WO2022050113A1 - Dispositif de présentation et procédé de présentation - Google Patents

Dispositif de présentation et procédé de présentation Download PDF

Info

Publication number
WO2022050113A1
WO2022050113A1 PCT/JP2021/030825 JP2021030825W WO2022050113A1 WO 2022050113 A1 WO2022050113 A1 WO 2022050113A1 JP 2021030825 W JP2021030825 W JP 2021030825W WO 2022050113 A1 WO2022050113 A1 WO 2022050113A1
Authority
WO
WIPO (PCT)
Prior art keywords
presentation
driver
vehicle
automatic driving
driving
Prior art date
Application number
PCT/JP2021/030825
Other languages
English (en)
Japanese (ja)
Inventor
哲也 日比野
Original Assignee
株式会社東海理化電機製作所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 株式会社東海理化電機製作所 filed Critical 株式会社東海理化電機製作所
Priority to DE112021004560.1T priority Critical patent/DE112021004560T5/de
Publication of WO2022050113A1 publication Critical patent/WO2022050113A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/59—Context or environment of the image inside of a vehicle, e.g. relating to seat occupancy, driver state or inner lighting conditions
    • G06V20/597—Recognising the driver's state or behaviour, e.g. attention or drowsiness
    • 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
    • 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
    • B60W50/16—Tactile feedback to the driver, e.g. vibration or force feedback to the driver on the steering wheel or the accelerator pedal

Definitions

  • the present invention relates to a presentation device and a presentation method for presenting the contents of automatic driving of a vehicle.
  • Patent Document 1 As a presentation device for notifying the driver of the content of the automatic driving operation of the vehicle in advance.
  • 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.
  • 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 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.
  • a first acquisition unit that acquires driving state information related to automatic driving of a vehicle
  • a second acquisition unit that acquires driver information related to the driving state of the driver.
  • the presentation method 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.
  • the presentation device is provided with the notification of the content of the automatic driving to the driver. rice field.
  • 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
  • (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.
  • 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.
  • a 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • step 101 the control unit 25 determines whether or not the automatic operation has been started.
  • 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.
  • 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.
  • the first acquisition unit 23 recognizes, for example, acceleration information, deceleration information, engine speed information, steering information, etc. from the traveling state information St1.
  • 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.
  • 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.
  • 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.
  • 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.
  • step 105 the control unit 25 executes the presentation operation using the presentation unit 16 based on the acquired driver information St2.
  • 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.
  • 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.
  • 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.
  • 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.
  • FIG. 7A is a reference signal waveform of the drive signal Sk supplied to the vibrator 31.
  • 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.
  • the behavior is large by supplying the drive signal Sk2 having the period as the behavior size to the oscillator 31.
  • 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.
  • 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.
  • the direction of vibration is presented to the driver by vibrating the plurality of oscillators 31 in order.
  • 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.
  • 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).
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.

Landscapes

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

Abstract

Selon la présente invention, une première unité d'acquisition (23) d'un dispositif de présentation (15) acquiert des informations d'état de déplacement (St1) relatives à la conduite automatique d'un véhicule (1). Une seconde unité d'acquisition (24) du dispositif de présentation (15) acquiert des informations de conducteur (St2) relatives à un état de conduite du conducteur. Une unité de commande (25) du dispositif de présentation (15) notifie au conducteur des contenus de la conduite automatique en employant une unité de présentation (16) selon un format basé sur les informations d'état de déplacement (St1) tout en utilisant, parmi une pluralité d'unités de présentation (16) disposées dans le siège du conducteur, une unité de présentation (16) déterminée à partir des informations de conducteur (St2).
PCT/JP2021/030825 2020-09-02 2021-08-23 Dispositif de présentation et procédé de présentation WO2022050113A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE112021004560.1T DE112021004560T5 (de) 2020-09-02 2021-08-23 Präsentationsvorrichtung und Präsentationsverfahren

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-147322 2020-09-02
JP2020147322A JP2022042101A (ja) 2020-09-02 2020-09-02 呈示装置及び呈示方法

Publications (1)

Publication Number Publication Date
WO2022050113A1 true WO2022050113A1 (fr) 2022-03-10

Family

ID=80490822

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2021/030825 WO2022050113A1 (fr) 2020-09-02 2021-08-23 Dispositif de présentation et procédé de présentation

Country Status (3)

Country Link
JP (1) JP2022042101A (fr)
DE (1) DE112021004560T5 (fr)
WO (1) WO2022050113A1 (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014164466A (ja) * 2013-02-25 2014-09-08 Nippon Soken Inc 運転支援装置
JP2017165143A (ja) * 2016-03-14 2017-09-21 株式会社Ｓｏｋｅｎ 自動運転制御装置、運転情報出力装置、自動運転制御方法、および運転情報出力方法
JP2018055154A (ja) * 2016-09-26 2018-04-05 本田技研工業株式会社 走行支援装置及び走行支援方法
JP2019155956A (ja) * 2018-03-07 2019-09-19 本田技研工業株式会社 車両制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2014164466A (ja) * 2013-02-25 2014-09-08 Nippon Soken Inc 運転支援装置
JP2017165143A (ja) * 2016-03-14 2017-09-21 株式会社Ｓｏｋｅｎ 自動運転制御装置、運転情報出力装置、自動運転制御方法、および運転情報出力方法
JP2018055154A (ja) * 2016-09-26 2018-04-05 本田技研工業株式会社 走行支援装置及び走行支援方法
JP2019155956A (ja) * 2018-03-07 2019-09-19 本田技研工業株式会社 車両制御装置

Also Published As

Publication number Publication date
DE112021004560T5 (de) 2023-11-09
JP2022042101A (ja) 2022-03-14

Similar Documents

Publication Publication Date Title
JP6519435B2 (ja) 報知管理装置及び報知管理方法
WO2018116654A1 (fr) Dispositif de commande de commutation de conduite et procédé de commande de commutation de conduite
US7382240B2 (en) Warning device in a vehicle
WO2016199379A1 (fr) Dispositif de commande de véhicule, procédé de commande de véhicule et programme de commande de véhicule
WO2016157717A1 (fr) Appareil de présentation d'informations
JP2018089999A (ja) 自動運転システム
US11782518B2 (en) Vehicle information display system
EP2827321B1 (fr) Appareil simulateur d'entraînement et procédé de formation de rééducation de commande l'utilisant
JP2009255609A (ja) 遠隔操作装置
JP6441399B2 (ja) 運転支援装置、運転支援方法及びプログラム
JP2006076568A (ja) 走行支援装置
JP2008249648A (ja) 車載機器の誤操作防止装置および誤操作防止方法
JP6856086B2 (ja) 報知管理装置及び報知管理プログラム
WO2018025517A1 (fr) Appareil de manipulation d'affichage
WO2022050113A1 (fr) Dispositif de présentation et procédé de présentation
JP6822323B2 (ja) 車線変更支援装置
JP7200968B2 (ja) 車両制御装置および車両制御方法
JP7147715B2 (ja) 運転支援装置および運転支援方法
JP2008046807A (ja) 運転支援装置
JP2020117165A (ja) 車両制御装置、車両及び車両制御方法
US20230016222A1 (en) A control system for a vehicle
WO2017145742A1 (fr) Véhicule et procédé de commande dans un véhicule
JP2018070029A (ja) 運転支援装置
JP6760323B2 (ja) 運転支援装置
JP2011185948A (ja) 車載機器の誤操作防止装置および誤操作防止方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21864171

Country of ref document: EP

Kind code of ref document: A1

WWE Wipo information: entry into national phase

Ref document number: 112021004560

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 21864171

Country of ref document: EP

Kind code of ref document: A1