WO2019159251A1

WO2019159251A1 - Display device

Info

Publication number: WO2019159251A1
Application number: PCT/JP2018/005046
Authority: WO
Inventors: 淳大杉
Original assignee: パイオニア株式会社
Priority date: 2018-02-14
Filing date: 2018-02-14
Publication date: 2019-08-22

Abstract

[Problem] To provide a display device that enables a driver to smoothly initiate manual driving when the travel control mode of a moving body is transitioned from an automated driving mode to a manual driving mode. [Solution] The display device according to the present invention is characterized by comprising: a mode transition information acquisition unit which acquires mode transition information relating to a transition between travel control modes, which are control modes relating to autonomous travel of a moving body; and a display control unit which, when the mode transition information acquisition unit has acquired the mode transition information, causes a display unit to display a travel scene based on a steering operation that is performed by the driver of the moving body, and that relates to controlling the travel of the moving body.

Description

Display device

The present invention relates to a display device, for example, a display device capable of displaying information for supporting a driver of a mobile object such as an automobile capable of automatic driving.

2. Description of the Related Art Conventionally, there is known a technology related to driving support in which a driving operation related to vehicle driving is automatically performed on behalf of a driver. For example, Patent Document 1 proposes a device that notifies the driver in advance of switching from automatic driving to manual driving (Patent Document 1).

Japanese Unexamined Patent Publication No. 2017-30158

For example, in a mobile body such as an automobile having the automatic driving function described above, the driving control mode is a driving control mode in which driving control is performed by the driver's maneuvering from the automatic driving mode in which the driving control is automatically performed. Switching to manual operation mode occurs. When this switching is performed, a driver who did not need to perform a steering operation during the automatic driving mode is placed in a situation in which the steering operation is suddenly required when switching to the manual driving mode. Will be. For this reason, it takes time until the driver gets used to the manual steering operation, and it is difficult to smoothly transition from the automatic operation mode to the manual operation mode.

The present invention has been made in view of the above points. For example, when the traveling control mode of the moving body shifts from the automatic operation mode to the manual operation mode, the driver can start manual operation smoothly. An object of the present invention is to provide a display device that can be used.

The invention according to claim 1 is a mode transition information acquisition unit that acquires mode transition information related to transition between travel control modes, which is a control mode related to automatic traveling of a moving body, and the mode transition information acquisition unit includes the mode transition information. A display control unit that displays on the display unit a traveling landscape based on a steering operation related to the traveling control of the moving body by a driver of the mobile body.

It is a perspective view of the front seat part of the car carrying the display which is Example 1 of the present invention. It is a block diagram which shows an example of a structure of the display apparatus which is Example 1 of this invention. It is an example of a simulation data group. It is a perspective view of the front seat part of the car at the time of simulation execution. It is a flowchart of the operation | movement routine of the display apparatus which is Example 1 of this invention. It is a flowchart of the operation | movement routine of the display apparatus which is a modification of this invention.

In the following, preferred embodiments of the present invention will be described. However, these may be appropriately modified and combined. In the following description and the accompanying drawings, substantially the same or equivalent parts will be described with the same reference numerals. In the following description, video is described as including moving images and still images. In the following description, an operation for driving control of an automobile, that is, an operation for steering is also simply referred to as a steering operation.

Hereinafter, a display device 10 that is Embodiment 1 of the present invention will be described with reference to the accompanying drawings. In the first embodiment, a case where the display device 10 is mounted on an automobile M as an example of a moving body will be described as an example.

FIG. 1 is a perspective view of a front seat portion of an automobile M as a moving body to which the display device 10 is attached as viewed from the inside of the automobile M. In FIG. 1, the case where the display apparatus 10 is attached to the center console vicinity of dashboard DB of the front seat of the motor vehicle M is shown as an example of attachment.

The camera 11 is a camera that can photograph the passenger of the car M. The camera 11 is provided in the dashboard DB, for example, and is oriented so that the driver in the driver's seat can be photographed. In addition, the camera 11 should just be distribute | arranged to the position which can image | photograph the conditions, such as operation | movement of a passenger's upper body. For example, the camera 11 may be provided in the room mirror RM, or may be provided on the upper end of the windshield FG or a ceiling near the upper end.

The camera 11 is connected to the display device 10 so as to be communicable, and can transmit a captured video signal to the display device 10.

The steering wheel 13 is a member that receives a steering operation for steering the automobile M. The steering wheel 13 is provided in the dashboard DB so as to be rotatable with respect to the dashboard DB. When the steering wheel 13 is rotated, the steering wheel of the automobile M operates accordingly.

In the automobile M of the present embodiment, the rotation amount and the rotational force of the steering wheel 13 are detected by a sensor (not shown), and the control signal calculated based on the detection information of those sensors is sent to the wire harness. An example of using a so-called steer-by-wire system that transmits to a steering control device such as a motor for controlling the turning angle of the steered wheel will be described. The detection information of the rotation amount and the rotational force of the steering wheel 13 detected by the sensor is transmitted to the display device 10.

The accelerator pedal 15 is a member that is provided under the driver's seat and receives an operation related to the control of a prime mover such as a traveling engine of the automobile M or a motor by a stepping operation by the driver. That is, the accelerator pedal 15 is a member that receives a steering operation related to acceleration / deceleration of the automobile M.

In the automobile M of the present embodiment, the movement amount and movement speed of the accelerator pedal 15 are detected by a sensor (not shown), and the control signal calculated based on the detection information of these sensors is sent to the wire harness. An example of using a so-called throttle-by-wire system that transmits data to a prime mover control device that is a control device that controls an engine or motor that is a prime mover will be described. Detection information of the movement amount and movement speed of the accelerator pedal 15 detected by the sensor is transmitted to the display device 10.

The brake pedal 17 is a member that is provided below the driver's seat and receives an operation related to the control of the brake of the automobile M by a stepping operation by the driver. That is, the brake pedal 17 is a member that receives a steering operation related to the deceleration of the automobile M.

In the automobile M of this embodiment, the movement amount and movement speed of the brake pedal 17 are detected by a sensor (not shown), and the control signal calculated based on the detection information of those sensors is sent to the wire harness. A case where a so-called brake-by-wire system that transmits data to a brake control device that is a control device for controlling a brake is used as an example will be described. Detection information of the movement amount and movement speed of the brake pedal detected by the sensor is transmitted to the display device 10.

As described above, the automobile M of the present embodiment is formed with a system including a steering-by-wire system, a throttle-by-wire system, and a brake-by-wire system, that is, a so-called drive-by-wire system. .

Hereinafter, the steering wheel 13, the accelerator pedal 15, and the brake pedal 17 are collectively referred to as a steering reception device that receives a steering operation including a steering operation and an acceleration / deceleration operation.

The GPS receiver 19 is a device that receives a signal (GPS signal) from a GPS (Global Positioning System) satellite. The GPS receiver 19 is arranged on the dashboard DB, for example. The GPS receiver 19 may be arranged anywhere as long as it can receive GPS signals. The GPS receiver 19 is communicably connected to the display device 10 and can transmit the received GPS signal to the display device 10.

The touch panel 21 is, for example, a touch panel monitor in which a display 21A such as a liquid crystal display capable of displaying an image and a touch pad 21B are combined. The touch panel 21 is arranged, for example, at the center console of the dashboard DB. The touch panel 21 should just be distribute | arranged to the place which can be visually recognized from a driver | operator, and a driver | operator's hand reaches. For example, the touch panel 21 may be attached on the dashboard DB.

The display 21 A is communicably connected to the display device 10, and can display a screen based on the control of the display device 10. The touch panel 21 B can transmit a signal representing an input operation to the touch panel 21 B received from the user to the display device 10.

The speaker 23 is provided on the indoor side of the A pillar AP, for example. The speaker 23 is communicably connected to the display device 10 and can emit sound such as sound based on the control of the display device 10.

Projection device 25 is a device constituting a windshield projection type head-up display. The head-up display 25 is provided on the dashboard DB, and can project an image or video on the windshield FG by irradiating the windshield FG with projection light.

The projection device 25 is communicably connected to the display device 10, and irradiates the display area AR, which is an area near the driver's seat of the windshield FG, with projection light based on the control of the display apparatus 10, and the windshield FG. Screen display can be performed in the display area AR. Note that the projection device 25 may be capable of performing screen display in an area other than the display area AR of the windshield FG. For example, the projection device 25 may be capable of displaying an image on the entire surface of the windshield FG.

[System configuration]
FIG. 2 shows the configuration of the display device 10. For example, the display device 10 is a device in which a mass storage device 33, a control unit 35, an input unit 37, an output unit 39, and a data communication unit 41 cooperate via a system bus 31.

The large-capacity storage device 33 includes, for example, a hard disk device, an SSD (solid state drive), a flash memory, and the like, and stores various programs such as an operating system and terminal software.
Note that the various programs may be acquired from other server devices or the like via a network, or may be recorded on a recording medium and read via various drive devices. That is, various programs stored in the large-capacity storage device 33 (including a program for executing processing in the display device 10 to be described later) can be transmitted via a network, and can be read by a computer. It can be recorded on a medium and transferred.

In the large-capacity storage device 33, a map information database (map information DB) 33A is constructed. The map information database 33A holds map information including a road map. The map information database 33A may also include information on an automatic driving area where the automobile M can travel by automatic driving and a manual driving area where the automobile M cannot travel by automatic driving. The automatic operation area and the manual operation area may be defined by laws or regulations, for example.

In addition, a simulation database (simulation DB) 33B is constructed in the mass storage device 33. The simulation database 33B includes information that enables a driving simulation at a specific point or region on the road. The simulation database 33B includes, for example, a driving simulation at a point or region on the road that is closest to the boundary between the automatic driving area and the manual driving area and requires a steering operation or a complicated steering operation including a steering operation or an acceleration / deceleration operation. It contains information that makes it possible. For example, as a region or a point on a road where a maneuvering operation or a complicated maneuvering operation is required, there are a curve, an intersection, a branch, a merge and the like.

FIG. 3 shows a simulation data group SD which is an example of data included in the simulation database 33B. As shown in FIG. 3, in the simulation data group SD, for example, a road name to be simulated, an area, and simulation data that is data for the simulation are associated with each data ID.

The simulation data includes, for example, scenery data for simulation and operation amounts of the appropriate steering wheel 13, accelerator pedal 15 and brake pedal 17 in the simulation.

Referring to FIG. 2 again, the control unit 35 includes a CPU (Central Processing Unit) 35A, a ROM (Read Only Memory) 35B, a RAM (Random Access Memory) 35C, and the like, and functions as a computer. Then, the CPU 35A implements various functions by reading and executing various programs stored in the ROM 35B and the mass storage device 33.

The input unit 37 is an interface unit that connects the display device 10 and the touch pad 21B so that they can communicate with each other. The display device 10 can receive a signal indicating an input operation to the touch pad 21 B via the input unit 37.

The output unit 39 is communicably connected to the display 21A, the speaker 23, and the projection device 25. The output unit 39 transmits a video or image signal to the display 21A for display, or transmits an audio signal to the speaker 23 to transmit sound. Can be output. The output unit 39 can transmit a video or an image signal to the projection device 25 to display on the windshield FG. The data communication unit 41 includes the display device 10, the camera 11, and the GPS receiver 19. It is an interface part which connects so that communication is possible. The data communication unit 41 is an interface unit that communicably connects the display device 10 and a steering sensor 13A that is a sensor that detects a physical quantity related to an operation such as the rotation amount and the rotational force of the steering wheel 13.

The data communication unit 41 is an interface unit that communicably connects the display device 10 and an accelerator sensor 15A that is a sensor that detects a physical quantity related to an operation such as a moving amount and a moving speed of the accelerator pedal 15. The data communication unit 41 is an interface unit that communicably connects the display device 10 and a brake sensor 17A that is a sensor that detects a physical quantity related to an operation such as a movement amount and a movement speed of the brake pedal 15.

The display device 10 receives a video signal from the camera 11 via the data communication unit 41. The display device 10 can determine the line of sight of the driver of the automobile M from the video signal received via the data communication unit 41. The display device 10 receives a GPS signal from the GPS receiver 19 via the data communication unit 41. The display device 10 can acquire position information that is information for specifying the position of the automobile M from the GPS signal received via the data communication unit 41.

Further, the display device 10 receives signals related to physical quantities related to operations of the steering handle 13, the accelerator pedal 15, and the brake pedal 17 from each of the steering sensor 13A, the accelerator sensor 15A, and the brake sensor 17A. The display device 10 can recognize operations on the steering handle 13, the accelerator pedal 15, and the brake pedal 17 from a signal relating to a physical quantity received via the data communication unit 41. For example, the display device 10 can calculate the operation amounts of the steering handle 13, the accelerator pedal 15, and the brake pedal 17.

Further, the data communication unit 41 is also an interface that connects the display device 10 and the travel control device VC of the automobile M on which the display device 10 is mounted so as to be communicable. The travel control device VC is a device that manages the travel control of the automobile M.

In the present embodiment, the travel control device VC performs manual operation control for manually controlling acceleration / deceleration and steering during traveling of the automobile M, or performs partial automatic operation control for automatically controlling only acceleration / deceleration or steering. Or whether to perform fully automatic driving control that automatically performs all traveling control including acceleration / deceleration and steering.

Also, the travel control mode when traveling by manual operation control is the manual operation mode, the travel control mode when traveling by partial automatic operation control is driven by partially automatic operation mode, and fully automatic operation control. The traveling control mode when the vehicle is in operation is referred to as a fully automatic operation mode. Hereinafter, in the partially automatic operation mode, the case where the steering is the automatic control is referred to as the steering automatic operation mode, and the case where the acceleration / deceleration is the automatic control is referred to as the acceleration / deceleration automatic operation mode.

For example, if the above three driving controls are applied to the automatic driving levels defined by the Government of Japan or the US Department of Transportation's Road Traffic Safety Administration (NHTSA), manual driving control is level 0, and partially automatic driving control is level. 1 or 2, fully automatic operation control is level 3 or higher.

In the present embodiment, the travel control device VC determines whether the current travel control mode of the automobile M is the manual operation mode, the partial automatic operation mode, that is, the steering automatic operation mode or the acceleration / deceleration automatic operation mode, or the fully automatic operation mode. Such traveling control mode information can be transmitted to the display device 10 via the data communication unit 41.

In addition, when the travel control device VC is scheduled to transition to the travel control mode, the travel control device VC can transmit mode transition information indicating the transition to the display device 10. The mode transition information may include information on the travel control mode after the transition. Note that the state of manual operation control in which all control relating to driving, such as steering and acceleration / deceleration operations, is manually performed by the driver is referred to as automatic driving level 0.

Moreover, when there is a plan to change the operation control mode of the automobile M, the travel control device VC can transmit the schedule to the display device 10 via the data communication unit 41. The travel control device VC may set the travel control mode of the vehicle M to the automatic operation mode when the region where the vehicle M is traveling is the automatic operation area, and to the manual operation mode when the region is the manual operation area.

In the switching of the travel control mode, the travel control device VC may determine whether to switch the operation mode using a position specifying device such as a GPS device that the travel control device VC has, map information, or the like.

Further, the travel control device VC may receive the position information from the display device 10 and refer to the map information database 33A of the display device 10 to determine switching of the operation control mode. Further, for example, the travel control device VC may determine switching of the operation control mode of the automobile M according to the situation around the automobile M. Note that the display device 10 may determine that there is a transition of the operation control mode by itself based on the information in the map information database 33A and the GPS signal from the GPS receiver 19.

[Operation of display device]
Hereinafter, the operation of the display device 10 will be described. The display device 10 receives mode transition information from the travel control device VC when there is a change in the travel control mode. When the mode transition information is information indicating that at least one of steering and acceleration / deceleration is switched from automatic control to manual control, the display device 10 causes the driver of the automobile M to perform a driving simulation. That is, the display device 10 causes the driver to perform a driving simulation when the traveling control mode of the automobile M shifts to a mode in which the degree of dependence on the driver is higher with respect to at least one of steering and acceleration / deceleration.

Specifically, for example, the display device 10 displays a running scene for simulation using the projection device 25. The running scenery for simulation may be a running scenery in an actually existing place or a running scenery in a virtual place that does not exist.

FIG. 4 is a diagram showing a front seat portion of the automobile M when the driving simulation is executed. As shown in FIG. 4, during the driving simulation, the driving scenery for simulation is displayed on the display area AR of the windshield FG by the projection device 25. In the example of FIG. 4, the vehicle M actually travels on a straight road, and the simulation shows a case where the vehicle M is traveling on a left curve. Further, as an example, a case is shown in which the driver is turning the steering wheel 13 to the left in accordance with a running scene for simulation.

The display device 10 changes the driving scenery based on signals from the steering sensor 13A, the accelerator sensor 15A, and the brake sensor 17A while displaying the driving scenery for the simulation. That is, the display device 10 functions as a drive simulator having the display area AR as a screen and the steering handle 13, the accelerator pedal 15, and the brake pedal 17 as controls.

Further, the display device 10 may determine whether or not the driver's operation on the steering wheel 13, the accelerator pedal 15, and the brake pedal 17 is appropriate while the simulation driving scenery is being displayed. The determination result can be notified to the driver by being displayed on the display 21 or the display area AR. In addition, the determination result can be notified to the driver by voice from the speaker 23.

Further, the display device 10 may determine whether or not the direction of the driver's line of sight is appropriate while displaying the simulation driving landscape. The determination result can be notified to the driver by being displayed on the display 21 or the display area AR, for example. In addition, the determination result can be notified to the driver by voice from the speaker 23. Note that the display device 10 can also suggest an appropriate line-of-sight direction to the driver by displaying on the display area AR by the projection device 25.

In addition, when the display device 10 receives the mode transition information, the mode transition information is also information indicating that at least one of steering and acceleration / deceleration is switched from manual control to automatic control. The driver may be allowed to perform a driving simulation. That is, when the traveling control mode changes, the display device 10 may cause the driver to perform a driving simulation regardless of the change mode. For example, the display device 10 may cause the driver to perform a driving simulation even when the driving control mode shifts to a mode in which the degree of dependence on the driver with respect to the driving control is lower.

As described above, the automobile M employs a drive-by-wire system as an example, and the operation of the steering wheel 13, the accelerator pedal 15, and the brake pedal 17 during the driving simulation is performed in accordance with the actual driving control of the automobile. It is possible to detach. Specifically, the operation to the steering acceptance device is separated from the actual travel control by preventing the signals from each steering acceptance device from reaching the steering control device, the prime mover control device, and the brake control device. .

In the above description, the display device 10 receives the mode transition information from the travel control device VC. However, the display device 10 may determine whether or not there is a transition of the travel control mode. Specifically, for example, the display device 10 may determine whether or not there is a shift in the travel control mode based on the GPS information and the map information database 33A, and generate and acquire the mode shift information by itself.

[Exemplary Operation Routine of Display Device 10]
Hereinafter, an example of an operation routine of the display device 10 will be described.

FIG. 5 is a diagram showing a simulation operation routine R1 as an example of the operation routine. The simulation operation routine R1 is repeatedly executed when, for example, the display device 10 is turned on. For example, the simulation operation routine R1 is repeatedly executed when an accessory power source (hereinafter referred to as ACC power source) of the automobile M is turned on.

When the simulation operation routine R1 is started, the control unit 35 first waits for reception from the travel control device VC (step S1). Next, the control unit 35 determines whether or not mode transition information has been received from the travel control device VC (step S2). In step S1 and step S2, the control unit 35 functions as a mode transition information acquisition unit.

If it is determined in step S2 that the mode transition information has been received from the travel control device VC (step S2: YES), the control unit 35 automatically controls at least one of steering and acceleration / deceleration by the mode transition. It is determined whether or not to shift to manual (step S3). If it is determined in step S2 that the mode transition information has not been received from the travel control device VC (step S2: NO), the routine ends.

In step S3, when it is determined that at least one of the steering control and acceleration / deceleration control shifts from automatic to manual (step S3: YES), the control unit 35 performs a first predetermined time (for example, 10 minutes) until the mode shifts. It is determined whether it is within (step S4). If it is determined in step S3 that at least one of the steering control and acceleration / deceleration control does not shift from automatic to manual (step S3: NO), the routine ends.

In step S4, when it is determined that it is within the first predetermined time until the mode transition (step S4: YES), the control unit 35 reads arbitrary simulation data from the simulation database 33A and starts a driving simulation ( Step S5). In this driving simulation, the control unit 35 causes the projection device 25 to display a traveling scenery based on the driver's steering operation on the display area AR.

In step S4, if it is determined that it is not within the first predetermined time until the mode transition (step S4: NO), the control unit 35 is still too early to start the driving simulation and waits for a certain period of time. Then, step S4 is performed again.

After starting the driving simulation in step S5, the control unit 35 determines whether or not the operation by the driver is appropriate in step S6. This determination is performed by determining whether the operation amounts of the steering wheel 13, the accelerator pedal 15, and the brake pedal 17 within a predetermined time (for example, several seconds) by the driver are within the range defined by the simulation data. May be done.

It should be noted that the determination made in step S6 may be made only for an operation that is manual after the mode transition. For example, when only the steering is manually controlled after the mode transition, the determination may be made only for the operation of the steering wheel 13. Further, for example, when only acceleration / deceleration is manually controlled after the mode transition, the determination may be made only for the operation of the accelerator pedal 15 and the brake pedal 17. In step S6, the control unit 35 functions as a determination unit.

When it is determined in step S6 that the operation by the driver is appropriate (step S6: YES), the control unit 35 determines whether or not it is within a second predetermined time (for example, 30 seconds) until the transition to the driving mode. (Step S7).

If it is determined in step S6 that the operation by the driver is not appropriate (step S6: NO), the control unit 35 notifies the driver that the operation is not appropriate (step S8). Specifically, for example, the control unit 35 displays a warning on the display 21 A, displays a warning on the display area AR using the projection device 25, or issues a voice warning through the speaker 23, thereby driving the driver. Announcements can be made. After executing step S8, the control unit 35 executes step S7.

If it is determined in step S7 that the current time is within the second predetermined time until switching (step S7: YES), the control unit 35 ends the simulation (step S9), and then the routine R1 ends. In step S7, if it is determined that the switching is not within the second predetermined time (step S7: NO), the control unit 35 continues the simulation, and step S6 is executed again. In step S6-9, the control unit 35 functions as a display control unit. The driving simulation may be interrupted by an operation on the touch pad 21B by the driver.

Note that, for safety reasons, during the driving simulation, the maneuvering operation to the maneuvering reception device or the operation of the maneuvering reception device is separated from the actual driving control of the automobile and is not used for the driving control of the automobile M. Specifically, for example, during execution of a driving simulation, it is possible to prevent an electrical signal corresponding to the operation of the operation receiving device from being transmitted.

According to the display device 10 of the first embodiment, the driving operation can be simulated in advance by the driver during the transition to the travel control mode in which at least one of the steering operations is changed from automatic to manual. Therefore, the driver can smoothly enter the driving operation when the traveling control mode is changed.

Further, according to the display device of the first embodiment, when the driver's steering operation is inappropriate in the simulation, the driver is notified of that fact. That is, the driver is fed back regarding the appropriateness of the steering operation. Therefore, it is possible to realize that the driver himself has a feeling related to inappropriate maneuvering. As a result, the driver can perform a more appropriate steering operation during manual driving.
[Modification]
Below, the modification of the display apparatus 10 is demonstrated. In the said Example 1, the display apparatus 10 demonstrated the example which reads arbitrary simulation data and performs a driving | running simulation, when the driving control mode of the motor vehicle M transfers. However, the display device 10 may execute a driving simulation in an area or a point where the automobile M is expected to pass after the transition before the traveling control mode of the automobile M transitions.

Specifically, for example, before the traveling control mode of the automobile M shifts, the display device 10 needs a steering operation including a steering operation and an acceleration / deceleration operation for the first time after the transition of the automobile M or a complicated steering operation. A driving simulation may be performed by displaying a driving scenery in an expected region or point. The region or point where the steering operation or the complicated steering operation is required (hereinafter also simply referred to as a steering required region) is, for example, a curve, an intersection, a junction or a branch as described above.

In this case, the display device 10 specifies the required maneuvering region that passes first after the transition to the travel control mode based on the map information database 33A. Then, the simulation database 33B is searched for the simulation data of the required operation area. If there is simulation data of the required steering area to be passed first, a driving simulation is performed based on the simulation data.

If the simulation data for the first required steering area is not in the simulation database 33B, the simulation data for the second required steering area is sequentially searched after the transition to the travel control mode. A driving simulation may be performed based on the simulation data. Moreover, based on the map information in the map information database 33A, simulation data of the first required steering area may be generated, and a driving simulation may be performed based on the generated simulation data.

FIG. 6 illustrates an operation routine R2 that is an example of an operation routine of a modification of the display device 10. The operation routine R2 is the same as the operation routine R1 except that processing is added between steps S3 and S4 of the operation routine R1. For this reason, description of portions other than the additional processing is omitted.

In the operation routine R2, if it is determined in step S3 that at least one of the steering control and the acceleration / deceleration control is shifted from automatic to manual (step S3: YES), the control unit 35 first performs the shift control mode after the shift. It is determined whether or not the simulation data of the necessary maneuvering area passing through is in the simulation database 33B (step S3-1).

In step S3-1, when it is determined that the simulation data of the required maneuvering area that passes first is in the simulation database 33B (step S3-1: YES), the control unit 35 obtains the simulation data from the simulation database 33B. Obtain (step S3-2).

In step S3-1, when it is determined that the simulation data of the first required steering area does not exist in the simulation database 33B (step S3-1: NO), the control unit 35 determines the first required steering area. Simulation data is generated (step S3-3). The generation of the simulation data may be performed based on the map information in the map information database 33A, for example.

For example, if the first maneuvering area to be passed is an intersection, simulation data may be newly generated by generating landscape data based on the shape of the intersection. Instead of generating new simulation data, simulation data of an intersection having a shape similar to the shape of the intersection may be acquired from the simulation database 33B and used instead.

In the process of the operation routine R2, in step S4, using the simulation data acquired in step S3-2 or the simulation data generated in step S3-3, the operation required region that first passes after the transition to the travel control mode is performed. Driving simulation is started.

According to the display device 10 of the modified example, it is expected that the driver is actually required in advance after the transition to the traveling control mode when the traveling control mode is shifted so that at least one of the maneuvering operations is changed from automatic to manual. The driving operation can be simulated. Therefore, at the time of transition to the travel control mode, the driver can smoothly and safely enter a steering operation related to driving. Such a simulation is particularly effective for a driver who is driving the above-described required maneuvering region for the first time or a driver who has little driving experience in order to smoothly perform a steering operation related to safe driving.

In the above-described embodiment, the display device 10 displays the driving scenery that changes based on the operation of the steering wheel 13, the accelerator pedal 15, and the brake pedal 17 by the driver during the driving simulation. However, the display device 10 may simply display the traveling scenery during the driving simulation.

For example, specifically, the display device 10 may simply display a traveling scenery when the region to be simulated is appropriately traveled along a road at a constant speed. Further, the display device 10 may display a traveling scenery when the vehicle appropriately travels along the road in a manner in which the speed changes based on the operation of the accelerator pedal 15 and the brake pedal 17. When performing such simulation data, it may be determined whether or not an appropriate operation of the steering wheel 13 is performed according to the traveling scenery.

In the above embodiment, the example in which the display device 10 is mounted on the automobile M has been described. However, the display device 10 can be used in various other mobile objects that can be driven automatically and require a driver to perform a steering operation, such as a ship, an aircraft, a motorcycle, a monorail, a linear motor car, and the like. Applicable.

The configuration, routine, or data format of the display device 10 in the above-described embodiments is merely an example, and can be selected or changed as appropriate according to the application.

DESCRIPTION OF SYMBOLS 10 Display apparatus 13 Steering wheel 15 Accelerator pedal 17 Brake pedal 21 Touch panel 25 Projector 31 System bus 33 Mass storage device 35 Control part

Claims

A mode transition information acquisition unit for acquiring mode transition information related to transition between travel control modes, which is a control mode related to automatic traveling of a moving object;
When the mode transition information acquisition unit acquires the mode transition information, a display control unit that causes a display to display a traveling landscape based on a steering operation related to traveling control of the moving body by a driver of the moving body;
A display device comprising:
A determination unit that determines whether the steering operation is appropriate in the traveling landscape while the display control unit displays the traveling landscape;
The display device according to claim 1, comprising:
The display device according to claim 2, wherein the display control unit displays the determination result of the determination unit on the display unit.
The display control unit displays the traveling scenery on a display unit between a predetermined time before the time when the traveling control mode shifts and the time when the traveling control mode shifts. The display device according to any one of the above.
5. The control operation according to claim 1, wherein the maneuvering operation is not used for travel control of the moving body while the display control unit displays a travel scene on the display unit. Display device.
The mobile body is controlled to travel by transmitting an electrical signal corresponding to a steering operation, and the electrical signal corresponding to the steering operation is not transmitted while the display control unit displays a traveling landscape on the display unit. The display device according to claim 5.
When the mode transition information acquisition unit acquires mode transition information indicating that the travel control mode of the moving body shifts to a mode with a higher dependence on the driver of the moving body, the display control unit The traveling scenery viewed from the moving body based on the steering operation related to the traveling control of the moving body by a driver of the moving body is displayed on the display unit. Display device.