WO2022050113A1

WO2022050113A1 - Presentation device and presentation method

Info

Publication number: WO2022050113A1
Application number: PCT/JP2021/030825
Authority: WO
Inventors: 哲也日比野
Original assignee: 株式会社東海理化電機製作所
Priority date: 2020-09-02
Filing date: 2021-08-23
Publication date: 2022-03-10
Also published as: JP2022042101A; DE112021004560T5

Abstract

According to the present invention, a first acquisition unit (23) of a presentation device (15) acquires traveling state information (St1) related to the automatic driving of a vehicle (1). A second acquisition unit (24) of the presentation device (15) acquires driver information (St2) related to a driving state of a driver. A control unit (25) of the presentation device (15) notifies the driver of contents of the automatic driving by operating a presentation unit (16) in a format based on the traveling state information (St1) while using, among a plurality of presentation units (16) provided in a driver's seat, a presentation unit (16) determined from the driver information (St2).

Description

Presentation device and presentation method

The present invention relates to a presentation device and a presentation method for presenting the contents of automatic driving of a vehicle.

Conventionally, the automatic driving control device is disclosed in Patent Document 1 as a presentation device for notifying the driver of the content of the automatic driving operation of the vehicle in advance. In Patent Document 1, when the content of the automatic driving operation is determined during the automatic driving of the vehicle, the seat, the headrest, the armrest, etc. are driven according to the content of the automatic driving operation to drive the content of the automatic driving operation. Notify the person.

Japanese Unexamined Patent Publication No. 2017-165143

However, with the technology of Patent Document 1, the current situation is that the content of the automatic driving operation can be notified only in a format uniformly determined according to the content of the automatic driving operation. Therefore, there is a need to improve the accuracy of notifying the driver of various operations of automatic driving.

An object of the present invention is to provide a presentation device and a presentation method capable of improving the notification accuracy of the contents of automatic driving.

The presentation device according to one aspect of the present invention includes a first acquisition unit that acquires driving state information related to automatic driving of a vehicle, and a second acquisition unit that acquires driver information related to the driving state of the driver. By operating the presentation unit in a format based on the driving state information while using the presentation unit determined from the driver information among a plurality of presentation units provided in the driver's seat, the content of automatic driving can be described as driving. It is equipped with a control unit that notifies the person.

The presentation method according to another aspect of the present invention is a method of presenting the content of the automatic driving to the driver by a presentation device when the vehicle is driven by automatic driving, and is related to the driving state of the vehicle. To have the presentation device acquire the driving state information, to have the presentation device acquire the driver information related to the driving state of the driver, and to have the driver among the plurality of presentation units provided in the driver's seat. By operating the presentation unit in a format based on the driving state information while using the presentation unit determined from the information, the presentation device is provided with the notification of the content of the automatic driving to the driver. rice field.

According to the present invention, the notification accuracy of the content of automatic driving can be improved.

The block diagram of the presentation apparatus of one Embodiment. A perspective view of a steering wheel with a presentation section. Perspective view of a sheet with a presentation section. A flowchart showing the processing procedure of the presentation. The figure which shows the specific operation of the presentation part. The figure which shows the specific operation of the presentation part. (A) is a basic waveform diagram of the drive signal given to the oscillator, and (b) is a waveform diagram of the drive signal given to the oscillator. Explanatory drawing which shows the specific example of the vibration order of a vibrator.

Hereinafter, an embodiment of the presentation device and the presentation method will be described.
As shown in FIG. 1, the vehicle 1 includes an automatic driving device 2 for driving the vehicle 1 by automatic driving. The automatic driving device 2 operates automatic driving based on one or a plurality of driving state detection units 3 that detect vehicle driving information Sa related to the traveling of the vehicle 1 and vehicle driving information Sa detected by the driving state detection unit 3. It is equipped with a controller 4 for controlling the above.

When a plurality of running state detection units 3 are provided, for example, there are a camera 5, a radar 6, an in-vehicle sensor 7, an accelerator pedal detection sensor 8, a brake pedal detection sensor 9, an engine rotation speed sensor 10, a steering angle sensor 11, and the like. The camera 5 photographs the surroundings or the interior of the vehicle 1. The radar 6 detects the situation around the vehicle 1 by radio waves. The in-vehicle sensor 7 detects an obstacle around the vehicle 1, and includes, for example, a proximity sensor and the like. The accelerator pedal detection sensor 8 detects the amount of depression of the accelerator pedal of the vehicle 1. The brake pedal detection sensor 9 detects the amount of depression of the brake pedal of the vehicle 1. The engine rotation speed sensor 10 outputs a detection signal according to the rotation speed of the engine. The steering angle sensor 11 outputs a detection signal according to the rotation angle of the steering wheel.

When the driving mode of the vehicle 1 is in the automatic driving mode, the controller 4 controls the vehicle-mounted traveling device 12 based on the vehicle traveling information Sa input from the detection group of the traveling state detection unit 3 to control the vehicle. Execute the automatic operation of 1. In the case of this example, for example, when the switching operation to the automatic driving is performed in the vehicle 1, the driving mode of the vehicle 1 is switched from the manual driving mode to the automatic driving mode. The traveling device 12 includes traveling devices such as an engine and a steering shaft.

The vehicle 1 has a function (presentation device 15) of presenting the content of the automatic driving to the driver when the vehicle 1 is automatically driven. When the vehicle 1 is automatically driven, the presentation device 15 notifies the driver in advance of the behavior of the vehicle 1 via the presentation unit 16 provided in the vehicle 1, thereby eliminating the deviation of the driver's driving sensation. The presentation unit 16 causes the presentation unit 16 to perform a presentation related to the behavior before the vehicle 1 generates a behavior based on the automatic driving. The presentation includes, for example, tactile feedback, force feedback, auditory feedback, visual feedback, and the like. Tactile feedback is, for example, vibration. Auditory feedback is, for example, sound waves. The visual feedback includes, for example, a display display using an instrument panel or a monitor, a head-up display display, and the like.

In the case of this example, the vehicle 1 includes a driver state detection device 17 that detects the state of the driver. The driver state detecting device 17 detects, for example, the posture of the driver, the position of the center of gravity, the position of the hand, the position of the line of sight, and the like. The driver state detection device 17 includes, for example, a sensor 18 for detecting the movement of the driver, a camera 19 for photographing the driver, a switch 20 operated by the driver, and the like. The sensor 18, the camera 19, and the switch 20 may be parts to be operated when operating various devices of the vehicle 1. Further, the sensor 18, the camera 19, and the switch 20 may be parts shared with the automatic driving device 2.

The presentation device 15 includes a first acquisition unit 23 that acquires the running state information St1 related to the automatic driving of the vehicle 1. The driving state information St1 may be mode information input from the controller 4 as information related to the content of automatic driving, or may be the vehicle driving information Sa described above. As described above, the traveling state information St1 may be any information that can recognize the content executed by the automatic driving. For example, when the first acquisition unit 23 receives a notification from the controller 4 that the vehicle 1 has entered the automatic driving mode, the first acquisition unit 23 starts acquiring the traveling state information St1 from the automatic driving device 2.

The presentation device 15 includes a second acquisition unit 24 that acquires driver information St2 related to the driving state of the driver. The second acquisition unit 24 acquires the driver information St2 from the driver state detection device 17. For example, when the second acquisition unit 24 receives a notification from the controller 4 that the vehicle 1 has entered the automatic driving mode, the second acquisition unit 24 takes a state in which the driver information St2 can be acquired from the driver state detection device 17.

The presentation device 15 includes a control unit 25 that controls the operation of the presentation device 15. The control unit 25 automatically operates the presentation unit 16 in a format based on the driving state information St1 while using the presentation unit 16 determined from the driver information St2 among the plurality of presentation units 16 provided in the driver's seat. Notify the driver of the details of the driving. When the vehicle 1 is driven by automatic driving, the control unit 25 presents the behavior related to the automatic driving to the driver by the presentation unit 16 before the behavior related to the automatic driving (for example, acceleration, deceleration, etc.) occurs in the vehicle 1. Give.

Automatic driving includes driving content in which the traveling direction of vehicle 1 is switched. The driving content in which the traveling direction of the vehicle 1 is switched is, for example, running accompanied by steering of the steering wheel 26 (see FIG. 2). This running includes, for example, running turning left and right at an intersection, running to avoid obstacles during running, running when changing lanes, overtaking running, running to join a running line, and the like. The control unit 25 gives the driver a presentation so that the behavior (running accompanied by steering of the steering wheel 26) that occurs in the vehicle 1 when the traveling direction is switched can be felt by the presentation unit 16.

As shown in FIGS. 2 and 3, the presentation unit 16 is provided in the device 29 that the driver of the vehicle 1 comes into contact with during driving. The device 29 is, for example, a steering wheel 26 (see FIG. 2) operated when the vehicle 1 is steered, a seat 30 on which the driver sits (see FIG. 3), and the like. The presentation unit 16 is, for example, an oscillator 31 provided in these devices 29. A plurality of oscillators 31 are provided in the device 29, and the oscillators 31 in contact with the driver are operated when the operation content is presented.

Next, the operation of the presentation device 15 of the present embodiment will be described.
As shown in FIG. 4, in step 101, the control unit 25 determines whether or not the automatic operation has been started. When the control unit 25 recognizes that, for example, the notification from the controller 4 has switched the traveling mode of the vehicle 1 to the automatic driving mode, the control unit 25 determines that the automatic driving has started. If it is determined in step 101 that the automatic operation has been started, the process proceeds to step 102.

In step 102, when the vehicle 1 is in the automatic driving mode, the control unit 25 inputs the traveling state information St1 from the automatic driving device 2 via the first acquisition unit 23. In the case of this example, the first acquisition unit 23 recognizes, for example, acceleration information, deceleration information, engine speed information, steering information, etc. from the traveling state information St1.

In step 103, the control unit 25 determines whether or not the traveling state changes based on the traveling state information St1 input from the automatic driving device 2. In the case of this example, the control unit 25 determines whether or not the vehicle 1 takes automatic driving accompanied by behavior. Automatic driving with behavior includes, for example, acceleration, deceleration, curve driving, lane change, stop, right / left turn, overtaking, branching, merging, and the like. When there is a change in the traveling state of the vehicle 1, that is, when the vehicle 1 takes automatic traveling with behavior, the process proceeds to step 104.

In step 104, when there is a change in the traveling state of the vehicle 1, the control unit 25 inputs the driver information St2 from the driver state detecting device 17 via the second acquisition unit 24. In the case of this example, the second acquisition unit 24 acquires, for example, the posture of the driver, the posture of the driver, the position of the center of gravity when the seat is seated, the position of the hand holding the steering wheel 26, and the like as the driver information St2.

In step 105, the control unit 25 executes the presentation operation using the presentation unit 16 based on the acquired driver information St2. In the case of this example, the control unit 25 outputs an instruction as to what kind of feedback (direction and strength) to output based on the acquired driving state information St1 and driver information St2 to the presentation unit 16. The presentation unit 16 is operated.

FIG. 5 illustrates an example in which presentation is executed by a plurality of oscillators 31 provided on the steering wheel 26. In the case of the presentation example shown in FIG. 5, the control unit 25 determines that the vibrator 31 is in contact with the hand holding the steering wheel 26 among the plurality of vibrators 31 provided on the steering wheel 26 based on the determination using the driver information St2. (Vibrator 31a indicated by dots in FIG. 5) is recognized. Then, the control unit 25 notifies the driver of the behavior related to the type of automatic driving by vibrating the vibrator 31a that comes into contact with the hand holding the steering wheel 26. In one example, the control unit 25 identifies at least one oscillator 31 that comes into contact with the driver among the plurality of oscillators 31 provided in the presentation unit 16 based on the driver information St2.

FIG. 6 illustrates an example in which presentation is executed by a plurality of oscillators 31 provided on the sheet 30. In the case of the presentation example shown in FIG. 6, the control unit 25 determines that the oscillator 31 is in contact with the driver seated on the seat 30 among the oscillators 31 provided on the seat 30 by the determination using the driver information St2. (Vibrator 31a indicated by dots in FIG. 5) is recognized. Then, the control unit 25 notifies the driver of the behavior related to the type of automatic driving by vibrating the vibrator 31a that comes into contact with the driver seated on the seat 30.

FIGS. 7 (a) and 7 (b) show an example of vibrating the oscillator 31 in a format corresponding to the behavior of automatic operation. Note that FIG. 7A is a reference signal waveform of the drive signal Sk supplied to the vibrator 31. As shown in the upper part of FIG. 7B, for example, the magnitude of the behavior is large by supplying the drive signal Sk1 having the amplitude according to the magnitude of the behavior to the oscillator 31, although the period is the same as the reference. It may be easy for the driver to imagine the vibration. Other than this, as shown in the lower part of FIG. 7B, for example, although the amplitude is the same as the reference, the behavior is large by supplying the drive signal Sk2 having the period as the behavior size to the oscillator 31. It may be easy for the driver to imagine the signal. In one example, the control unit 25 specifies the magnitude of the behavior of the automatic driving based on the traveling state information St1, and the drive signal Sk supplied to the oscillator 31 according to the magnitude of the specified behavior of the automatic driving. Set the amplitude or period.

Note that the amplitude and period of the drive signal Sk are not limited to being fixed to only one pattern by controlling each time, and a plurality of patterns may be executed. For example, when changing the amplitude of the drive signal Sk, first set it to a large amplitude, after a certain period of time, reduce the amplitude once, and then set it to a larger amplitude than the first, so that the behavior of automatic driving is easy to understand for the driver. May be notified to.

FIG. 8 illustrates another example of vibrating a plurality of oscillators 31 in a format corresponding to the behavior of automatic operation. The example of FIG. 8 is an example of vibrating a plurality of oscillators 31 in order according to the behavior of automatic operation. In this case, the direction of vibration is presented to the driver by vibrating the plurality of oscillators 31 in order. As an example, for example, by vibrating the oscillator 31 upward with a strength corresponding to the acceleration (rotational speed of the engine), the oscillator 31 is vibrated in a format that makes it easy to have an image of acceleration. Therefore, it is possible to make it difficult for a shift in driving sensation to occur. In one example, a plurality of oscillators 31 are vibrated in the order of the oscillator 31 located at the bottom and the oscillator 31 located at the top with the strength according to the acceleration (rotational speed of the engine).

Note that the order in which the plurality of oscillators 31 are vibrated is not limited to being fixed to only one pattern by controlling one time, and a plurality of patterns may be executed. For example, first, the oscillators 31 are vibrated in order, all the oscillators in a row are vibrated, and then the oscillators 31 are vibrated by skipping one. It may be vibrated.

According to the presentation device 15 of the above embodiment, the following effects can be obtained.
(1) The first acquisition unit 23 of the presentation device 15 acquires the running state information St1 related to the automatic driving of the vehicle 1. The second acquisition unit 24 of the presentation device 15 acquires the driver information St2 related to the driving state of the driver. The control unit 25 of the presentation device 15 operates the presentation unit 16 in a format based on the driving state information St1 while using the presentation unit 16 determined from the driver information St2 among the plurality of presentation units 16 provided in the driver's seat. By doing so, the driver is notified of the details of the automatic driving.

According to the configuration of the present disclosure, the driver is notified of the content of the automatic driving by using only the specific presentation unit 16 determined from the driver information St2 among the plurality of presentation units 16. In this way, since the behavior generated in the vehicle 1 during automatic driving is executed by using the specific presentation unit 16 according to the driver's condition, the behavior that occurs in the vehicle 1 is automatically performed by the optimum presentation unit 16 according to the driver's condition. It is possible to notify the driver of the details of the driving. Therefore, it is possible to improve the notification accuracy of the content of automatic driving.

(2) When the vehicle 1 travels by automatic driving, the control unit 25 gives the driver a presentation related to the behavior by the presentation unit 16 before the behavior related to the automatic driving occurs in the vehicle 1. According to this configuration, since the presentation is executed in advance before the actual behavior of the vehicle 1 occurs, it is possible to notify the driver of the behavior of the vehicle 1 at the optimum timing.

(3) The presentation unit 16 is provided in the device 29 that the driver of the vehicle 1 comes into contact with during driving. According to this configuration, it is possible to notify the behavior of the vehicle 1 to the driver who takes a driving posture touching the device 29 via the presentation unit 16. Therefore, the presentation by the presentation unit 16 can be given to the driver without imposing a special posture on the driver.

(4) Automatic driving includes driving content in which the traveling direction of vehicle 1 is switched. The control unit 25 gives the driver a presentation that allows the vehicle 1 to feel the behavior that occurs when the traveling direction is switched by the presentation unit 16. According to this configuration, even when the traveling direction of the vehicle 1 is switched in the automatic driving, the traveling direction is presented to the driver in advance by the presentation unit 16, so that the driver's feeling is the movement of the vehicle 1. It becomes difficult to shift with changes. Therefore, it is possible to suppress the discomfort of the driving sensation during automatic driving to a low level.

In addition, this embodiment can be changed and carried out as follows. The present embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
-The driving state information St1 is not limited to various data detected by the driving state detection unit 3, and may be, for example, a notification indicating the mode of automatic driving. As described above, the traveling state information St1 may be any information as long as the content of the automatic driving of the vehicle 1 can be discriminated.

-The running state information St1 is not limited to using the information acquired by the automatic driving device 2, but may be acquired from a device newly provided for this system.
-Traveling state information St1 may be any information or data that shows what kind of automatic driving the vehicle 1 is currently driving.

-Driver information St2 may be any information or data that shows the current situation of the driver, and may be obtained from any on-board sensor, camera, switch, or the like.
-The automatic operation device 2 and the driver state detection device 17 may have a configuration in which some functions and members are in service.

-The presentation timing is not limited to before the behavior of automatic driving occurs in the vehicle 1, but may be simultaneous, or includes a timing slightly delayed.
The presentation unit 16 is not limited to being composed of parts of the same type, and may be combined from parts having different functions, movements, and configurations.

The presentation unit 16 may give the driver a presentation by combining various outputs such as tactile sense, visual sense, and auditory sense.
-The presentation unit 16 may give a presentation by using a plurality of devices 29 of different types.

-The presentation unit 16 is not limited to what the driver is touching, and may execute the operation of the presentation even if the driver is not touching.
The first acquisition unit 23, the second acquisition unit 24, and the control unit 25 may be configured by 1) one or more processors operating according to a computer program (software), or 2) with such a processor. , May be configured in combination with one or more dedicated hardware circuits such as application specific integrated circuits (ASICs) that perform at least some of the various processes. The processor includes a CPU and a memory such as a RAM and a ROM, and the memory stores a program code or a command configured to cause the CPU to execute a process. Memory or computer readable media includes any available medium accessible by a general purpose or dedicated computer. Alternatively, instead of the computer including the processor, a processing circuit composed of one or more dedicated hardware circuits that execute all of various processing may be used.

-Each of the first acquisition unit 23, the second acquisition unit 24, and the control unit 25 may be configured by an independent processor. Further, the first acquisition unit 23, the second acquisition unit 24, and the control unit 25 may be configured by at least two of these, or partial functional portions thereof, from the same processor.

-Although this disclosure has been described in accordance with the examples, it is understood that the present disclosure is not limited to the examples and structures. The present disclosure also includes various variations and variations within a uniform range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are within the scope and scope of the present disclosure.

Claims

The first acquisition unit that acquires driving state information related to the automatic driving of the vehicle,
The second acquisition unit that acquires driver information related to the driver's driving status,
By operating the presentation unit in a format based on the driving state information while using the presentation unit determined from the driver information among a plurality of presentation units provided in the driver's seat, the content of automatic driving can be described by the driver. A presentation device equipped with a control unit that notifies the user.
According to claim 1, when the vehicle is driven by automatic driving, the control unit gives a presentation related to the behavior to the driver by the presentation unit before the behavior related to the automatic driving occurs in the vehicle. The presentation device described.
The presentation device according to claim 1 or 2, wherein the presentation unit is provided on a device that the driver of the vehicle comes into contact with during driving.
The automatic driving includes a driving content in which the traveling direction of the vehicle is switched.
The presentation device according to any one of claims 1 to 3, wherein the control unit gives a presentation to the driver by the presentation unit so that the behavior generated in the vehicle can be felt when the traveling direction is switched. ..
It is a presentation method in which the content of the automatic driving is presented to the driver by a presentation device when the vehicle is driven by automatic driving.
To have the presentation device acquire the driving state information related to the driving state of the vehicle, and
To have the presenting device acquire the driver information related to the driving state of the driver, and to obtain the driver information.
By operating the presentation unit in a format based on the driving state information while using the presentation unit determined from the driver information among a plurality of presentation units provided in the driver's seat, the content of automatic driving can be described by the driver. A presentation method comprising having the presentation device execute the notification to.