142893A1 - Véhicule à conduite automatique, dispositif de notification, procédé de notification, programme, et support de stockage - Google Patents

Véhicule à conduite automatique, dispositif de notification, procédé de notification, programme, et support de stockage Download PDF

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Publication number
WO2019142893A1
WO2019142893A1 PCT/JP2019/001406 JP2019001406W WO2019142893A1 WO 2019142893 A1 WO2019142893 A1 WO 2019142893A1 JP 2019001406 W JP2019001406 W JP 2019001406W WO 2019142893 A1 WO2019142893 A1 WO 2019142893A1
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WIPO (PCT)
Prior art keywords
driving vehicle
vehicle
operation mode
autonomous driving
notification
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Application number
PCT/JP2019/001406
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English (en)
Japanese (ja)
Inventor
康夫 横内
大樹 浜田
Original Assignee
パナソニックＩｐマネジメント株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Priority claimed from JP2018007766A external-priority patent/JP2019127051A/ja
Priority claimed from JP2018010646A external-priority patent/JP2019128828A/ja
Application filed by パナソニックＩｐマネジメント株式会社 filed Critical パナソニックＩｐマネジメント株式会社
Publication of WO2019142893A1 publication Critical patent/WO2019142893A1/fr

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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
    • B60W50/04—Monitoring the functioning of the control system
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to an autonomous driving vehicle that outputs a notification, a notification device, a notification method, a program, and a storage medium.
  • the navigation device guides the road on which the vehicle is traveling. For example, when the road is a roundabout ring road, a guide mode different from other roads is required (see, for example, Patent Document 1).
  • a vehicle performing automatic driving needs to notify the driver to request transfer of the driving function when reaching the limit of automatic driving (fallback).
  • the driver may watch the content displayed on the screen as a task (secondary task) other than driving. Even in such a case, it is required to notify the transition of the driving function to smoothly transition.
  • the present disclosure has been made in view of such a situation, and an object thereof is to provide a technique for notifying a driving function to smoothly transition.
  • an autonomous driving vehicle having a notification device for notifying an occupant, at least a first operation mode, and a second operation mode.
  • the notification that the intervention for the operation of the occupant is larger than the first operation mode and the notification device may switch to the second operation mode independently of the intention of the occupant Do.
  • This device can be mounted on an autonomous driving vehicle having at least a first operation mode and a second operation mode, and is a notification device for notifying an occupant of the occupant. It is notified that the intervention for driving is larger than the first driving mode and the second driving mode may be switched independently of the intention of the occupant.
  • the autonomous driving vehicle includes an acquisition device that acquires information outside the vehicle, an autonomous driving system that controls the vehicle, and a notification device.
  • the notification device includes a reception unit that receives a signal from the acquisition device, and a notification unit.
  • the notification unit determines whether or not the automatic driving system falls into the performance limit based on the signal, and determines that the automatic driving system falls into the performance limit at least when judging that the automatic driving system falls into the performance limit. Notify the driver of.
  • Yet another aspect of the present disclosure is a notification method.
  • This method can be mounted on an autonomous vehicle having at least a first operation mode and a second operation mode, and is a notification method in a notification device for notifying an occupant of the vehicle, the second operation mode is And notifying that the intervention for the driver's driving is larger than the first driving mode and the second driving mode may be switched independently of the driver's intention.
  • This storage medium is a storage medium that can be mounted on an autonomous driving vehicle having at least a first operation mode and a second operation mode, and stores a program in a notification device that notifies an occupant of the vehicle.
  • the second operation mode causes the computer to execute notification that the intervention for the occupant's operation is larger than the first operation mode, and the second operation mode may be switched independently of the occupant's intention.
  • the program for is a storage medium that can be mounted on an autonomous driving vehicle having at least a first operation mode and a second operation mode, and stores a program in a notification device that notifies an occupant of the vehicle.
  • the second operation mode causes the computer to execute notification that the intervention for the occupant's operation is larger than the first operation mode, and the second operation mode may be switched independently of the occupant's intention.
  • the driving function can be notified to smoothly shift.
  • the first embodiment of the present disclosure includes a mode for executing automatic operation (hereinafter referred to as “automatic operation mode”) and a mode for executing manual operation (hereinafter referred to as “manual operation mode”), and
  • the present invention relates to a vehicle provided with a notification device for displaying SAE (Society of Automotive Engineers) Level 3 automatic driving system recognizes the system limit, and when reaching it, notifies the driver of the driving function transfer request, and switches the automatic driving mode to the manual driving mode. This corresponds to transferring the driving function for driving the vehicle to the driver. Such a transition of the driving function should be smoothly performed even when the driver is viewing content in the vehicle traveling in the automatic driving mode.
  • SAE Society of Automotive Engineers
  • the vehicle according to the first embodiment urges the driver who watches the content to give a gradual alert. Specifically, “display and approving alerting sentence before start of viewing”, “continuation of alerting sentence display during viewing”, and “notice of driving function transfer request at fallback” are executed. Driving functions are smoothly transferred by prompting such a gradual warning.
  • embodiments of the present disclosure will be described in detail with reference to the drawings. In addition, each embodiment described below is an example, and this indication is not limited by these embodiments.
  • FIG. 1 shows a configuration of the vehicle interior of an autonomous driving vehicle 100 as viewed from the rear.
  • a dashboard 10 extending to the left and right is disposed forward of the vehicle interior, and a display unit 64 is disposed at a central portion of the dashboard 10.
  • the display unit 64 displays, for example, a moving image, a WWW (World Wide Web) browser, a map of navigation, and a call screen.
  • a windshield 12 is disposed above the dashboard 10, and a ceiling 14 is disposed rearward of the windshield 12 from above.
  • a room mirror 16 is installed downward from a portion on the windshield 12 side of the ceiling 14.
  • FIG. 2 shows the configuration of the autonomous driving vehicle 100.
  • the autonomous driving vehicle 100 includes an operation control unit 20, a position information acquisition unit 22, an automatic operation control unit 24, an electronic control unit (ECU) 26, an operation unit 30, a sensor 32, a controller area network (CAN) 34, and a notification device 50.
  • the operation unit 30 includes a steering 40, an accelerator pedal 42, and a brake pedal 44.
  • the ECU 26 includes a steering ECU 70, an engine ECU 72, and a brake ECU 74.
  • the notification device 50 includes a control unit 60, a wireless communication unit 62, a display unit 64, and an input unit 66.
  • the notification device 50 is connectable to the server 82 via the network 80.
  • the surrounding environment of the autonomous driving vehicle 100 indicates the road condition on which the vehicle travels including lane information, the presence of an obstacle around the vehicle, and the environment outside the vehicle like other vehicles in the vicinity.
  • An example of the sensor 32 is an imaging device, a light detection and ranging (LIDAR) device, a millimeter wave sensor, a sonar, or any combination thereof.
  • the detection result of the sensor 32 is output to the operation control unit 20 as a detection result.
  • the CAN 34 is a network that connects the devices mounted on the autonomous driving vehicle 100.
  • the CAN 34 transmits, for example, information on the traveling state of the autonomous driving vehicle 100.
  • the information on the traveling state of the autonomous driving vehicle 100 includes longitudinal velocity, longitudinal acceleration, lateral velocity, lateral acceleration, yaw angular velocity, and yaw angular acceleration. These pieces of information are acquired by a velocity sensor connected to the CAN 34, an acceleration sensor, a gyro sensor, a geomagnetic sensor, an inclination sensor, and the like. These pieces of information are collectively called vehicle state quantities.
  • the vehicle state quantity from CAN 34 is received in operation control unit 20.
  • the driving control unit 20 outputs the detection result from the sensor 32 and the vehicle state amount from the CAN 34 to the automatic driving control unit 24.
  • the position information acquisition unit 22 acquires the position information of the autonomous driving vehicle 100 from a GNSS (Global Navigation Satellite System (s)) receiver. Further, the position information acquisition unit 22 may acquire the position information of the autonomous driving vehicle 100 by autonomous navigation. The position information acquisition unit 22 outputs the position information to the automatic driving control unit 24.
  • GNSS Global Navigation Satellite System (s)
  • the autonomous driving control unit 24 is an autonomous driving controller provided with an autonomous driving control function, and determines an action of the autonomous driving vehicle 100 in the autonomous driving.
  • the configuration of the automatic operation control unit 24 can be realized by cooperation of hardware resources and software resources, or hardware resources only.
  • a processor, ROM (Read Only Memory), RAM (Random Access Memory), and other LSIs can be used as hardware resources, and programs such as operating systems, applications, and firmware can be used as software resources.
  • the automatic driving control unit 24 receives the detection result from the sensor 32 and the vehicle state amount from the CAN 34 via the driving control unit 20. In addition, the automatic driving control unit 24 receives the position information from the position information acquisition unit 22. The autonomous driving control unit 24 applies the detection result, the vehicle state amount, the position information, and the like to the autonomous driving algorithm to calculate the vehicle control amount.
  • the vehicle control amount is a control value for controlling an automatic control target, including longitudinal velocity, longitudinal acceleration, steering angle, and steering angular velocity.
  • the automatic driving control unit 24 outputs the calculated vehicle control amount to the ECUs 26 to be controlled.
  • the ECU 26 includes a steering ECU 70, an engine ECU 72, and a brake ECU 74.
  • the steering ECU 70, the engine ECU 72, and the brake ECU 74 drive actuators in accordance with the control amount supplied from the automatic driving control unit 24.
  • the motor ECU drives the actuator according to the control amount.
  • the operation control unit 20 monitors the occurrence of an abnormality in the sensor 32. For example, the operation control unit 20 waits for notification of a failure detected by the failure detection unit in the camera module in the imaging device.
  • the failure detection unit detects a failure when the input voltage is out of the range of the specified value, that is, when a voltage abnormality occurs.
  • the operation control unit 20 detects the occurrence of an abnormality in the sensor 32 when the notification of the occurrence of the failure is received.
  • the operation control unit 20 may detect the occurrence of an abnormality in the sensor 32 when the combination of the sensing function deterioration and the failure in the plurality of sensors 32 continues for a certain period of time in order to prevent erroneous detection.
  • the detection method of the occurrence of the abnormality performed by the operation control unit 20 is not limited to these, but is repeatedly performed during the automatic operation mode.
  • the operation control unit 20 determines switching from the automatic operation mode to the manual operation mode as having reached the limit of automatic operation (fallback). That is, switching from the first driving mode to the second driving mode may occur independently of the rider's intention regardless of the rider's operation.
  • the manual operation mode is selected in the operation control unit 20.
  • the operation unit 30 includes a steering 40, an accelerator pedal 42, and a brake pedal 44, and receives an operation of manual driving by the driver.
  • a signal of a manual driving operation performed by the driver (hereinafter, referred to as “manual driving signal”) is output from the operation unit 30 to the operation control unit 20.
  • Operation control unit 20 receives a manual operation signal from operation unit 30.
  • the operation control unit 20 outputs a manual operation signal to the ECUs 26 to be controlled. Therefore, the manual driving signal is indicated similarly to the above-mentioned vehicle control amount.
  • the steering ECU 70, the engine ECU 72, and the brake ECU 74 included in the ECU 26 drive an actuator in accordance with the manual operation signal supplied from the operation control unit 20.
  • the wireless communication unit 62 is connected to the network 80, and the server 82 is also connected to the network 80. Therefore, the wireless communication unit 62 can connect to the server 82 via the network 80.
  • the server 82 provides the notification device 50 with predetermined content.
  • An example of the predetermined content is a moving image, a WWW browser, and navigation. Since known techniques may be used to provide such predetermined content, the description thereof is omitted here, but the wireless communication unit 62 receives data of the content from the server 82.
  • the wireless communication unit 62 outputs the data of the content to the control unit 60.
  • the display unit 64 is a display of a car navigation system installed in the autonomous driving vehicle 100 or a center display.
  • the display unit 64 may be a head-up display.
  • the display unit 64 can output the screen of the content received from the control unit 60.
  • the screen of the content displayed on the display unit 64 is, for example, a moving image, a WWW browser, a map for navigation, and a call screen.
  • the input unit 66 is a user interface device that can receive an operation of a passenger.
  • the input unit 66 is a touch panel, a lever, a button, a switch, a controller such as a joystick or a volume, a sensor such as a camera that recognizes a gesture without contact, a sensor such as a microphone that recognizes voice, or a combination thereof.
  • the input unit 66 outputs the received information as an operation signal to the control unit 60.
  • the control unit 60 controls the operation of the notification device 50.
  • Control unit 60 receives the data of the content from wireless communication unit 62 according to the content of the operation signal received from input unit 66, and causes display unit 64 to display the screen of the content.
  • the data of the content may not be received by the wireless communication unit 62, and may be stored in a storage unit (not shown).
  • the screen generated in the control unit 60 is (1) alerting display and approval work before the start of viewing, (2) alerting display during viewing and content reproduction continued, (3-1) after the end of automatic operation The reproduction of the content, the (3-2) notification of the driving function transfer request at fallback, and the (4) content reproduction state during the manual operation will be described in this order.
  • the control unit 60 is connected to the operation control unit 20, and receives information on the operation mode selected in the operation control unit 20. Since the information of the driving mode here indicates the automatic driving mode, the autonomous driving vehicle 100 performs the automatic driving. Further, the control unit 60 receives an instruction to start content reproduction from the input unit 66. In such a situation, the control unit 60 outputs the screen shown in FIG. FIGS. 3A and 3B show screens displayed on the display unit 64. FIG. The control unit 60 arranges the first display 200 and the second display 202 at the top and bottom of the screen as shown in FIG. 3A.
  • the first display 200 is a warning message that the manual mode may be switched independently of the rider's intention. In this case, a warning message "The driver may be able to take over the driving function if the automatic driving function is deteriorated or should be missed after starting the automatic driving" is displayed.
  • the second display 202 is a display of approval for asking for confirmation of the passenger with respect to the alerting sentence.
  • the passenger agrees to the alerting sentence when the second display 202 is displayed, the passenger performs “approval work” such as pressing a button or touching the touch panel while using the input unit 66.
  • the control unit 60 receives a notification of approval from the input unit 66.
  • the control unit 60 reproduces the content.
  • the passenger is warned to re-acknowledge the possibility of switching to the manual driving mode, that is, shifting of the driving function.
  • the control unit 60 does not start content reproduction. Therefore, the display unit 64 does not display the content. Thus, the content reproduction is stopped until the approval work is performed.
  • the control unit 60 When the control unit 60 receives a notification of approval from the input unit 66, that is, when the control unit 60 reproduces a content, the control unit 60 Output the screen shown in 3 (b).
  • the control unit 60 arranges the content 204 and the third display 206 vertically on the screen.
  • the content 204 is at least one of a moving image, a WWW browser, a navigation map, and a call screen.
  • the third display 206 is a warning message that the manual mode may be switched independently of the rider's intention. In this case, a warning message "The driving may be started if the automatic driving function is deteriorated" is displayed.
  • the area of such a third display 206 is smaller than the area of the content 204.
  • the third display 206 is disposed along at least one side, for example, the lower side, of the display unit 64 having a rectangular shape. Therefore, the third display 206 is disposed below the content 204.
  • the third display 206 may be displayed intermittently.
  • an icon 214 may be arranged to indicate the state of automatic driving.
  • An icon 214 indicates the possibility of functional deterioration (for example, a state such as ambient environment sensing function deterioration due to sudden change in weather). Therefore, a gradual alert is made by the icon 214.
  • the automatic operation control unit 24 instructs the operation control unit 20 to end the automatic operation.
  • the notification is given, and the operation control unit 20 notifies the notification device 50 of the end of the automatic driving.
  • the control unit 60 outputs a screen shown in FIG. FIGS. 4A and 4B illustrate another screen displayed on the display unit 64.
  • FIG. The control unit 60 arranges the content 204 and the fourth display 208 at the top and bottom of the screen as shown in FIG. 4A.
  • the fourth display 208 is an automatic driving end notification for notifying that the automatic driving has ended. In this case, a notification of the end of automatic driving is displayed as "Arrive at destination. End of automatic driving.” Also, the content 204 continues to be output. Return to FIG.
  • (3-2) Notification of Driving Function Delegation Request at Fallback When the driving control unit 20 determines switching from the automatic driving mode to the manual driving mode as fallback, the driving control unit 20 notifies the notification device 50 of switching. This corresponds to the case of switching from the automatic driving mode to the manual driving mode independently of the rider's intention.
  • the control unit 60 receives the notification of switching while outputting the content 204 to the display unit 64 in (2), the control unit 60 outputs the screen shown in FIG.
  • the control unit 60 arranges the fifth display 210 in the screen.
  • the fifth display 210 is a driving function transfer request notification to switch to the manual driving mode.
  • the fifth display 210 is output to request the passenger to shift the driving function.
  • a driving function transfer request notification of "The automatic driving function is deteriorated. Please start driving immediately.” Is shown.
  • the control unit 60 does not output the content 204.
  • the control unit 60 warns the passenger.
  • the control unit 60 When the information of the operation mode received from the operation control unit 20 in the control unit 60 indicates the manual operation mode, that is, when the manual operation is performed in the automatically driven vehicle 100, the control unit 60.
  • the screen shown in FIG. 5 is output.
  • FIG. 5 shows still another screen displayed on the display unit 64.
  • the control unit 60 arranges the content 204 in the screen without displaying the above-mentioned alerting sentence.
  • the control unit 60 may output the content 204 when the autonomous driving vehicle 100 is stopped, or may not output the content 204 when the autonomous driving vehicle 100 is traveling. Good.
  • FIG. 6 shows still another screen displayed on the display unit 64.
  • the control unit 60 outputs the screen shown in FIG. 6 after a predetermined period, for example, 10 minutes, after the screen shown in FIG. 4A is output in the case of (3-1). That is, FIG. 6 is a screen for notifying the end of the automatic driving again.
  • the control unit 60 arranges the content 204 and the sixth display 212 at the top and bottom of the screen.
  • a sixth display 212 shows an automatic operation end notification that "the automatic driving has been completed. Please continue the safe driving.”
  • the sixth display 212 and the fourth display 208 are both automatic driving end notifications, the contents of the messages are different. Also, the content 204 continues to be output.
  • FIG. 7 (a)-(b) show still another screen displayed on the display unit 64.
  • the control unit 60 Before outputting the screen shown in FIG. 4B in the case of (3-2), the control unit 60 outputs the screens shown in FIGS. 7A and 7B.
  • the screen shown in FIG. 7A is displayed instead of the screen shown in FIG. Output
  • the control unit 60 arranges the first reduced content 220 and the fifth display 210 on the screen.
  • the first reduced content 220 is a display in which the content 204 is reduced.
  • the control unit 60 displays the screen shown in FIG.
  • the control unit 60 arranges the second reduced content 222 and the fifth display 210 on the screen.
  • the second reduced content 222 is a display in which the content 204 is reduced more than the first reduced content 220.
  • the control unit 60 displays the screen shown in FIG. 4B after a predetermined period, for example, 30 seconds, after the screen shown in FIG. 7B is output. That is, when the control unit 60 receives the notification of switching while outputting the content 204 to the display unit 64 in (2), the control unit 60 reduces the display area of the content 204 as time passes.
  • the fifth display 210 continues to be displayed after accepting the notification of switching when the content 204 is output to the display unit 64 in (2).
  • this configuration can be realized with the CPU, memory, or other LSI of any computer, and with software, it can be realized by a program loaded into the memory, etc.
  • These functional blocks can be realized in various forms only by hardware and by a combination of hardware and software.
  • FIG. 8 is a flowchart showing the processing procedure of the notification device 50.
  • the input unit 66 receives an instruction to start content reproduction (S10).
  • the control unit 60 displays a warning message and an approval button on the display unit 64 (S14).
  • the control unit 60 starts content reproduction (S18). If the input unit 66 does not receive the pressing of the approval button (N in S16), the control unit 60 counts the time after receiving the content reproduction start instruction (S20). If the predetermined time has not elapsed (N in S22), the process returns to step S14.
  • control unit 60 If the predetermined time has elapsed (Y in S22), the control unit 60 returns to the menu screen without starting the reproduction of the content (S24). When the autonomous driving vehicle 100 is not in automatic driving (N in S12), the control unit 60 starts reproduction of content in manual driving (S26).
  • FIG. 9 is a flowchart showing another processing procedure by the notification device 50.
  • the control unit 60 continues the reproduction of the content (S50). If the notification of fallback is received (Y of S52), the control unit 60 displays a driving function transfer request notification on the display unit 64 (S54). If the manual operation is not started (N at S56), the process returns to step 54. If the manual operation is started (Y of S56), the process is ended. When the notification of fallback is not received (N of S52) and the automatic driving is ended (Y of S58), the control unit 60 displays the notification of the completion of the automatic driving on the display unit 64 (S60). If the manual operation is not started (N at S62), the process returns to step 60. If the manual operation is started (Y of S62), the process is ended.
  • Step 50 If the automatic operation is not ended (N of S58), if the input unit 66 does not receive the reproduction end instruction (N of S64), the process returns to Step 50.
  • the control unit 60 ends the reproduction of the content (S66).
  • FIG. 10 is a flowchart showing the processing procedure of the operation control unit 20.
  • the operation control unit 20 executes an abnormality check process (S100).
  • S100 an abnormality check process
  • the operation control unit 20 executes normal processing (S110).
  • S110 normal processing
  • the sensing function fails (Y at S102)
  • the sensing function decreases (Y at S104)
  • the braking function fails (Y at S106)
  • the braking function decreases (Y at S108)
  • the operation control unit 20 executes an abnormality (fallback) process (S112).
  • the third display indicating that there is a possibility of switching to the manual operation mode when outputting content in the automatic operation mode is output, and the third display is not output when switching to the manual operation mode. Attention can be drawn when outputting content in the automatic operation mode. In addition, since caution is called when outputting content in the automatic driving mode, it can be notified that the driving function can be smoothly shifted. Further, since the third display indicating that there is a possibility of switching to the second operation mode and the content are simultaneously output, attention can be drawn while viewing the content. In addition, since the third display indicating that there is a possibility of switching to the second driving mode and the content are simultaneously output, the driver may forget that the driving function may be delegated due to immersion. It can prevent.
  • the present invention is applied to the mode of automatic driving and the mode of manual driving, it is possible to call attention when switching from the mode of automatic driving to the mode of manual driving.
  • switching from the automatic driving mode to the manual driving mode occurs independently of the intention of the rider, it is possible to call attention in a situation not intended by the rider.
  • the fifth display indicating that the mode is switched to the manual operation mode is output, the switching can be notified.
  • the area of the third display is made smaller than the area of the predetermined content, it is possible to suppress the decrease in the visibility of the content. Further, since the third display is displayed along at least one side of the quadrangle, the visibility of the third display can be improved.
  • the third display and content indicating that there is a possibility of switching to the manual operation mode are output, so the second display Can make it hard to forget
  • the predetermined operation is not received, so the content is not output, so the content can be output when the passenger is approved.
  • the content is not output when switching from the automatic operation mode to the manual operation mode, it is possible to concentrate on the operation in the manual operation mode. Also, since the content is received from the server, various content can be output.
  • FIG. 11 is a block diagram showing a configuration of an autonomous driving vehicle 1000 according to the second embodiment.
  • FIG. 12 is a diagram showing an example of notification of the autonomous driving vehicle 1000.
  • FIG. 13 is a diagram showing another notification example of the autonomous driving vehicle 1000.
  • FIG. 14 is a view showing an example of the icon according to the second embodiment. As shown in FIG.
  • the autonomous driving vehicle 1000 includes a first acquisition device 110, a second acquisition device 120, a notification device 50, and an autonomous driving system 140.
  • the first acquisition device 110 and the second acquisition device 120 (hereinafter, the first acquisition device 110 and the second acquisition device 120 are collectively referred to as acquisition devices 110 and 120) are the notification device 50 and the automatic driving system 140, and It is connected to the.
  • the notification device 50 is connected to the automatic driving system 140.
  • the first acquisition device 110 includes an imaging device capable of capturing an image outside the vehicle.
  • the imaging device includes a visible light camera.
  • the imaging device outputs image information (signal) as information outside the vehicle to the notification device 50 and the automatic driving system 140.
  • the imaging device images, for example, the front outside the vehicle, and acquires image information such as an obstacle 600 as shown in FIG. 12 as the information outside the vehicle.
  • the obstacle 600 is not limited to a vehicle, and may be a human, a cone, a stop plate, etc. not shown.
  • the imaging device is not limited to the visible light camera, and may be, for example, a CCD camera or a CMOS camera.
  • the image to be captured may be a still image or a moving image.
  • the first acquisition device 110 includes a distance measurement sensor.
  • the distance measuring sensor has an ultrasonic sonar.
  • the ultrasonic sonar emits ultrasonic waves, and the obstacle 600 present around the autonomous driving vehicle 1000 is reflected based on the reflected wave detected. To detect.
  • the ultrasonic sonar outputs a detection result (signal) as information outside the vehicle to the notification device 50 and the automatic driving system 140.
  • the distance measuring sensor is not limited to the ultrasonic sensor, and may be, for example, a millimeter wave radar or LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging).
  • the first acquisition device 110 may correspond to the sensor 32 so far.
  • the second acquisition device 120 (an example of an acquisition device) has a road traffic information receiver. More specifically, a navigation system can be used as a road traffic information receiver.
  • the navigation system includes a GPS positioning unit and a navigation database.
  • the GPS positioning unit may correspond to the position information acquisition unit 22 so far, and acquires position coordinates of the autonomous driving vehicle 1000.
  • the GPS positioning unit receives a GPS signal transmitted from a GPS satellite, and acquires position coordinates of the autonomous driving vehicle 1000 by calculation based on the GPS signal.
  • the navigation database receives accident information, construction information, etc. from the transportation infrastructure outside the vehicle.
  • the navigation system can acquire the traffic information on the road on which the autonomous driving vehicle 1000 travels by acquiring the position coordinates from the GPS positioning unit and referring to the navigation database.
  • the navigation system outputs traffic information (signals) to the notification device 50 and the automatic driving system 140.
  • the autonomous driving vehicle 1000 includes the first acquisition device 110 and the second acquisition device 120, only one of them may be used. In addition, both the imaging device and the distance measuring sensor may be provided. Moreover, although the navigation system was used as a road traffic information receiver, road traffic information receivers other than navigation systems, such as a road information infrastructure receiver, may be used. Moreover, you may have both a navigation system and a road traffic information receiver.
  • the autonomous driving system 140 includes a vehicle control unit 141, an engine actuator 142, a brake actuator 143, and a steering actuator 144.
  • the vehicle control unit 141 may correspond to the automatic driving control unit 24 and the ECU 26 so far, and based on the information outside the vehicle acquired by the acquisition devices 110 and 120, the engine actuator 142, the brake actuator 143, and the steering actuator 144 Control.
  • the engine actuator 142 adjusts the amount of fuel and air supplied to the engine based on the output of the vehicle control unit 141.
  • the brake actuator 143 adjusts the braking force of the wheel based on the output of the vehicle control unit 141.
  • the steering actuator 144 adjusts the steering angle of the vehicle based on the output of the vehicle control unit 141.
  • the notification device 50 includes a reception unit 131 and a notification unit 132.
  • the receiving unit 131 receives the information outside the vehicle output from the acquisition devices 110 and 120.
  • the receiving unit 131 outputs the received information outside the vehicle to the notifying unit 132.
  • the notification unit 132 includes a control unit 60 and a notification unit 134.
  • the control unit 60 determines whether the autonomous driving system 140 falls within the performance limit, based on the information outside the vehicle output from the receiving unit 131.
  • the performance limit means the limit of detection and processing performed by the autonomous driving vehicle 1000.
  • the control unit 60 processes information outside the vehicle output from the imaging device and detects an obstacle 600 present on the road.
  • the control unit 60 determines that the automatic driving system 140 falls within the performance limit, and outputs a notification signal to the notification unit 134.
  • the method of detecting the obstacle 600 from the information outside the vehicle may use an existing method such as pattern matching.
  • control unit 60 determines, based on the traffic information output from the acquisition device 120, whether the obstacle 600 is present on the traveling route on which the autonomous driving vehicle 1000 travels. When it is determined that the obstacle 600 is present on the traveling route, the control unit 60 determines that the automatic driving system 140 falls within the performance limit, and outputs a notification signal to the notification unit 134.
  • the notification unit 134 may correspond to the display unit 64 so far, and when the notification signal is received from the control unit 60, the falling of the performance limit and the factor of the performance limit will be described. Report to the driver.
  • the notification unit 134 is a display or a head-up display. As shown in FIG. 12 and FIG. 13, the reporting unit 134 reports the falling into the performance limit and the factors falling into the performance limit by displaying or projecting the icon 510 including the character information, the graphic information, and the like.
  • the icon 510 may be an icon 520a, 520b, 520c or the like indicating a factor due to construction.
  • the notification unit 134 is a speaker.
  • the notification unit 134 when the control unit 60 outputs a notification signal, the notification unit 134 outputs a voice “There is an obstacle ahead. There is a possibility that the automatic operation may be canceled.” Note that the reporting unit 134 reports that the performance limit and the factors that cause the performance limit, but may report only that the performance limit.
  • FIG. 15 is a flowchart showing the processing operation of the autonomous driving vehicle 1000.
  • the acquisition devices 110 and 120 acquire information outside the vehicle (step S300).
  • the first acquisition device 110 captures the front outside the vehicle and acquires image information such as an obstacle 600 as illustrated in FIG. 12.
  • the second acquisition device 120 receives accident information, construction information, and the like from the transportation infrastructure outside the vehicle, and further acquires position coordinates of the autonomous driving vehicle 1000 to obtain traffic information on the road on which the autonomous driving vehicle 1000 travels.
  • the control unit 60 determines whether the automatic driving system 140 falls within the performance limit (step S310). Specifically, as shown in FIG. 12, an obstacle 600 present on the road is detected. The control unit 60 determines that the autonomous driving system 140 falls within the performance limit when the obstacle 600 is detected on the road. Further, the control unit 60 determines whether an obstacle 600 exists on the traveling route on which the autonomous driving vehicle 1000 travels. When the controller 60 determines that the obstacle 600 exists on the traveling route, the controller 60 determines that the automatic driving system 140 falls within the performance limit.
  • the reporting unit 134 reports (step S320). For example, the notification unit 134 displays the performance limit and causes of the performance limitation by displaying or projecting the icon 510 on the display or the head-up display. Further, the reporting unit 134 may report a factor falling into the performance limit and a factor falling into the performance limit by a voice saying "There is an obstacle ahead. There is a possibility that the automatic driving may be cancelled.”
  • control unit 60 determines that the automatic driving system 140 does not fall within the performance limit (No in step S310), the process returns to step S300.
  • step S330 is similar to step S300.
  • step S340 determines whether the automatic driving system 140 falls within the performance limit.
  • step S340 is similar to step S310.
  • control unit 60 determines that automatic operation system 140 falls within the performance limit (Yes in step S340), the process returns to step S320.
  • step S340 When the control unit 60 determines that the automatic driving system 140 does not fall within the performance limit (No in step S340), the notification unit 134 cancels the notification (step S350).
  • the autonomous driving vehicle 1000 has the following effects.
  • the autonomous driving vehicle 1000 includes acquisition devices 110 and 120, a notification device 50, and an autonomous driving system 140.
  • the acquisition devices 110 and 120 acquire information outside the vehicle.
  • the autonomous driving system 140 controls the vehicle.
  • the notification device 50 includes a reception unit 131 and a notification unit 132.
  • the receiving unit 131 receives signals from the acquisition devices 110 and 120.
  • the notification unit 132 determines from the signal whether the automatic driving system 140 falls within the performance limit, and if it determines that the automatic driving system 140 falls within the performance limit, at least the automatic driving system 140 falls within the performance limit. , Notify the driver. As a result, the driver can respond to the transfer of the operation authority even if it is difficult to drive automatically.
  • the notification unit 134 notifies factors that cause the autonomous driving system 140 to fall within the performance limit. Thereby, the driver can recognize the factor falling into the performance limit, and can respond promptly to the transfer of the operation authority.
  • FIG. 16 is a block diagram showing the configuration of the autonomous driving vehicle 2000. As shown in FIG. The autonomous driving vehicle 2000 differs from the autonomous driving vehicle 1000 in that the notification unit 132 further includes a storage unit 135. In the following, only differences from the autonomous driving vehicle 1000 will be described, and the description of the same points will be omitted.
  • the storage unit 135 can record traveling data on which the autonomous driving vehicle 2000 travels.
  • the travel data recorded by the storage unit 135 is, for example, a travel route including data (for example, position coordinates) indicating a position at which the autonomous driving system 140 has previously entered the performance limit.
  • the storage unit 135 outputs the traveling data to the control unit 60.
  • a semiconductor memory device such as a flash memory, or a recording medium such as a hard disk or an optical disk can be used.
  • the control unit 60 determines, based on the traveling data output from the storage unit 135, whether the automatic driving system 140 falls within the performance limit. As an example, when the route traveled by the autonomous driving vehicle 2000 includes a position at which the autonomous driving vehicle 2000 travels before based on the position coordinates of the autonomous driving vehicle 2000, the control unit 60 may fall to the performance limit. to decide.
  • FIG. 17 is a flowchart showing the processing operation of the autonomous driving vehicle 2000.
  • Step S320 and Step S350 since it is processing similar to self-driving vehicle 1000, it omits.
  • the travel route including the position coordinates at which the storage unit 135 previously fell into the performance limit is output to the control unit 60 (step S400).
  • the control unit 60 determines whether the automatic driving system 140 falls within the performance limit (step S410). Specifically, based on the position coordinates of the autonomous driving vehicle 2000 acquired by the second acquisition device 120, the control unit 60 includes position coordinates at which the traveling route on which the autonomous driving vehicle 2000 travels previously fell within the performance limit. In this case, it is determined that the autonomous driving system 140 falls within the performance limit.
  • step S320 the control unit 60 determines whether the automatic driving system 140 falls within the performance limit (step S420).
  • step S420 is the same processing as step S410.
  • control unit 60 determines that the automatic driving system 140 falls within the performance limit (Yes in step S420), the process returns to step S320.
  • step S350 When the control unit 60 determines that the automatic driving system 140 does not fall within the performance limit (No in step S420), the notification unit 134 cancels the notification (step S350).
  • the autonomous driving vehicle 2000 has the following effects.
  • the second acquisition device 120 can acquire the position coordinates of the autonomous driving vehicle 2000, and the notification device 50 further includes a storage unit 135 that stores data of the position coordinates when the performance limit is reached.
  • the notification device 50 can predict that the autonomous driving system 140 will fall into the performance limit based on the data of the position coordinates when the performance limit has previously been made.
  • FIG. 18 is a block diagram showing the configuration of the autonomous driving vehicle 3000.
  • FIG. 19 is a diagram showing an example of notification of the autonomous driving vehicle 3000.
  • the autonomous driving vehicle 3000 is different from the autonomous driving vehicle 1000 of the second embodiment in that the notification unit 132 further includes a setting unit 136. In the following, differences from the autonomous driving vehicle 3000 will be described, and descriptions of the same points will be omitted.
  • the setting unit 136 sets a first threshold for the control unit 60 to determine whether the automatic driving system 140 falls within the performance limit. As an example, the setting unit 136 sets a first threshold corresponding to the number of pedestrians. The setting unit 136 outputs the set first threshold to the control unit 60. In addition, the number of pedestrians may include a person riding a bicycle. The setting unit 136 also sets a second threshold for the control unit 60 to determine whether the automatic driving system 140 is at the performance limit. As an example, the setting unit 136 sets a second threshold corresponding to the number of pedestrians.
  • the control unit 60 determines whether the automatic driving system 140 falls within the performance limit, based on the information outside the vehicle output from the receiving unit 131 and the first threshold set by the setting unit 136. As one example, as shown in FIG. 19, the control unit 60 processes information outside the vehicle output from the imaging device, and detects a pedestrian 530 present on the road. The control unit 60 compares the detected number of pedestrians with the first threshold output from the setting unit 136. When the number of pedestrians is equal to or more than the first threshold value, the control unit 60 determines that the performance limit is reached, and outputs a notification signal to the notification unit 134. In addition, the existing method of pattern matching etc. should just be used for the method of detecting the pedestrian 530 from the information of the vehicle exterior.
  • control unit 60 determines whether the automatic driving system 140 is at the performance limit.
  • the second threshold is larger than the first threshold.
  • control part 60 judges that it is a performance limit, when the number of pedestrians is more than the 2nd threshold, and outputs a stop signal which stops vehicle control to automatic driving system 140.
  • the controller 60 resumes resuming vehicle control.
  • a signal is output to the automatic driving system 140.
  • the autonomous driving system 140 stops the control of the vehicle based on the stop signal output from the control unit 60, and transfers the operation authority to the driver. In addition, the autonomous driving system 140 resumes the control of the vehicle based on the restart signal output from the control unit 60.
  • FIG. 20 is a flowchart showing the processing operation of the autonomous driving vehicle 3000.
  • FIG. 21 is a flowchart showing the restart operation in the processing operation of the autonomous driving vehicle 3000.
  • the setting unit 136 sets the first threshold and the second threshold (step S500).
  • the first threshold and the second threshold correspond to the number of pedestrians.
  • the first threshold can be arbitrarily set to five, ten, fifteen, etc., according to the performance limit of the autonomous driving vehicle 3000.
  • the second threshold may be larger than the first threshold, and can be arbitrarily set to 10, 15, 20, and so on.
  • the acquisition devices 110 and 120 acquire information outside the vehicle (step S510).
  • the imaging device of the first acquisition device 110 captures the front outside the vehicle, and acquires image information of a pedestrian 530 or the like as shown in FIG.
  • the ultrasonic sonar emits ultrasonic waves, and detects the pedestrian 530 present around the autonomous driving vehicle 1000 based on the reflected and detected reflected wave.
  • step S520 the control unit 60 determines whether the number of pedestrians is equal to or more than a first threshold. If the control unit 60 determines that the number of pedestrians is equal to or greater than the first threshold (Yes in step S520), the control unit 60 determines whether the number of pedestrians is equal to or greater than the second threshold (steps S530). If the control unit 60 determines that the number of pedestrians is not the first threshold or more (No in step S520), the process returns to step S510.
  • control unit 60 determines that the number of pedestrians is equal to or more than the second threshold (Yes in step S530)
  • the control unit 60 outputs a stop signal for stopping the vehicle control to the automatic driving system 140 ( Step S540). Thereafter, the control unit 60 performs processing for the resumption operation of the automatic driving system 140 (step S550).
  • the reporting unit 134 reports (step S560). For example, as illustrated in FIG. 19, the notification unit 134 falls into the performance limit and falls within the performance limit by displaying or projecting the icon 540 indicating the factor by the pedestrian 530 on the display or the head-up display. Report the cause. Further, the reporting unit 134 may report a factor falling into the performance limit and a factor falling into the performance limit by a voice saying “There is a pedestrian 530 in front. There is a possibility that automatic driving may be cancelled.”.
  • control unit 60 determines whether the number of pedestrians is smaller than the first threshold (step S570). If the control unit 60 determines that the number of pedestrians is smaller than the first threshold (Yes in step S570), the notification unit 134 cancels the notification (step S580). When the control unit 60 determines that it is not smaller than the first threshold (No in step S570), the process returns to the process of step S530.
  • step S550 the restart operation (step S550) of the automatic driving system 140 will be described with reference to FIG.
  • control unit 60 determines whether the number of pedestrians is smaller than the second threshold (step When the control unit 60 determines that the number of pedestrians is smaller than the second threshold (Yes in step S551), the control unit 60 outputs a restart signal for restarting vehicle control to the automatic driving system 140. (Step S552). Subsequently, the process returns to the process of step S510. If the control unit 60 determines that the number of pedestrians is not smaller than the second threshold (No in step S551), the process returns to the process of step S551.
  • the autonomous driving vehicle 3000 has the following effects.
  • the signal includes information on the number of pedestrians, and the notification unit 132 determines that the performance limit is reached when the number of pedestrians is equal to or greater than the first threshold. Thereby, when the number of pedestrians is more than the first threshold, the driver can cope with the transfer of the operation authority.
  • the notification unit 132 If the number of pedestrians is equal to or greater than a second threshold that is greater than the first threshold, the notification unit 132 outputs a stop signal to stop the vehicle control to the automatic driving system 140. Thereby, when the number of pedestrians is more than a 2nd threshold, operation authority can be transferred to a driver.
  • the notification unit 132 If the number of pedestrians falls below the second threshold, the notification unit 132 outputs a restart signal to restart the vehicle control to the automatic driving system 140. Thus, when the number of pedestrians falls below the second threshold, the autonomous driving system 140 can resume the driving operation.
  • the configuration of the autonomous driving vehicle 4000 differs from the autonomous driving vehicle 3000 in that the control unit 60 outputs a restart signal to the autonomous driving system 140 when the number of pedestrians is equal to or less than the third threshold.
  • the control unit 60 outputs a restart signal to the autonomous driving system 140 when the number of pedestrians is equal to or less than the third threshold.
  • the setting unit 136 sets a third threshold for determining whether the automatic driving system 140 can restart.
  • the setting unit 136 sets a third threshold corresponding to the number of pedestrians.
  • the setting unit 136 outputs the set third threshold to the control unit 60.
  • the third threshold is smaller than the first threshold.
  • the control unit 60 determines whether the automatic driving system 140 can be resumed based on the information outside the vehicle output from the receiving unit 131 and the third threshold set by the setting unit 136. When the number of pedestrians becomes equal to or less than the third threshold value, the control unit 60 determines that the automatic driving system 140 can restart, and outputs a restart signal to restart the vehicle control to the automatic driving system 140.
  • FIG. 22 is a flowchart showing the restart operation in the processing operation of the autonomous driving vehicle 4000.
  • the processing operation of the autonomous driving vehicle 4000 differs from the autonomous driving vehicle 3000 in the restart operation (step S550) of the autonomous driving vehicle 4000.
  • the restart operation step S550 in FIG. 20
  • the description of the same points as those in FIGS. 20 and 21 will be omitted.
  • control unit 60 determines whether the number of pedestrians is equal to or less than the third threshold (step S553).
  • the control unit 60 determines that the number of pedestrians is equal to or less than the third threshold (Yes in step S553), the control unit 60 outputs a restart signal for restarting vehicle control to the automatic driving system 140 (step S 554). Subsequently, the process returns to the process of step S510.
  • control unit 60 determines that the number of pedestrians is not less than or equal to the third threshold (No in step S553), the process returns to step S553.
  • the autonomous driving vehicle 4000 has the following effects.
  • the notification unit 132 When the number of pedestrians is equal to or less than a third threshold smaller than the first threshold, the notification unit 132 outputs a restart signal for restarting vehicle control to the automatic driving system 140. As a result, the automatic driving system 140 can resume the driving operation when the automatic driving system 140 is in a situation where the possibility of falling into the performance limit is low.
  • the automatic driving vehicle 1000 may be configured by combining the partial configurations of the automatic driving vehicle 1000 to the automatic driving vehicle 4000 as appropriate. Furthermore, it is possible to add an appropriate change to the configuration of the autonomous vehicle 1000 to the autonomous vehicle 4000 without departing from the scope of the technical idea of the present disclosure.
  • the setting unit 136 may set first to third threshold values corresponding to the number of vehicles or the amount of precipitation.
  • the setting unit 136 outputs the set first to third threshold values to the control unit 60.
  • the reporting unit 134 reports the factors falling into the performance limit and the factors falling into the performance limit, for example, by displaying or projecting an icon 550 or the like indicating a factor due to snowfall illustrated in FIG. 14.
  • the control unit 60 determines that the performance limit occurs when the number of vehicles or the amount of precipitation is equal to or more than the first threshold. Thereby, the driver can cope with the transfer of the operation authority when the number of vehicles or the amount of precipitation is equal to or more than the first threshold.
  • the control unit 60 outputs a stop signal for stopping the vehicle control to the automatic driving system 140 when the number of vehicles or the amount of precipitation is equal to or more than the second threshold larger than the first threshold.
  • the operation authority is transferred to the driver when the number of vehicles or the amount of precipitation is equal to or more than the second threshold.
  • the driver can prepare for the transfer of the operation authority.
  • the control unit 60 When the number of vehicles or the amount of precipitation falls below the second threshold, the control unit 60 outputs a restart signal for restarting vehicle control to the automatic driving system 140. Thus, when the number of vehicles or the amount of precipitation falls below the second threshold, the autonomous driving system 140 can resume the driving operation.
  • the control unit 60 When the number of vehicles or the amount of precipitation is equal to or less than a third threshold smaller than the first threshold, the control unit 60 outputs a restart signal to restart the vehicle control to the automatic driving system 140. Thereby, when the number of vehicles or the amount of precipitation is equal to or less than a third threshold smaller than the first threshold, the autonomous driving system 140 can resume the driving operation.
  • FIG. 23 is a block diagram showing the configuration of the autonomous driving vehicle 5000.
  • the setting unit 137 is a threshold that determines that the performance limit is reached when the information outside the vehicle including at least two or more of the number of pedestrians or the number of vehicles or the amount of precipitation is received from the acquisition devices 110 and 120 May be set to a value smaller than the first threshold.
  • the blocks such as the control unit 60, the notification unit 134, the storage unit 135, the setting unit 136, and the setting unit 137 are individualized by a semiconductor device such as an LSI. In one chip, or may be in one chip to include part or all.
  • the fourth embodiment corresponds to the case where the first embodiment is combined with at least one of the embodiments other than the first embodiment. Therefore, the fourth embodiment has a configuration in which the autonomous driving vehicle 100 is combined with at least one of the autonomous driving vehicle 1000 to the autonomous driving vehicle 5000.
  • the control unit 60 causes the display unit 64 to display the screens shown in FIGS. 3 (a) and 3 (b) while the automatic operation is being performed. In this state, the control unit 60 causes the display unit 64 to display the screens shown in FIG. 12, FIG. 13, FIG. 14, and FIG.
  • each process of the above-described embodiment may be realized by hardware or may be realized by software (including the case where it is realized with an operating system (OS), middleware, or a predetermined library). Good. Furthermore, it may be realized by mixed processing of software and hardware.
  • OS operating system
  • middleware middleware
  • predetermined library a predetermined library
  • the processing method executed by the autonomous driving vehicle 1000 to the autonomous driving vehicle 5000, the computer program that causes the computer to execute the processing method, and the computer readable recording medium recording the program are included in the scope of the present disclosure.
  • a computer readable recording medium for example, a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD, a DVD-ROM, a DVD-RAM, a BD (Blu-ray (registered trademark) Disc), a semiconductor memory It can be mentioned.
  • the computer program is not limited to one recorded on the above recording medium, but may be transmitted via a telecommunication line, a wireless or wired communication line, a network represented by the Internet, or the like.
  • the driving function can be notified to smoothly shift.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne un véhicule à conduite automatique (100) possédant au moins un premier mode de conduite et un second mode de conduite. Dans la présente invention, le second mode de conduite implique plus d'intervention dans la conduite d'un passager que le premier mode de conduite. Le dispositif de notification (50) avertit le passager. Le dispositif de notification (50) avertit le passager qu'une commutation dans le second mode de conduite qui est indépendante de l'intention du passager peut se produire.
PCT/JP2019/001406 2018-01-22 2019-01-18 Véhicule à conduite automatique, dispositif de notification, procédé de notification, programme, et support de stockage WO2019142893A1 (fr)

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JP2018007766A JP2019127051A (ja) 2018-01-22 2018-01-22 自動運転車両、通知装置、通知方法、プログラム、および非一時的記録媒体
JP2018-007766 2018-01-22
JP2018-010646 2018-01-25
JP2018010646A JP2019128828A (ja) 2018-01-25 2018-01-25 車両およびコンテンツ出力装置

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JP2001199295A (ja) * 2000-01-19 2001-07-24 Nissan Motor Co Ltd 走行状態提示装置
JP2016533302A (ja) * 2013-07-31 2016-10-27 ヴァレオ・シャルター・ウント・ゼンゾーレン・ゲーエムベーハー 自動操縦装置が作動している自動車両において通信端末を使用する方法及び自動車両
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