WO2022014198A1 - 車両用表示制御装置、車両用表示制御システム、及び車両用表示制御方法 - Google Patents

車両用表示制御装置、車両用表示制御システム、及び車両用表示制御方法 Download PDF

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Publication number
WO2022014198A1
WO2022014198A1 PCT/JP2021/021495 JP2021021495W WO2022014198A1 WO 2022014198 A1 WO2022014198 A1 WO 2022014198A1 JP 2021021495 W JP2021021495 W JP 2021021495W WO 2022014198 A1 WO2022014198 A1 WO 2022014198A1
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WIPO (PCT)
Prior art keywords
passenger
vehicle
display
state
driver
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Ceased
Application number
PCT/JP2021/021495
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English (en)
French (fr)
Japanese (ja)
Inventor
祐輔 三宅
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Denso Corp
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Denso Corp
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Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to CN202180047145.5A priority Critical patent/CN115867454A/zh
Publication of WO2022014198A1 publication Critical patent/WO2022014198A1/ja
Priority to US18/070,573 priority patent/US20230103715A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/10—Input arrangements, i.e. from user to vehicle, associated with vehicle functions or specially adapted therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/21—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor using visual output, e.g. blinking lights or matrix displays
    • B60K35/22—Display screens
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/28—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor characterised by the type of the output information, e.g. video entertainment or vehicle dynamics information; characterised by the purpose of the output information, e.g. for attracting the attention of the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/20—Output arrangements, i.e. from vehicle to user, associated with vehicle functions or specially adapted therefor
    • B60K35/29—Instruments characterised by the way in which information is handled, e.g. showing information on plural displays or prioritising information according to driving conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/65—Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive
    • B60K35/654—Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive the user being the driver
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/65—Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive
    • B60K35/656—Instruments specially adapted for specific vehicle types or users, e.g. for left- or right-hand drive the user being a passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/80—Arrangements for controlling instruments
    • B60K35/81—Arrangements for controlling instruments for controlling displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00—Instruments specially adapted for vehicles; Arrangement of instruments in or on vehicles
    • B60K35/85—Arrangements for transferring vehicle- or driver-related data
    • 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
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/16—Type of output information
    • B60K2360/175—Autonomous driving
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/18—Information management
    • B60K2360/182—Distributing information between displays
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2360/00—Indexing scheme associated with groups B60K35/00 or B60K37/00 relating to details of instruments or dashboards
    • B60K2360/583—Data transfer between instruments
    • 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
    • B60W2050/146—Display means
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/22—Psychological state; Stress level or workload

Definitions

  • the present disclosure relates to a vehicle display control device, a vehicle display control system, and a vehicle display control method.
  • Patent Document 1 discloses a technique for notifying a traveling state regarding automatic driving of an own vehicle from a light emitting mode of light emitting spots arranged along a vehicle width direction of an instrument panel of the own vehicle. Patent Document 1 discloses a technique for presenting the current automation level of the own vehicle by changing the lighting reference position of the light emitting spot.
  • One object of this disclosure is a vehicle display control device, a vehicle display control system, and a vehicle that enable a passenger to easily recognize a more detailed automatic driving-related state regarding the automatic driving of the own vehicle.
  • the purpose is to provide a display control method.
  • the display control device for a vehicle of the present disclosure is used in a vehicle capable of automatic driving, and is at least one of the running state of the vehicle and the state of the driver of the vehicle related to the automatic driving.
  • a second indicator provided on the vehicle that is visible to passengers other than the driver of the vehicle, which is different from the state identification unit that identifies the autonomous driving-related state and the first indicator dedicated to the driver provided on the vehicle.
  • the passenger display control unit is provided with a passenger display control unit that controls the display of the vehicle, and the passenger display control unit displays a passenger-side graphic showing the automatic driving-related state specified by the state identification unit using at least one of a character and an image. 2 Display on the display.
  • the display control method for a vehicle of the present disclosure is a display control method for a vehicle used in a vehicle capable of automatic driving, and is executed by at least one processor of a vehicle related to automatic driving.
  • the state specifying process for specifying the automatic driving-related state which is at least one of the driving state and the state of the driver of the vehicle, and the first indicator dedicated to the driver provided in the vehicle.
  • the passenger display control step of controlling the display on the second display provided on the vehicle, which can be visually recognized by the passenger, in the passenger display control step the automatic driving-related state specified in the state specifying step is written. And the passenger side graphic shown using at least one of the images is displayed on the second display.
  • the automatic driving-related state which is at least one of the driving state of the vehicle and the driver's state of the vehicle related to the automatic driving, is different from the first indicator dedicated to the driver provided in the vehicle.
  • the passenger-side graphic displayed on the second display shows the automatic driving-related state using at least one of characters and images, the detailed contents of the automatic driving-related state are displayed in an easy-to-understand manner by the passenger. It will be possible to do. As a result, it becomes possible for the passenger to easily recognize a more detailed automatic driving-related state regarding the automatic driving of the own vehicle.
  • the display control system for a vehicle of the present disclosure is used in a vehicle capable of automatic driving, and the first display device exclusively for the driver provided in the vehicle is different from the first display device. It includes a second display provided on the vehicle, which can be visually recognized by a passenger other than the driver of the vehicle, and the above-mentioned display control device for the vehicle.
  • the vehicle system 1 shown in FIG. 1 is used in a vehicle capable of automatic driving (hereinafter referred to as an automatic driving vehicle).
  • the vehicle system 1 includes an HCU (Human Machine Interface Control Unit) 10, a communication module 20, a locator 30, a map database (hereinafter, map DB) 40, a vehicle status sensor 50, and a peripheral monitoring sensor 60.
  • It includes a vehicle control ECU 70, an automatic driving ECU 80, a DSM (Driver Status Monitor) 91, a first display 92, a second display 93, and an operation device 94.
  • This vehicle system 1 corresponds to a vehicle display control system.
  • the vehicle using the vehicle system 1 is not necessarily limited to an automobile, but the case where the system 1 is used for an automobile will be described below as an example.
  • the self-driving vehicle in the first embodiment may be a vehicle capable of self-driving as described above.
  • degree of automatic operation hereinafter referred to as automation level
  • SAE degree of automatic operation
  • the automation level is divided into levels 0 to 5 as follows, for example.
  • Level 0 is the level at which the driver performs all driving tasks without the intervention of the system. Driving tasks are, for example, steering, acceleration / deceleration, and peripheral monitoring. Level 0 corresponds to so-called manual operation. Level 1 is the level at which the system supports either steering or acceleration / deceleration. Level 1 corresponds to so-called driving support. Level 2 is the level at which the system supports both steering and acceleration / deceleration. Level 2 corresponds to so-called partial operation automation. Levels 1 and 2 shall also be part of automated driving.
  • level 1 and 2 automatic driving is automatic driving in which the driver has a monitoring obligation related to safe driving (hereinafter, simply monitoring obligation). Obligation to monitor is to visually monitor the surrounding area.
  • Levels 1 and 2 automated driving can be rephrased as automated driving where the second task is not allowed.
  • the second task is an act other than driving permitted to the driver, and is a predetermined specific act.
  • the second task can also be rephrased as a secondary activity, another activity, and the like.
  • the second task must not prevent the driver from responding to the request to take over the driving operation from the automated driving system.
  • viewing of contents such as videos, operation of smartphones, reading, eating, etc. are assumed as second tasks.
  • Level 3 is a level at which the system can perform all driving tasks in a specific place such as a highway, and the driver performs driving operations in an emergency. At level 3, the driver is required to be able to respond promptly when there is a request for a driver change from the system. Level 3 corresponds to so-called conditional operation automation. Level 4 is a level at which the system can perform all driving tasks except under specific circumstances such as unresponsive roads and extreme environments. Level 4 corresponds to so-called advanced driving automation. Level 5 is the level at which the system can perform all driving tasks in any environment. Level 5 corresponds to so-called complete operation automation.
  • level 3 to 5 automatic driving is automatic driving where the driver is not obliged to monitor.
  • Levels 3 to 5 automated driving can be rephrased as automated driving that allows a second task.
  • the presence or absence of monitoring obligation is switched by switching between the automation level of level 3 or higher and the automation level of level 2 or lower. Therefore, when switching from an automation level of level 3 or higher to an automation level of level 2 or lower, monitoring related to safe driving is required of the driver.
  • the operation change to the driver may be configured as required when switching from the automation level of level 2 or higher to the automation level of level 1 or lower.
  • the autonomous driving vehicle in the first embodiment may be an automated driving vehicle in which the automation level cannot be switched, or may be an automated driving vehicle in which the automation level can be switched.
  • the automation level may be configured to be switchable only between some of the levels 0 to 5.
  • the case where the autonomous driving vehicle can switch between at least the automatic driving of the automation level 3 and the automatic driving of the automation level 2 or less and the manual driving will be described as an example.
  • the communication module 20 transmits / receives information to / from another vehicle via wireless communication. That is, vehicle-to-vehicle communication is performed.
  • the communication module 20 may transmit and receive information via wireless communication with the roadside unit installed on the roadside. That is, road-to-vehicle communication may be performed.
  • the communication module 20 may receive information on the peripheral vehicle transmitted from the peripheral vehicle of the own vehicle via the roadside unit. Further, the communication module 20 may send and receive information to and from a center outside the own vehicle via wireless communication. That is, wide area communication may be performed.
  • the locator 30 is equipped with a GNSS (Global Navigation Satellite System) receiver and an inertial sensor.
  • the GNSS receiver receives positioning signals from a plurality of positioning satellites.
  • the inertial sensor includes, for example, a gyro sensor and an acceleration sensor.
  • the locator 30 sequentially positions the vehicle position of the own vehicle (hereinafter referred to as the own vehicle position) on which the locator 30 is mounted by combining the positioning signal received by the GNSS receiver and the measurement result of the inertial sensor.
  • the position of the own vehicle shall be represented by, for example, the coordinates of latitude and longitude.
  • the mileage obtained from the signals sequentially output from the vehicle speed sensor mounted on the vehicle may also be used.
  • the map DB 40 is a non-volatile memory and stores map data such as link data, node data, road shape, and structures.
  • the map data may be a three-dimensional map composed of point clouds of road shapes and feature points of structures.
  • the locator 30 may be configured not to use a GNSS receiver.
  • the locator 30 uses this three-dimensional map and a peripheral monitoring sensor 60 such as a lidar (Light Detection and Ringing / Laser Imaging Detection and Ringing) or a peripheral monitoring camera that detects a point cloud of feature points of a road shape and a structure.
  • the position of the own vehicle may be specified by using the detection result of the above.
  • the three-dimensional map may be generated based on the captured image by REM (Road Experience Management).
  • the communication module 20 may receive the map data distributed from the external server by, for example, wide area communication and store it in the map DB 40.
  • the map DB 40 may be used as a volatile memory, and the communication module 20 may be configured to sequentially acquire map data of an area corresponding to the position of the own vehicle.
  • the vehicle state sensor 50 is a group of sensors for detecting various states of the own vehicle.
  • the vehicle state sensor 50 includes a vehicle speed sensor that detects a vehicle speed, a steering sensor that detects a steering angle, and the like.
  • the vehicle state sensor 50 outputs the detected sensing information to the in-vehicle LAN.
  • the sensing information detected by the vehicle state sensor 50 may be output to the in-vehicle LAN via the ECU mounted on the own vehicle.
  • the peripheral monitoring sensor 60 monitors the surrounding environment of the own vehicle.
  • the peripheral monitoring sensor 60 detects obstacles around the own vehicle such as moving objects such as pedestrians and other vehicles, and stationary objects such as falling objects on the road.
  • it detects road markings such as driving lane markings around the vehicle.
  • the peripheral monitoring sensor 60 is, for example, a sensor such as a peripheral monitoring camera that captures a predetermined range around the own vehicle, a millimeter wave radar that transmits exploration waves to a predetermined range around the own vehicle, sonar, and LIDAR.
  • the peripheral monitoring camera sequentially outputs the captured images to be sequentially captured as sensing information to the automatic driving ECU 80.
  • Sensors that transmit exploration waves such as sonar, millimeter-wave radar, and LIDAR sequentially output scanning results based on the received signal obtained when the reflected wave reflected by an obstacle is received to the automatic operation ECU 80 as sensing information.
  • the sensing information detected by the peripheral monitoring sensor 60 may be output to the in-vehicle LAN via the automatic driving ECU 80.
  • the vehicle control ECU 70 is an electronic control device that controls the running of the own vehicle. Examples of the traveling control include acceleration / deceleration control and / or steering control.
  • the vehicle control ECU 70 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, a brake ECU, and the like.
  • the vehicle control ECU 70 performs driving control by outputting control signals to each traveling control device such as an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor mounted on the own vehicle.
  • EPS Electronic Power Steering
  • the automatic operation ECU 80 includes, for example, a processor, a memory, an I / O, and a bus connecting these, and executes a process related to automatic operation by executing a control program stored in the memory.
  • the memory referred to here is a non-transitory tangible storage medium that stores programs and data that can be read by a computer non-temporarily. Further, the non-transitional substantive storage medium is realized by a semiconductor memory, a magnetic disk, or the like.
  • the automatic operation ECU 80 includes a first automatic operation ECU 81 and a second automatic operation ECU 82.
  • the following description will be made assuming that the first automatic operation ECU 81 and the second automatic operation ECU 82 each include a processor, a memory, an I / O, and a bus connecting them. It should be noted that a common processor may be configured to carry out the functions of the first automatic operation ECU 81 and the second automatic operation ECU 82 by the virtualization technology.
  • the first automatic operation ECU 81 is responsible for the above-mentioned automatic operation function of level 2 or lower.
  • the first automated driving ECU 81 makes it possible to carry out automated driving that is obliged to monitor.
  • the first automatic driving ECU 81 can execute at least one of vertical control and horizontal control of the own vehicle.
  • the vertical direction is a direction that coincides with the front-rear direction of the own vehicle.
  • the lateral direction is a direction that coincides with the width direction of the own vehicle.
  • the first automatic driving ECU 81 executes acceleration / deceleration control of the own vehicle as vertical control.
  • the first automatic driving ECU 81 executes steering control of the own vehicle as lateral control.
  • the first automatic operation ECU 81 includes a first environment recognition unit, an ACC control unit, an LTA control unit, and the like as functional blocks.
  • the first environment recognition unit recognizes the driving environment around the own vehicle based on the sensing information acquired from the peripheral monitoring sensor 60. As an example, the first environment recognition unit recognizes the detailed position of the own vehicle in the traveling lane from the information such as the left and right lane markings of the traveling lane of the own vehicle. In addition, the first environment recognition unit recognizes the position and speed of vehicles around the own vehicle.
  • the first environment recognition unit may have the same configuration as the second environment recognition unit described later.
  • the ACC control unit executes ACC (Adaptive Cruise Control) control that realizes constant speed running of the own vehicle or follow-up running of the preceding vehicle at the target speed.
  • the ACC control unit may execute the ACC control using the position and speed of the vehicle around the own vehicle recognized by the first environment recognition unit.
  • the ACC control unit may execute the ACC control by causing the vehicle control ECU 70 to perform acceleration / deceleration control.
  • the LTA control unit executes LTA (Lane Tracing Assist) control for maintaining the vehicle running in the lane.
  • the LTA control unit may execute the LTA control using the detailed position of the own vehicle in the traveling lane recognized by the first environment recognition unit.
  • the LTA control unit may execute the LTA control by causing the vehicle control ECU 70 to perform steering control.
  • the ACC control is an example of vertical control.
  • LTA control is an example of lateral control.
  • the first automatic operation ECU 81 realizes level 2 automatic operation by executing both ACC control and LTA control.
  • the first automatic operation ECU 81 may realize level 1 automatic operation by executing either ACC control or LTA control.
  • the second automatic operation ECU 82 has the above-mentioned automatic operation function of level 3 or higher. In other words, the second automatic operation ECU 82 enables automatic operation without monitoring obligation.
  • the second automatic operation ECU 82 includes a second environment recognition unit, an action determination unit, a trajectory generation unit, and the like as functional blocks.
  • the second environment recognition unit is based on the sensing information acquired from the peripheral monitoring sensor 60, the position of the own vehicle acquired from the locator 30, the map data acquired from the map DB 40, the information of other vehicles acquired by the communication module 20, and the like. Recognize the driving environment around the car. As an example, the second environment recognition unit uses this information to generate a virtual space that reproduces the actual driving environment.
  • the second environment recognition unit determines the manual driving area (hereinafter referred to as MD area) in the driving area of the own vehicle.
  • the second environment recognition unit determines the automatic driving area (hereinafter referred to as AD area) in the traveling area of the own vehicle.
  • the second environment recognition unit determines the ST section in the AD area.
  • the second environment recognition unit determines the non-ST section in the AD area.
  • the MD area is an area where automatic driving is prohibited.
  • the MD area is an area defined by the driver to perform all of the vertical control, horizontal control, and peripheral monitoring of the own vehicle.
  • the MD area may be a general road.
  • the AD area is an area where automated driving is permitted.
  • the AD area is an area defined in which the vehicle can substitute one or more of the vertical control, the horizontal control, and the peripheral monitoring.
  • the AD area may be a highway or a motorway.
  • the AD area is divided into a non-ST section where automatic operation of level 2 or lower is possible and an ST section where automatic operation of level 3 or higher is possible.
  • the non-ST section where the level 1 automatic operation is permitted and the non-ST section where the level 2 automatic operation is permitted are not separately classified.
  • the ST section may be, for example, a traveling section in which traffic congestion occurs (hereinafter referred to as a traffic jam section). Further, the ST section may be, for example, a traveling section in which a high-precision map is prepared.
  • the non-ST section may be a section that does not correspond to the ST section.
  • the action judgment unit determines the planned action (hereinafter referred to as future action) for the own vehicle based on the recognition result of the driving environment in the second environment recognition unit.
  • the action judgment unit judges future actions for driving the own vehicle by automatic driving.
  • the action judgment unit may determine the type of behavior that the vehicle should take in order to reach the destination as a future action. Examples of this type include going straight, turning right, turning left, and changing lanes.
  • the action judgment unit determines that the transfer of the driving control right to the driver (that is, the driving change) is necessary, the action judgment unit generates a change request and provides it to the HCU 10.
  • the behavior judgment unit determines that the transfer of the driving control right to the driver (that is, the driving change) is necessary
  • the action judgment unit generates a change request and provides it to the HCU 10.
  • the case where it is necessary to transfer the driving control right to the driver there is a case where the own vehicle moves from the AD area to the MD area.
  • a problem occurs in the recognition of the driving environment by the second environment recognition unit due to sensor lost, communication failure, or the like.
  • the track generation unit generates a driving track of the own vehicle in a section where automatic driving can be executed, based on the recognition result of the driving environment in the second environment recognition unit and the future action determined by the action judgment unit.
  • the traveling track includes, for example, a target position of the own vehicle according to the progress, a target speed at each target position, and the like.
  • the track generation unit sequentially provides the generated travel track to the vehicle control ECU 70 as a control command to be followed by the own vehicle in automatic driving.
  • the automatic driving system including the above automatic driving ECU 80 enables automatic driving of level 2 or lower and level 3 or higher in the own vehicle.
  • the automatic driving ECU 80 may be configured to switch the automation level of the automatic driving of the own vehicle as needed.
  • the automatic driving of level 3 or higher may be switched to the automatic driving of level 2 or lower.
  • the automatic operation ECU 80 may be configured to generate a peripheral monitoring request and provide it to the HCU 10 when switching from the automatic operation without the monitoring obligation to the automatic operation with the monitoring obligation.
  • the DSM (Driver Status Monitor) 91 is composed of a near-infrared light source, a near-infrared camera, a control unit for controlling these, and the like.
  • the DSM91 is arranged, for example, on the upper surface of the instrument panel in a posture in which the near-infrared camera is directed toward the driver's seat side of the own vehicle.
  • the DSM91 photographs the driver's head irradiated with near-infrared light by a near-infrared light source by a near-infrared camera.
  • the image captured by the near-infrared camera is image-analyzed by the control unit.
  • the control unit detects the driver's state such as the arousal degree and the inoperable state based on the driver's feature amount extracted by image analysis of the captured image.
  • the DSM 91 outputs the detected driver status to the HCU 10.
  • the first display 92 is a display provided in the own vehicle.
  • the first display 92 is provided so that the display surface is located in front of the driver's seat of the own vehicle.
  • the first display 92 is a display dedicated to the driver.
  • various displays such as a liquid crystal display, an organic EL display, and a head-up display (hereinafter, HUD) can be used.
  • Examples of the first display 92 include a meter MID (Multi Information Display) provided on the meter panel.
  • the second display 93 is a display provided in the own vehicle.
  • the second display 93 is a display different from the first display 92, which can be visually recognized by a passenger other than the driver of the own vehicle (hereinafter, simply a passenger).
  • the second display 93 may be configured to be provided in front of the seat in which the passenger sits.
  • the second display 93 may be configured such that the display surface is provided in front of the passenger seat and the rear seat.
  • the front of the rear seat may be the area corresponding to the front of the rear seat in the back of the seat back of the front seat.
  • the second indicator 93 may be configured to be provided on, for example, the ceiling in front of the rear seats for a plurality of passengers in the rear seats.
  • various displays such as a liquid crystal display, an organic EL display, and a HUD can be used.
  • the operation device 94 is an intention input unit that accepts operation inputs by the occupants of the own vehicle.
  • the operation device 94 shall accept at least an operation input by a passenger.
  • the operation device 94 may be configured to correspond to each of the first display 92 and the second display 93.
  • the operation device 94 may be a touch switch integrated with the display, or may be a remote controller.
  • the HCU 10 is mainly composed of a computer equipped with a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting them.
  • the HCU 10 controls the display on the first display 92 and the second display 93 by executing the control program stored in the non-volatile memory.
  • This HCU 10 corresponds to a vehicle display control device.
  • the configuration of the HCU 10 regarding the control of the display on the first display 92 and the second display 93 will be described in detail below.
  • the HCU 10 has a state specifying unit 101, a passenger request acquisition unit 102, a display control unit 103, and an importance specifying unit regarding the control of the display on the first display 92 and the second display 93. 104 is provided as a functional block. Further, the execution of the processing of each functional block of the HCU 10 by the computer corresponds to the execution of the display control method for the vehicle. In addition, a part or all of the functions executed by the HCU 10 may be configured in terms of hardware by one or a plurality of ICs or the like. Further, a part or all of the functional blocks included in the HCU 10 may be realized by a combination of software execution by a processor and hardware members.
  • the state specifying unit 101 specifies at least one of the driving state of the own vehicle and the state of the driver of the own vehicle (hereinafter referred to as the automatic driving related state) regarding the automatic driving.
  • the process in the state specifying unit 101 corresponds to the state specifying step.
  • the state specifying unit 101 may specify the running state of the own vehicle from the running environment recognized by the automatic driving ECU 80 and / or the state of execution of automatic driving by the automatic driving ECU 80.
  • the driving state of the own vehicle it is required that the vehicle follows the other vehicle by automatic driving, the behavior change during the automatic driving of the own vehicle, the state of the automation level of the own vehicle, and the response of the driver of the own vehicle.
  • the state etc. can be mentioned.
  • the follow-up state of the own vehicle to other vehicles in automatic driving includes not only the follow-up target vehicle that the own vehicle follows, but also the state of peripheral vehicles of the own vehicle other than the follow-up target vehicle. do it.
  • the follow-up state may include the follow-up target vehicle with respect to the own vehicle, the relative position of the surrounding vehicles, the relative speed, and the like.
  • the state specifying unit 101 may specify the following state from, for example, the traveling environment recognized by the automatic driving ECU 80.
  • the behavior change during automatic driving of the own vehicle may include acceleration, deceleration, steering, etc. of the own vehicle.
  • the state specifying unit 101 may specify the behavior change state from, for example, the state in which the automatic operation is performed by the automatic operation ECU 80.
  • the state specifying unit 101 is preferably specified only for a certain amount or more of the behavior change in order to specify only the behavior change which is large to some extent.
  • the state specifying unit 101 may specify a future behavior change state from the schedule of acceleration / deceleration and steering in automatic operation.
  • the state specifying unit 101 may specify the latest past behavior change state from the change in the behavior of the own vehicle sequentially detected by the vehicle state sensor 50.
  • the state of the automation level of the own vehicle (hereinafter referred to as the automation state) may be configured to include the current automation level of the own vehicle, changes in the automation level, and the like.
  • the state specifying unit 101 may specify the automated state from, for example, the state of execution of the automatic operation by the automatic operation ECU 80.
  • the state in which the driver of the own vehicle is required to respond includes a state in which the driver is required to change driving, a state in which the driver's peripheral monitoring is required, and the like. Just do it.
  • the state in which the driver's peripheral monitoring is required is, for example, a state in which automatic driving without monitoring obligation is switched to automatic driving with monitoring obligation.
  • the state specifying unit 101 may specify the response request state from the state in which the automatic operation is executed by the automatic operation ECU 80. Since the automatic operation ECU 80 provides a change request, the state specifying unit 101 may specify the state in which the driver is required to change the operation. Further, since the state specifying unit 101 is particularly provided with the peripheral monitoring request from the automatic driving ECU 80, the state specifying unit 101 may specify the state in which the peripheral monitoring of the driver is required.
  • the following state, the behavior change state, the automation state, and the response request state are shown as examples of the running state of the own vehicle, but the state specifying unit 101 specifies only a part of them. May be good. Further, it may be configured to specify other driving states of the own vehicle related to automatic driving.
  • the state of the driver of the own vehicle includes the degree of arousal, the inability to drive, and the like.
  • the state specifying unit 101 may be specified from the state of the driver detected by the DSM 91. It should be noted that the state specifying unit 101 may be responsible for a part of the process of detecting the state of the driver in the control unit of the DSM 91. In the present embodiment, the arousal degree and the inoperable state are shown as an example of the driver state, but the state specifying unit 101 may be configured to specify only a part of them. Further, the driver state may be configured to specify another state.
  • the passenger request acquisition unit 102 acquires the request from the passenger.
  • the passenger request acquisition unit 102 acquires a request for displaying the passenger side graphic from the passenger (hereinafter referred to as a passenger side graphic display request).
  • the passenger side graphic is a graphic displayed on the second display 93. The details of the passenger side graphic will be described later. If the passenger request acquisition unit 102 is configured to acquire the passenger side graphic display request output from the operation device 94 when the operation device 94 receives an operation input to request the display of the passenger side graphic. good.
  • the display control unit 103 controls the display on the first display 92 and the second display 93.
  • the display control unit 103 includes a driver display control unit 131 and a passenger display control unit 132.
  • the driver display control unit 131 controls the display on the first display 92.
  • the driver display control unit 131 causes the first display 92 to display a graphic showing the automatic driving-related state specified by the state specifying unit 101 using at least one of a character and an image.
  • a graphic is a visual expression.
  • the graphic may be an image or may consist of a combination of visual elements of an image and characters. Examples of the image include figures, symbols, illustrations, photographs and the like.
  • the graphic displayed on the first display 92 is hereinafter referred to as a driver-side graphic.
  • the passenger display control unit 132 controls the display on the second display 93.
  • the process in the passenger display control unit 132 corresponds to the passenger display control step.
  • the passenger display control unit 132 causes the second display 93 to display a graphic showing the automatic driving-related state specified by the state specifying unit 101 using at least one of a character and an image. Graphics are visual representations.
  • the graphic displayed on the second display 93 is hereinafter referred to as a passenger-side graphic.
  • the passenger display control unit 132 displays the passenger side graphic including the information presumed to be necessary for the passenger.
  • the information presumed to be necessary for the passenger may be the information presumed to be necessary for recognizing the autonomous driving-related state.
  • the passenger display control unit 132 can display, for example, a passenger side graphic for the same automatic driving-related state as the driver side graphic displayed by the driver display control unit 131.
  • the passenger-side graphic is simplified or changed in expression so that the passenger can easily recognize the information about the same automatic driving-related state. That is, the passenger display control unit 132 causes the second display 93 to display a passenger side graphic different from the driver side graphic for the same automatic driving-related state specified by the state specifying unit 101. If it is presumed that the display content is the same as the driver side graphic but is easy for the passenger to recognize, the passenger side graphic and the driver side graphic may be the same display content.
  • the passenger display control unit 132 targets the same follow-up state specified by the state specification unit 101 as a follow-up target of the own vehicle, which is different from the driver-side graphic displayed on the first display 92 by the driver display control unit 131.
  • Information is simplified over its driver-side graphic, including information that is presumed necessary for the passenger to perform at least one of the vehicle's perceptions and the perception that the target distance is being maintained.
  • the passenger-side graphic may be displayed on the second display 93. As an example of simplification, a part of the display content of the driver's graphic can be excerpted. This avoids the complexity of the passenger side graphic.
  • the display of the image showing the other vehicle other than the own vehicle may be limited to the important vehicle such as the caution vehicle such as the interrupting vehicle and the follow-up target.
  • the driver-side graphic may be configured to display important vehicles such as caution vehicles and follow-up targets.
  • the OV of FIG. 3 shows an image showing the own vehicle.
  • Vf in FIG. 3 shows an image showing a vehicle to be followed by the own vehicle.
  • the SV of FIG. 3 shows an image showing a peripheral vehicle of the own vehicle other than the vehicle to be followed.
  • the passenger-side graphic regarding the follow-up state includes at least information that can compare the current inter-vehicle distance and the target inter-vehicle distance and information that can distinguish the vehicle to be followed.
  • the inter-vehicle distance referred to here is the inter-vehicle distance between the own vehicle OV and the tracking target Vf.
  • DI a text indicating the current inter-vehicle distance and the inter-vehicle distance set as the target may be displayed as comparable information between the current inter-vehicle distance and the target inter-vehicle distance.
  • Vf a text indicating that the vehicle is to be followed (see Td in FIG.
  • an image representing the own vehicle (see OV) and a text indicating that the vehicle is the own vehicle may be displayed so that it is easy to recognize that the vehicle is a follow-up target.
  • text indicating the current automation level of the own vehicle may be displayed.
  • an image showing a peripheral vehicle other than the tracking target may be displayed so that the positional relationship of the tracking target with respect to the own vehicle can be easily grasped.
  • the color of the image of the vehicle to be followed may be expressed by making it different from the peripheral vehicles other than the tracking target.
  • the driver display control unit 131 has a text indicating instrument information such as running energy remaining amount such as fuel remaining amount and engine speed as a driver side graphic regarding the following state.
  • the figure may be displayed.
  • the driver-side graphic also displays information that is less necessary for the passenger but more necessary for the driver.
  • the driver display control unit 131 may display the driver-side graphic indicating the behavior change state specified by the state specifying unit 101 on the first display 92.
  • the passenger display control unit 132 may display the passenger side graphic indicating the same behavior change state specified by the state specifying unit 101 on the second display 93.
  • As the driver side graphic and the passenger side graphic showing the behavior change state texts, figures, etc. showing the change in the behavior of the own vehicle may be displayed.
  • the driver-side graphic and the passenger-side graphic showing the behavior change state may have the same display contents, for example.
  • the driver display control unit 131 causes the first display 92 to display a graphic on the driver side indicating the automated state specified by the state specifying unit 101.
  • the passenger display control unit 132 causes the second display 93 to display a passenger-side graphic indicating the same automated state specified by the state specifying unit 101.
  • FIG. 4 is an example of a passenger-side graphic showing a change in the automation level in the automation state.
  • FIG. 4 shows an example of a case where the automation level is switched from level 3 to level 2 in the follow-up state.
  • FIG. 4 is the same as the example of FIG. 3 except that the text indicated by A is displayed.
  • the passenger-side graphic showing the change in the automation level includes information explaining that the automation level is switched and information explaining the reason why the automation level is switched. For example, a text such as "The tracking target cannot be set. Switch to the automatic driving LV2" may be displayed in A of FIG. Also, as shown in the ADL of FIG. 4, text indicating the current automation level of the own vehicle may be displayed.
  • the display as shown in the ADL of FIG. 3 may be performed.
  • the driver-side graphic and the passenger-side graphic showing the automation state may have the same display content, for example.
  • the driver display control unit 131 may display the driver-side graphic indicating the response request state specified by the state specifying unit 101 on the first display 92.
  • the passenger display control unit 132 may display the passenger side graphic indicating the same response request state specified by the state specifying unit 101 on the second display 93. It is the driver who is required to respond in the response request state. Therefore, the driver display control unit 131 may display the driver-side graphic of the content prompting the driver to take the required response in the response request state on the first display 92. On the other hand, if the passenger side graphic has the same display content as the driver side graphic, the passenger side will be confused. Therefore, the passenger display control unit 132 may display the passenger side graphic whose expression is different from the driver side graphic on the second display 93.
  • the example of FIG. 5 is an example of a passenger-side graphic showing a state in which a driver is required to change driving among the response request states.
  • the passenger-side graphic showing the state in which the driver is required to change driving preferably includes information explaining that the driver is required to change driving.
  • a text such as "The operation is being changed by the driver” may be displayed.
  • ADS of FIG. 5 a text indicating whether or not the vehicle is in automatic driving, which is a simplified version of the current automation level of the own vehicle, may be displayed.
  • text indicating the current automation level of the own vehicle may be displayed as shown in the ADL of FIG.
  • the driver display control unit 131 may display a text such as "Please hold the steering wheel" even for the same response request state. The same may be applied to the state in which the driver's peripheral monitoring is required among the response request states.
  • the driver display control unit 131 may display the driver side graphic indicating the driver state specified by the state specifying unit 101 on the first display 92.
  • the passenger display control unit 132 may display the passenger side graphic indicating the same driver state specified by the state specifying unit 101 on the second display 93.
  • the driver side graphic and the passenger side graphic showing the driver state may have the same display contents, for example. However, in the case of a driver state that requires the help of a passenger to improve the driver state, it is preferable to change the graphic on the passenger side to a content that asks the passenger to respond.
  • the display indicating the driver status may be an icon, text, or the like. Further, when the passenger side graphic is changed to the content requesting the passenger to respond, the text or the like requesting to confirm the driver's condition may be displayed as the passenger side graphic.
  • the situation where the own vehicle shortens the inter-vehicle distance with respect to the follow-up target corresponds to an anxiety situation.
  • the first point is that the driver may not be looking ahead even though the vehicle has been switched to manual driving.
  • the second point is that it is not possible to determine whether the inter-vehicle distance is the same as the target inter-vehicle distance set in the automatic driving, the malfunction of the automatic driving, or the driving operation error of the driver.
  • the third point is that there is a possibility that the own vehicle erroneously recognizes a vehicle other than the nearest vehicle in front as a tracking target.
  • the fourth point is that the own vehicle may not correctly recognize the nearest vehicle in front.
  • the passenger display control unit 132 displays the passenger side graphic showing the automated state specified by the state specifying unit 101, so that the passenger can know whether the vehicle is in automatic driving or in manual transportation. ..
  • the passenger display control unit 132 can display a message such as "The driver is operating now."
  • the passenger side graphic showing the change in the automation level as shown in FIG. 4, it is possible to eliminate the anxiety of the passenger who cannot distinguish between automatic driving and manual luck.
  • a passenger side graphic showing a change in the automation level a text explaining the change to manual driving such as "tracking is no longer possible.
  • Switch to manual driving may be displayed.
  • the passenger side graphic showing the state in which the driver is required to change driving as shown in FIG. 5 it is possible to eliminate the anxiety of the passenger who cannot distinguish between automatic driving and manual driving. can.
  • the passenger-side graphic showing the tracking state as shown in FIG. 3 it is possible to eliminate the anxiety of the passenger who cannot determine whether the tracking of the tracking target is normally performed.
  • the situation where the vehicle changes lanes due to the change in the tracking target is also considered to be an anxiety situation.
  • the first point is that the driver may not be looking ahead even though the vehicle has been switched to manual driving.
  • the second point is that it is not possible to determine whether the operation is performed as set in consideration of surrounding vehicles, a malfunction of automatic driving, or a driving operation error of the driver.
  • the third point is that there is a possibility that the own vehicle erroneously recognizes a vehicle other than the nearest vehicle in front as a tracking target.
  • the fourth point is that the own vehicle may not correctly recognize the nearest vehicle in front.
  • the passenger display control unit 132 displays the passenger side graphic showing the automated state specified by the state specifying unit 101, so that the passenger can know whether the vehicle is in automatic driving or in manual transportation. ..
  • the display may be the same as that shown in the explanation of the situation in which the own vehicle shortens the inter-vehicle distance with respect to the tracking target.
  • the text explaining that the follow-up target is changed is also displayed on the passenger side graphic to determine whether the follow-up target is normally followed. It is possible to eliminate the anxiety of passengers who cannot.
  • Examples of text display explaining that the tracking target is changed include an example such as "The tracking target will be changed” and an example such as "The tracking target has been changed.”
  • the passenger side graphic may also display an image of an arrow connecting the image of the own vehicle to the image of the tracking target to help the passenger's understanding.
  • the situation where the follow-up target changes lanes is also considered to be an anxiety situation. This is due to the following three reasons. The first point is that there is a possibility that the automatic driving system will mistakenly recognize that the vehicle has passed the traffic jam and switch to manual driving because there is no tracking target in front of the vehicle. The second point is that the automatic driving system may not be able to recognize the vehicle ahead of the tracking target whose lane has been changed. The third point is that the own vehicle may change lanes following the tracking target that has changed lanes.
  • the passenger display control unit 132 displays the passenger side graphic showing the automated state specified by the state specifying unit 101, so that the passenger can know whether the vehicle is in automatic driving or in manual transportation. ..
  • the display may be the same as that shown in the explanation of the situation in which the own vehicle shortens the inter-vehicle distance with respect to the tracking target.
  • the text explaining that the follow-up target is changed is also displayed on the passenger side graphic to determine whether the follow-up target is normally followed. It is possible to eliminate the anxiety of passengers who cannot.
  • Examples of text display explaining that the tracking target is changed include an example such as "The tracking target will be changed” and an example such as "The tracking target has been changed.”
  • the passenger side graphic may also display an image of an arrow connecting the image of the own vehicle to the image of the tracking target to help the passenger's understanding.
  • the situation of running at low speed or accelerating suddenly as in the case of traffic jam is considered to correspond to an anxiety situation.
  • the first point is that there is a possibility that the driver is not driving even though the own vehicle has been switched to manual driving.
  • the second point is that the automatic driving system may be malfunctioning in an attempt to maintain the same target inter-vehicle distance as during the traffic jam, even though the traffic jam has been resolved.
  • the passenger display control unit 132 displays the passenger side graphic indicating the automated state specified by the passenger display control unit 132 in the state specifying unit 101, so that whether the vehicle is in automatic operation or in manual luck. Can be known by passengers.
  • the display may be the same as that shown in the explanation of the situation in which the own vehicle shortens the inter-vehicle distance with respect to the tracking target.
  • a text such as "It is determined that the traffic jam has been resolved. Switch to manual driving" may be displayed on A. That is, when a driving change is scheduled, not only the driving change is performed but also the reason for the driving change may be displayed.
  • the display control unit 103 may have a configuration in which the display timing of the driver side graphic and the passenger side graphic is different according to the automatic driving-related state specified by the state specifying unit 101.
  • the driver display control unit 131 has a driver side graphic showing the reason why the driver's response is requested and the driver side to request the response.
  • the graphic is displayed on the first display 92.
  • These driver-side graphics may be displayed continuously in time, or may be displayed in an integrated manner.
  • the passenger display control unit 132 indicates the reason why the driver's response is required and the driver's condition at a timing later than the display of the driver-side graphic on the first display 92.
  • the side graphic is displayed on the second display 93.
  • the driver state specified by the state specifying unit 101 may be used. According to this, by delaying the display timing of the passenger side graphic rather than the display of the driver side graphic, the passenger can confirm whether the driver has responded to the requested response.
  • the passenger display control unit 132 requests that the driver's condition be confirmed only when the driver does not respond to the requested response within a certain period from the display of the driver's graphic. It may be configured to display the passenger side graphic. The fixed period referred to here can be set arbitrarily. This allows passengers to make improvements when the driver is not responding to the requested response.
  • the passenger display control unit determines whether or not the driver has responded to the requested response by detecting the gripping of the steering wheel of the own vehicle. 132 may judge.
  • the passenger display control unit 132 determines whether or not the driver has responded to the requested response by detecting the driver's line-of-sight direction using the DSM91. Should judge.
  • the passenger display control unit 132 has a driver side graphic showing the driver's state and a passenger requesting to confirm the driver's state.
  • the graphic on the user side may be displayed on the second display 93.
  • These passenger-side graphics may be displayed continuously in time, or may be displayed in an integrated manner. According to this, when the driver is in an inoperable state, it is possible for the passenger to make improvements. Examples of the inoperable state include unconsciousness and sleeping state.
  • the driver display control unit 131 may not display the driver-side graphic for the non-driving state.
  • the passenger display control unit 132 displays a graphic on the passenger side requesting confirmation of the driver's condition, and then when the driver recovers from the inoperable state, the driver drives the vehicle. A passenger-side graphic indicating that the driver has recovered from the impossible state may be displayed. On the other hand, if the driver does not recover from the inoperable state within a certain period of time, the automatic driving ECU 80 automatically shifts the own vehicle to the evacuation running. At this time, the passenger display control unit 132 may display a graphic on the passenger side indicating that the own vehicle automatically shifts to the evacuation run.
  • the driver display control unit 131 and the passenger display control unit 132 show the driver side graphic showing the reason and content of the behavior change indicated by the specified behavior change state.
  • the passenger side graphic may be displayed on the first display 92 and the second display 93 at the same timing, respectively.
  • the same timing referred to here may be substantially the same timing.
  • Behavioral changes that specify the behavior change state include changes in the distance between the vehicle and the tracking target, automatic lane changes of the vehicle, and changes in the tracking target of the vehicle. According to this, it becomes possible to notify the driver and the passenger at the same timing of the behavior change that should be held in the same manner regardless of whether the driver or the passenger is in the same position.
  • the passenger display control unit 132 may be configured to display the passenger side graphic on the second display 93 when the passenger side graphic display request is acquired by the passenger request acquisition unit 102. In this case, the passenger display control unit 132 may be configured not to display the passenger side graphic on the second display 93 when the passenger side graphic display request is not acquired by the passenger request acquisition unit 102. .. According to this, when the passenger does not want to display the passenger side graphic, it is not necessary to display the passenger side graphic.
  • the passenger display control unit 132 even when the passenger side graphic display request is not acquired by the passenger request acquisition unit 102, is determined according to the importance specified by the importance specification unit 104. It may be configured to switch whether or not to display the passenger side graphic on the second display 93.
  • the importance specifying unit 104 shall specify the importance of the passenger-side graphic determined according to the automated driving-related state specified by the state specifying unit 101 to the passenger. As an example, two levels of importance, "high” and “low”, may be specified. In this case, when the passenger display control unit 132 specifies that the importance level is "high” in the importance level specifying unit 104, the passenger side graphic is displayed on the second display 93, while the importance level specifying unit 104 is important. When the degree is specified as "low”, the passenger side graphic may not be displayed on the second display 93.
  • the importance level “high” may be specified by the importance level specifying unit 104.
  • the importance level specifying unit 104 may specify that the importance level is "low”.
  • the behavior change indicated by the behavior change state is equal to or higher than the threshold value corresponding to sudden acceleration, sudden deceleration, and sudden steering, the importance specifying unit 104 may specify the importance as "high”.
  • the importance specifying unit 104 may specify that the importance is "low".
  • the automatic driving-related state is a non-driving state among the driver states
  • the importance “high” and the importance specifying unit 104 may be specified.
  • the automatic driving-related state is a state in which the driver does not respond to the response required in the response request state among the driver states
  • the importance "high” and the importance specifying unit 104 may be specified.
  • the determination result in the passenger display control unit 132 described above may be used.
  • the flowchart of FIG. 6 may be configured to be started when, for example, a switch for starting the internal combustion engine or the motor generator of the own vehicle (hereinafter referred to as a power switch) is turned on.
  • step S1 the state specifying unit 101 specifies the automatic operation-related state.
  • step S2 the driver display control unit 131 and the passenger display control unit 132 first display the driver side graphic and the passenger side graphic regarding the current follow-up state, driver state, automation state, and the like at the same timing. Display on the display 92 and the second display 93, respectively.
  • step S3 if the automatic operation-related state specified in S1 is a response request state (YES in S3), the process proceeds to step S4. On the other hand, if the automatic operation-related state specified in S1 is not the response request state (NO in S3), the process proceeds to step S5.
  • step S4 the display control unit 103 performs a response request processing and moves to step S9.
  • step S4 an example of the flow of processing at the time of response request will be described with reference to the flowchart of FIG. 7.
  • step S41 the driver display control unit 131 causes the first display 92 to display the driver side graphic indicating that the driver's response is requested.
  • the driver display control unit 131 may display a driver-side graphic including a text or the like indicating the reason why the driver's response is required.
  • step S42 the passenger display control unit 132 causes the second display 93 to display the passenger side graphic showing the driver's state. At this time, it is preferable that the passenger display control unit 132 displays the passenger side graphic including a text or the like indicating the reason why the driver's response is required.
  • step S43 if the driver responds to the requested response within a certain period after displaying the driver side graphic in S41 (YES in S43), the process proceeds to step S9. On the other hand, if the driver does not respond to the requested response within a certain period after displaying the driver side graphic in S41 (NO in S43), the process proceeds to step S44.
  • step S44 the passenger display control unit 132 displays a passenger-side graphic requesting confirmation of the driver's state, and proceeds to step S9.
  • step S5 if the automatic operation-related state specified in S1 is an inoperable state (YES in S5), the process proceeds to step S6. On the other hand, if the automatic operation-related state specified in S1 is not an inoperable state (NO in S5), the process proceeds to step S7.
  • step S6 the display control unit 103 performs a non-operation processing and proceeds to step S9.
  • step S9 an example of the flow of the non-operational processing will be described with reference to the flowchart of FIG.
  • step S61 the passenger display control unit 132 displays the passenger side graphic indicating the driver's condition and requesting confirmation of the driver's condition on the second display 93.
  • step S62 if the driver recovers from the inoperable state within a certain period after displaying the passenger side graphic in S61 (YES in S62), the process proceeds to step S63. On the other hand, if the driver does not recover from the inoperable state within a certain period after displaying the passenger side graphic in S61 (NO in S62), the process proceeds to step S64.
  • step S63 the passenger display control unit 132 displays the passenger side graphic indicating that the driver has recovered from the inoperable state on the second display 93, and proceeds to step S9.
  • step S64 the passenger display control unit 132 displays the passenger side graphic indicating that the own vehicle automatically shifts to the evacuation run on the second display 93, and proceeds to step S9.
  • step S7 if the automatic driving-related state specified in S1 is a behavior change state (YES in S7), the process proceeds to step S8. On the other hand, when the automatic driving-related state specified in S1 is not a behavior change state (NO in S7), the process proceeds to step S9.
  • step S8 the driver display control unit 131 and the passenger display control unit 132 display the driver side graphic and the passenger side graphic for the behavior change state specified in S1 on the first display 92 and the second display at the same timing. Display each on the vessel 93.
  • step S9 if it is the end timing of the display control-related process (YES in S9), the display control-related process is terminated. On the other hand, if it is not the end timing of the display control related processing (NO in S9), the process returns to S1 and the processing is repeated.
  • An example of the end timing of display control-related processing is that the power switch is turned off.
  • the automatic driving-related state is displayed on the second display 93, which is different from the first display 92 and can be visually recognized by a passenger other than the driver of the vehicle. Since the second display 93 is visible to the passenger and is different from the driver-dedicated first display 92, the passenger can see it more than when it is displayed on the driver-dedicated first display 92. The display becomes easier to recognize. Further, since the passenger-side graphic displayed on the second display 93 shows the automatic driving-related state by using at least one of a character and an image, it is easy for the passenger to understand the detailed contents of the automatic driving-related state. It becomes possible to display. As a result, it becomes possible for the passenger to easily recognize a more detailed automatic driving-related state regarding the automatic driving of the own vehicle.
  • the passenger side graphic is simplified or changed by focusing on the information necessary for the passenger. Or something. Therefore, it is possible to prevent a situation in which it becomes difficult for the passenger to recognize the automatic driving-related state due to complicated information other than the information necessary for the passenger. As a result, it becomes possible for the passenger to more easily recognize the more detailed automatic driving-related state regarding the automatic driving of the own vehicle.
  • the passenger display control unit 132 shows a configuration in which the passenger graphic is displayed on the second display 93 regardless of whether or not the passenger is present in the own vehicle, but the present invention is not limited to this. ..
  • the passenger display control unit 132 may be configured so that the passenger graphic is not displayed on the second display 93 when the passenger does not exist in the own vehicle (hereinafter, embodiment 2).
  • whether or not there is a passenger in the own vehicle may be determined by the HCU 10 based on whether or not a occupant other than the driver is detected by the seating sensor provided in the seat of the own vehicle. .. According to the configuration of the second embodiment, it is possible to reduce the waste of displaying the passenger graphic on the second display 93 even though the passenger does not exist in the own vehicle.
  • the display center of the diagram in the passenger side graphic is changed from the display center of the diagram in the driver side graphic to the vehicle. It may be configured to shift the display in the direction in which the passenger is located with respect to the driver (hereinafter referred to as the third embodiment). This is to display the passenger side graphic according to the appearance of the scenery around the own vehicle, which differs depending on the position of the passenger in the own vehicle.
  • the state around the own vehicle may be a diagram showing the positional relationship between the own vehicle and the surrounding vehicles.
  • FIG. 9 shows a driver-side graphic (see Dr in FIG. 9) and a passenger-side graphic (see Pa in FIG. 9) for the same follow-up state.
  • the figure showing the positional relationship between the own vehicle and the peripheral vehicle in FIG. 9 corresponds to the above-mentioned diagram showing the state around the own vehicle.
  • the case where the passenger seat is on the left side of the driver's seat will be described as an example.
  • the display center of the figure showing the state around the own vehicle is the figure in the driver-side graphic. It may be displayed to the left of the display center of.
  • the display center of the figure showing the state around the own vehicle may be displayed behind the display center of the figure in the driver's side graphic. According to this, by aligning the passenger side graphic with the scenery around the own vehicle as seen by the passenger, it becomes possible to make the passenger more easily recognize the automatic driving related state.
  • control unit and the method thereof described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or a plurality of functions embodied by a computer program.
  • the apparatus and method thereof described in the present disclosure may be realized by a dedicated hardware logic circuit.
  • the apparatus and method thereof described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor for executing a computer program and one or more hardware logic circuits.
  • the computer program may be stored in a computer-readable non-transitional tangible recording medium as an instruction executed by the computer.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Instrument Panels (AREA)
PCT/JP2021/021495 2020-07-13 2021-06-07 車両用表示制御装置、車両用表示制御システム、及び車両用表示制御方法 Ceased WO2022014198A1 (ja)

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JP2023170127A (ja) * 2022-05-18 2023-12-01 日産自動車株式会社 情報提示装置及び情報提示方法
JP2024088483A (ja) * 2022-12-20 2024-07-02 トヨタ自動車株式会社 車両用表示制御装置、車両用表示制御方法、及び車両用表示制御プログラム

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