CN108140320B - Notification control device and notification control method - Google Patents
Notification control device and notification control method Download PDFInfo
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- CN108140320B CN108140320B CN201580084027.6A CN201580084027A CN108140320B CN 108140320 B CN108140320 B CN 108140320B CN 201580084027 A CN201580084027 A CN 201580084027A CN 108140320 B CN108140320 B CN 108140320B
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Abstract
The purpose of the present invention is to suppress the annoyance to the driver due to notification in an automatically drivable vehicle and to prevent the driver from being overly confident in driving assistance. A notification control device (101) according to the present invention includes: a situation acquisition unit (11) that acquires situation data including at least data relating to any one or more of the surroundings of the vehicle, the assistance status of the driving assistance system (2), and the driving status of the vehicle, from the measurement data of the in-vehicle sensor (1); a situation determination unit (16) for determining whether the situation data is normal situation data satisfying a predetermined condition or abnormal situation data not satisfying the predetermined condition; and a notification control unit (17) that, when the vehicle is in an autonomous driving state in which notification is to be suppressed, permits execution of a notification request from the driving assistance system (2) when the condition data is abnormal condition data, and suppresses execution of the notification request when the condition data is normal condition data.
Description
Technical Field
The present invention relates to a device for assisting driving by notifying a driver of driving information.
Background
The following devices have been known: safe driving or comfortable driving is assisted by notifying the driver of information favorable to driving, such as notification relating to approach information of an obstacle around the vehicle or notification of a lane departure. By notifying such driving assistance information (driving assistance information) by voice, image, animation, vibration, or the like, the driver can avoid overlooking the position to be noticed, or can take the collision avoidance operation, and appropriate driving can be easily performed.
However, the driving assistance information may confuse or be boring to the driver due to the content or condition to which it is notified. For example, when the surrounding vehicle is abnormally close to the host vehicle, the driver needs to determine whether or not to take the avoidance operation at a moment. In this case, the approach information of the surrounding vehicle and the front railroad switch information are notified at the same time. In this case, although the approach information of the surrounding vehicle should be preferentially processed, the driver must determine which notification should be given priority by himself or herself, which increases the driving load.
For the above problem, the following means are provided in patent document 1: when a plurality of alarms are simultaneously output, the output means is changed according to the usefulness of the driving assistance information. Further, in recent years, a technique has been proposed which takes into consideration a notification that is assumed to be performed by automatic driving or quasi-automatic driving. For example, patent document 2 discloses a technique of: the driver's boredom is suppressed by making the notification conditions and contents of the driving assistance information different depending on the automatic driving state. Specifically, the driving assistance information notified at the time of manual driving is not notified at the time of automatic driving, thereby suppressing the driver's boredom.
Documents of the prior art
Patent document
Patent document 1: international publication No. 2010/119481
Patent document 2: japanese patent laid-open No. 2006-318446
Disclosure of Invention
Technical problem to be solved by the invention
In driving assistance such as automatic driving, a driving assistance system performs a part or all of operations in place of a driver, and thus reduction in the driving load of the driver is expected. In most cases, the driving assistance system operates with a normal system in which no driver intervention is required. Therefore, if the driver relies on the driving assistance system, there is a possibility that the driver is distracted from checking the situation of the surrounding environment, which is necessary for the driving assistance system to operate instead of the driver. In addition, there are also problems as follows: even if the driving assistance system presents a position to be noticed by the notification, the driver who is accustomed to the driving assistance feels bored with the notification or the awareness of the content of the notification is reduced (ignored).
In patent documents 1 and 2, if the notification conditions and the automatic driving state are the same, the notification is performed under the same conditions and means, and therefore the above-described problem cannot be solved.
The present invention has been made in view of the above problems, and an object of the present invention is to suppress a driver's annoyance caused by a notification and prevent excessive reliance on driving assistance by the driver in an automatically drivable vehicle.
Technical scheme for solving technical problem
The notification control device of the present invention includes: a situation acquisition unit that acquires situation data including at least data relating to any one or more of a surrounding environment of the vehicle, an assistance status of the driving assistance system, and a traveling status of the vehicle, based on measurement data of a sensor mounted on the vehicle that is capable of automatic driving with assistance of the driving assistance system; a situation determination unit that determines whether the situation data is normal situation data that satisfies a predetermined condition or abnormal situation data that does not satisfy the predetermined condition; and a notification control unit that, when the vehicle is in an autonomous driving state in which notification should be suppressed, permits execution of a notification request from the driving assistance system when the condition data is abnormal condition data, and suppresses execution of the notification request when the condition data is normal condition data.
In the notification control method of the present invention, status data including data relating to the surrounding status of a vehicle is acquired from measurement data of a sensor mounted on the vehicle that is automatically drivable by a driving assistance system, whether the status data is normal status data that satisfies a predetermined condition or abnormal status data that does not satisfy the predetermined condition is determined, and when the vehicle is in an automatic driving state in which notification should be suppressed, if the status data is abnormal status data, execution of a notification request from the driving assistance system is permitted, and if the status data is normal status data, execution of the notification request is suppressed.
Effects of the invention
The notification control device of the present invention includes: a situation acquisition unit that acquires situation data including at least data relating to any one or more of a surrounding environment of the vehicle, an assistance status of the driving assistance system, and a traveling status of the vehicle, based on measurement data of a sensor mounted on the vehicle that is capable of automatic driving with assistance of the driving assistance system; a situation determination unit that determines whether the situation data is normal situation data that satisfies a predetermined condition or abnormal situation data that does not satisfy the predetermined condition; and a notification control unit that, when the vehicle is in an autonomous driving state in which notification should be suppressed, permits execution of a notification request from the driving assistance system when the condition data is abnormal condition data, and suppresses execution of the notification request when the condition data is normal condition data. Therefore, the notification can be performed only when the situation is abnormal, and therefore the driver is not bothered, and the driver can be prevented from being excessively trusted for the driving assistance.
In the notification control method of the present invention, status data including data relating to the surrounding status of a vehicle is acquired from measurement data of a sensor mounted on the vehicle that is automatically drivable by a driving assistance system, whether the status data is normal status data that satisfies a predetermined condition or abnormal status data that does not satisfy the predetermined condition is determined, and when the vehicle is in an automatic driving state in which notification should be suppressed, if the status data is abnormal status data, execution of a notification request from the driving assistance system is permitted, and if the status data is normal status data, execution of the notification request is suppressed. Therefore, the notification can be performed only when the situation is abnormal, and therefore the driver is not bothered, and the driver can be prevented from being excessively trusted for the driving assistance.
The objects, features, embodiments and advantages of the present invention will become more apparent from the following detailed description and accompanying drawings.
Drawings
Fig. 1 is a block diagram showing the configuration of a notification control device and its peripheral devices according to embodiment 1.
Fig. 2 is a diagram showing a hardware configuration of the notification control apparatus according to embodiment 1.
Fig. 3 is a diagram illustrating an operation example of the notification control device according to embodiment 1.
Fig. 4 is a flowchart showing the overall operation of the notification control apparatus according to embodiment 1.
Fig. 5 is a flowchart showing the operation of the notification request acquisition unit.
Fig. 6 is a diagram illustrating the ambient environment acquired by the ambient environment acquisition unit.
Fig. 7 is a flowchart showing the operation of the ambient environment acquisition unit.
Fig. 8 is a diagram illustrating the assist status of the driving assistance system acquired by the assist status acquisition unit.
Fig. 9 is a block diagram showing the configuration of the notification control device and its peripheral devices according to embodiment 2.
Fig. 10 is a flowchart showing the overall operation of the notification control apparatus according to embodiment 2.
Fig. 11 is a flowchart showing specific element extraction processing performed by the specific element extraction unit.
Fig. 12 is a flowchart showing a notification process performed by the notification control section based on the specific element.
Fig. 13 is a block diagram showing a configuration of a notification control device according to a modification of embodiment 2, which is realized by a combination of an in-vehicle device and a server.
Fig. 14 is a block diagram showing the configuration of the notification control device and its peripheral devices according to embodiment 3.
Fig. 15 is a diagram for explaining an outline of an operation of the notification control device according to embodiment 3.
Fig. 16 is a flowchart showing a surrounding vehicle state acquisition process performed by the surrounding vehicle state acquisition unit.
Fig. 17 is a block diagram showing the configuration of the notification control device and its peripheral devices according to embodiment 4.
Fig. 18 is a diagram for explaining an outline of an operation of the notification control device according to embodiment 4.
Fig. 19 is a flowchart showing a driver state acquisition process performed by the driver state acquisition unit.
Fig. 20 is a block diagram showing the configuration of the notification control device and its peripheral devices according to embodiment 5.
Fig. 21 is a diagram for explaining an outline of an operation of the notification control device according to embodiment 5.
Fig. 22 is a flowchart showing a manual driving switching prediction process of the switching prediction unit.
Fig. 23 is a block diagram showing the configuration of the notification control device and its peripheral devices according to embodiment 6.
Fig. 24 is a diagram for explaining an operation example of the notification control device according to embodiment 6.
Fig. 25 is a flowchart showing a forced notification determination process performed by the forced notification determination unit.
Detailed Description
< A. embodiment 1 >
< A-1. Structure >
Fig. 1 is a block diagram showing the configuration of a notification control apparatus 101 and its peripheral apparatuses according to embodiment 1. The notification control device 101 is a device that performs notification control of the vehicle. The vehicle as the control target of the notification control device 101 can be automatically driven by the driving assistance of the driving assistance system 2. The notification control device 101 receives a notification request for the vehicle from the driving assistance system 2, determines whether or not to execute the notification, and outputs the notification content to the output apparatus 3 when the notification is executed.
In the present specification, the term "automatic driving" is used not only for full-automatic driving in which the driving assistance system 2 performs all driving operations, but also for cases including quasi-automatic driving in which human intervention is performed in an emergency but all driving operations are performed by the driving assistance system 2 in principle in a specific situation such as an expressway, and semi-automatic driving in which the driving assistance system 2 performs a part of driving operations. In the present specification, the term "vehicle" is used only to indicate a vehicle that is a control target of the notification control device 101.
Next, the notification control device 101 will be described as a device mounted on a vehicle. In fig. 1, the notification control apparatus 101 includes a status acquisition unit 11, a notification request acquisition unit 15, a status determination unit 16, and a notification control unit 17.
The situation acquisition unit 11 acquires situation data from the in-vehicle sensor 1 and the driving support system 2 and outputs the situation data to the situation determination unit 16.
The notification request acquisition unit 15 acquires a notification request for the vehicle from the driving support system 2 and outputs the notification request to the notification control unit 17.
The status determination unit 16 acquires the status data from the status acquisition unit 11, determines whether the status data is normal status data or abnormal status data, and outputs the result to the notification control unit 17. That is, whether the current situation is normal or abnormal is determined.
The notification control unit 17 acquires the notification request from the notification request acquisition unit 15, and determines whether or not to execute the notification request based on the determination result of the situation determination unit 16. Then, in the case of executing the notification request, the notification content is output to the output apparatus 3.
Fig. 2 is a diagram showing a hardware configuration of the notification control apparatus 101. As shown in fig. 2, the notification control apparatus 101 is realized by the CPU31, the memory 32, and the receiving unit 33. The status acquisition unit 11, the notification request acquisition unit 15, the status determination unit 16, and the notification control unit 17 are realized as a function of the CPU31 by the CPU31 executing a program stored in the Memory 32 such as a RAM (Random Access Memory). The above may be realized by cooperation of a plurality of CPUs 31, for example.
< A-2. action >
Fig. 3 is a diagram illustrating an operation example of the notification control apparatus 101. Fig. 3 shows a state where a bicycle, which is not normally present when the vehicle is stopped at a home parking lot, is placed near the guide path. When the driving support system 2 assists the parking of the vehicle, it displays a video image of the rear of the vehicle on the rear monitor and outputs a notification request to the notification control device 101 to call attention to an obstacle or the like behind the vehicle. Conventionally, whether or not to execute the notification is controlled in accordance with an automatic driving level of the vehicle or the like. For example, when the vehicle is in a manual driving state, the notification is performed because the driver has a high necessity to grasp the surrounding situation, whereas when the vehicle is in a fully automatic driving state, the notification is not performed because the driver does not need to perform any special operation. However, in the notification control device 101, when an "abnormal situation" in which a bicycle that does not exist at all times is placed near the guide route as shown in fig. 3 is detected, the above notification is performed to alert the driver to the rear of the vehicle even if the automatic driving state of the vehicle is at a level at which the notification is not performed in principle.
Fig. 4 is a flowchart showing the overall operation of the notification control apparatus 101. In the following, an outline of the operation of the notification control apparatus 101 will be described with reference to fig. 4, taking the situation of fig. 3 as an example. First, when the vehicle intends to stop in the own parking lot, the notification request acquisition portion 15 acquires a notification request from the driving support system 2 to call attention to the rear of the vehicle (step S11). Next, the situation acquisition unit 11 acquires situation data from the information acquired from the in-vehicle sensor 1 and the driving assistance system 2 (step S12). The situation data acquired in step S12 is sent to the situation determination unit 16. The situation determination unit 16 determines whether or not the autonomous driving state of the vehicle is the autonomous driving state of the suppression notice based on the situation data (step S13). When the autonomous driving state of the vehicle is the autonomous driving state in which the notification is suppressed, the situation determination unit 16 determines whether or not the current situation is the normal state (step S14). Here, if the status data is normal status data that satisfies a predetermined condition, it is determined that the current status is normal status, whereas if the status data is abnormal status data, it is determined that the current status is abnormal. When the current status is the normal status, the notification control unit 17 suppresses the notification (step S15), and ends the process.
On the other hand, when the autonomous driving state of the vehicle is not the autonomous driving state for which the notification is suppressed (no in step S13), or when the current situation is abnormal (no in step S14), the notification controller 17 performs the notification related to the warning of the attention to the rear of the vehicle in response to the notification request (step S16), and ends the process. The notification here is performed by outputting voice from a vehicle speaker, for example.
Fig. 5 is a flowchart showing the operation of the notification request acquisition unit 15 (notification request acquisition processing, step S11 in fig. 4), and the operation of the notification request acquisition unit 15 will be described below with reference to fig. 5. First, the notification request acquisition unit 15 determines whether the driving assistance system 2 is currently being executed (step S111). If the driving assistance is not performed by the driving assistance system 2 while the vehicle is being driven manually (no in step S111), the process returns to step S111 again to wait until the driving assistance is performed. When the driving assistance system 2 is currently in the process (yes in step S111), the notification request acquisition unit 15 acquires a notification request from the driving assistance system 2 (step S112). Then, the acquired notification request is sent to the situation determination unit 16 (step S113).
Next, the situation acquisition unit 11 will be explained. The situation acquisition unit 11 includes a surrounding environment acquisition unit 12, an assist situation acquisition unit 13, and a travel situation acquisition unit 14.
The ambient environment acquisition unit 12 generates ambient environment information from the sensed data of the in-vehicle sensor 1. Here, the in-vehicle sensor 1 is a mechanical sensor, an electromagnetic sensor, an optical sensor, a temperature sensor, an electrochemical sensor, or the like mounted on a vehicle, and is, for example, a sensor shown in table 2 of the Technical trend of the Denso Technical Review "automotive sensor" VOL 11 No. 12006.
Fig. 6 illustrates the ambient environment information acquired by the ambient environment acquisition unit 12. The surrounding environment information includes surrounding vehicles, pedestrians, other moving bodies, obstacles, and the like. These information include the position, moving speed, and moving direction thereof, as well as the surrounding environment information. For example, in the case where the vehicle passes by rubbing against a specific vehicle such as an emergency vehicle, the situation determination unit 16 may determine that the current situation is not the normal situation when the specific vehicle is included in the surrounding vehicles. In addition, the traffic white line is also included in the surrounding environment. This can be detected, for example, by image processing or radar. Further, the surrounding environment includes weather, road surface conditions, time, signs, signal information, construction information such as congestion and construction, and the like. Weather can be obtained from the internet. In addition, road icing can be identified by detecting the spinning of the tires. In addition, time can be obtained from the GPS signal. In addition, the traffic Information can be acquired by VICS (registered trademark) (Vehicle Information and Communication System) Information, road surface Vehicle-to-Vehicle Communication, or Vehicle-to-Vehicle Communication.
Fig. 7 is a flowchart showing the operation of the ambient environment acquisition unit 12 (ambient environment acquisition processing, step S12 in fig. 4), and the operation of the ambient environment acquisition unit 12 will be described below with reference to fig. 7. The surrounding environment acquisition unit 12 first acquires sensed data from the in-vehicle sensor 1 (step S121). Next, ambient environment information is generated from the acquired sensed data (step S122). Then, the generated ambient environment information is sent to the situation determination unit 16 (step S123).
Fig. 8 illustrates the assistance status of the driving assistance system 2 acquired by the assistance status acquiring unit 13. The assist status includes a predetermined trajectory of movement of the vehicle, a status of movement of the assist function, mode information of each assist function, and the like. The driving support system 2 has support functions such as a driving support, an automatic parking support, and a lane change support. The driving assistance function has a quasi-automatic mode and a fully-automatic mode. The automatic parking auxiliary function has the modes of auxiliary starting, advancing, backing and finishing. The mode of the lane changing function has the beginning, the execution and the success.
The running condition acquired by the running condition acquisition unit 14 includes the speed, acceleration, direction, position coordinates, and the like of the vehicle. These pieces of information are acquired from the in-vehicle sensor 1 or the driving assistance system 2.
The situation data may be transmitted from the situation acquisition unit 11 to the situation determination unit 16 independently, or may be transmitted to the situation determination unit 16 by combining the surrounding environment, the assist situation, and the traveling situation on the same time axis into one data.
The situation determination unit 16 determines whether or not the current situation is a normal situation based on the situation data. The situation determination unit 16 specifies the definition (condition) of the normal state, and determines that the current situation is the normal situation when the situation data satisfies the condition. The definition (condition) of the normal state is a condition under which the driving support system 2 makes a notification request or a condition under which the driving state of the vehicle relating to the autonomous driving is different, and the situation determination unit 16 abstractly determines whether or not "the same situation as the normal situation" is present. For example, when the vehicle is located at a specific location registered by a passenger, such as at home, the vehicle is determined to be in a normal state. Alternatively, the vehicle is determined to be in the normal state when the vehicle is located in a place where the number of visits is equal to or greater than a predetermined number of times, based on the travel history of the vehicle. Alternatively, the speed of entering a certain intersection may be repeatedly recorded, and the average value or the central value thereof may be defined as the normal state. Further, the vehicle condition data at the time designated by the vehicle occupant may be defined as the normal condition. Thus, a situation "different from normal" such as a case where there is an obstacle that does not exist at ordinary times or a case where the vehicle travels through the same spot at a higher speed than normal can be determined as "not normal".
< A-3. modified example >
In the above description, the case where the in-vehicle sensor 1 is mounted on the vehicle has been described, but the present invention is not limited to this, and the surrounding environment acquisition unit 12 may acquire the surrounding environment information from the in-vehicle sensor or the server of the surrounding vehicle.
In the above description, the status acquisition unit 11, the notification request acquisition unit 15, the status determination unit 16, and the notification control unit 17 are realized by the CPU31 (processor) of fig. 2 operating in accordance with a software program stored in the memory 32 or the like. However, the status acquisition unit 11, the notification request acquisition unit 15, the status determination unit 16, and the notification control unit 17 may be implemented by a signal processing circuit that realizes the operations by hardware circuits instead. As a concept of combining the software status acquisition unit 11, the notification request acquisition unit 15, the status determination unit 16, and the notification control unit 17 with the hardware status acquisition unit 11, the notification request acquisition unit 15, the status determination unit 16, and the notification control unit 17, an expression of "processing circuit" may be used instead of the expression of "unit".
< A-4. Effect >
The notification control device 101 according to embodiment 1 includes: a situation acquisition unit 11 that acquires situation data including at least data relating to one or more of the surroundings of the vehicle, the assistance status of the driving assistance system, and the traveling status of the vehicle, from measurement data of a sensor mounted on the vehicle that can be automatically driven with assistance from the driving assistance system 2; a situation determination unit 16 for determining whether the situation data satisfies a predetermined condition, i.e., normal situation data, or abnormal situation data that does not satisfy the predetermined condition, i.e., the situation determination unit 16; and a notification control unit 17 that allows the execution of the notification request from the driving assistance system 2 when the condition data is abnormal condition data and suppresses the execution of the notification request when the condition data is normal condition data, when the vehicle is in an autonomous driving state in which the notification should be suppressed. Therefore, the notification can be performed only when the situation is abnormal, and therefore the driver is not bothered, and the driver can be prevented from being excessively trusted for the driving assistance.
In addition, the notification control method according to embodiment 1 acquires the situation data including data on the vehicle surrounding situation from the measurement data of the sensor mounted on the vehicle that can be automatically driven with the assistance of the driving assistance system 2, determines whether the situation data is the normal situation data satisfying the predetermined condition or the abnormal situation data not satisfying the predetermined condition, and allows the execution of the notification request from the driving assistance system when the situation data is the abnormal situation data and suppresses the execution of the notification request when the situation data is the normal situation data when the vehicle is in the automatic driving state in which the notification should be suppressed. Therefore, the notification can be performed only when the situation is abnormal, and therefore the driver is not bothered, and the driver can be prevented from being excessively trusted for the driving assistance.
< B. embodiment 2 >
< B-1. Structure >
Fig. 9 is a block diagram showing the configuration of the notification control apparatus 102 and its peripheral apparatuses according to embodiment 2. The notification control apparatus 102 includes the configuration of the notification control apparatus 101 according to embodiment 1, and further includes a status storage unit 18 and a specific element extraction unit 19.
The status storage unit 18 is implemented by a storage medium such as an HDD or an SD card, and stores data determined by the status determination unit 16 to be normal status data among the status data.
The specific element extraction unit 19 extracts a specific element from the situation data determined to be abnormal situation data by the situation determination unit 16, and outputs the specific element to the notification control unit 17.
The notification control section 17 determines a unit and content of the notification based on the specific element, and outputs the notification content to the output device 3.
The other configuration is the same as that of the notification control apparatus 101 according to embodiment 1.
< B-2. action >
Fig. 10 is a flowchart showing the operation of the entire notification control apparatus 102. In the following, an outline of the operation of the notification control apparatus 102 will be described with reference to fig. 10, taking the situation of fig. 3 as an example. Steps S21 to 24 and 29 in FIG. 10 are the same as steps S11 to 14 and 16 in FIG. 3, respectively, and therefore, the description thereof is omitted here. When the situation determination unit 16 determines that the current situation is the normal situation (yes in step S24), the situation storage unit 18 stores the current situation data (normal situation data) (step S25). Then, the notification control unit 17 suppresses the notification (step S26).
On the other hand, when the situation determination unit 16 determines that the current situation is an unusual situation (abnormal situation) (no in step S24), the specific element extraction unit 19 performs the specific element extraction process (step S27). The specific element extracted here is sent to the notification control unit 17, and the notification control unit 17 performs notification based on the specific element (step S28).
Fig. 11 is a flowchart showing the specific element extraction process (step S27 in fig. 10) performed by the specific element extraction unit 19. Next, the specific element extraction process will be described. First, the specific element extraction unit 19 searches for normal situation data that is geographically close to the current abnormal situation data, among the normal situation data stored in the situation storage unit 18 (step ST 271). For example, if the current abnormal situation data is situation data when the vehicle enters a specific intersection, the situation storage unit 18 searches for normal situation data when the vehicle has entered the same specific intersection in the past. Next, the current abnormal situation data is compared with the past normal situation data retrieved in step S271, and the specific element is extracted based on the difference (step S272). Here, an obstacle, time, weather, driving operation, traffic conditions, and the like, which are different from the normal state, are extracted as specific elements. For example, when an obstacle exists at a position different from the normal state, the obstacle is extracted as the specific element. Alternatively, when the vehicle travels the same route during driving and work, if the vehicle leaves the work site at 19 o ' clock and leaves the work site at 21 o ' clock, 21 o ' clock which is "later than normal" is extracted as the specific element.
Then, the specific element extraction unit 19 transmits the specific element extracted in step S272 to the notification control unit 17 (step S273), and ends the specific element extraction process.
Fig. 12 is a flowchart showing the notification control section 17 performing the notification process based on the specific element (step S28 in fig. 10). The following describes the notification process performed by the notification control unit 17 based on the specific element. First, the notification control section 17 determines a notification unit (corresponding to the output device 3 of fig. 9) based on the specific element (step S281). Next, the notification content corresponding to the notification means is determined (step S282). Then, the notification is performed by the notification means determined in step S281 and the notification content determined in step S282 (step S283), and the process ends. Examples of the notification means and the notification content include popping up a notification screen on a vehicle-mounted display, outputting a notification voice from a vehicle-mounted speaker, vibrating a steering wheel, a brake pedal, or an accelerator pedal, and the like. In addition, when a plurality of output devices 3 are present, they may be used in combination. Note that pop-up contents, notification voices, and vibration methods may be different depending on the notification contents.
< B-3. modified example >
Although the notification control device 102 has been described as the in-vehicle device, the notification control device 102 may be configured by mounting all of the components thereof in a vehicle, or by combining a mobile terminal such as a smartphone or PDA, a server, or the like instead of the in-vehicle device. Fig. 13 is a block diagram showing the configuration of the notification control apparatus 102 in which the in-vehicle apparatus and the server are combined. In fig. 13, the status acquisition unit 11, the notification request acquisition unit 15, and the notification control unit 17 of the notification control device 102 are configured by an in-vehicle device, and the status determination unit 16, the status storage unit 18, and the specific element extraction unit 19 are configured by a server. Accordingly, the respective configurations of the notification control apparatus 102 can be appropriately shared by the in-vehicle apparatus, the mobile terminal, the server, and the like.
< B-4. Effect >
The notification control apparatus 102 according to embodiment 2 includes, in addition to the configuration of the notification control apparatus 101 according to embodiment 1: a status storage unit 18, the status storage unit 18 storing normal status data; and a specific element extraction unit 19 that, when the current situation data is abnormal situation data, compares the abnormal situation data with the past normal situation data stored in the situation storage unit, and extracts a difference between the abnormal situation data and the past normal situation data as a specific element. Then, when the specific element is extracted by the specific element extraction unit 19 when the vehicle is in the autonomous driving state in which the notification should be suppressed, the notification control unit 17 determines the notification means or the notification content corresponding to the specific element. Therefore, appropriate notification corresponding to the specific element can be performed.
Further, when the vehicle is in an autonomous driving state in which notification should be suppressed, the notification control unit 17 suppresses execution of the notification request when the specific element extraction unit 19 does not extract the specific element. Therefore, the notification request is executed only when the specific element is extracted, and therefore, the annoyance to the driver due to frequent execution of the notification request can be reduced.
< C. embodiment 3>
< C-1. Structure >
Fig. 14 is a block diagram showing the configuration of the notification control apparatus 103 and its peripheral apparatuses. The notification control device 103 includes the configuration of the notification control device 102 according to embodiment 2, and the situation acquisition unit 11 further includes a surrounding vehicle state acquisition unit 20. The surrounding vehicle state acquisition unit 20 acquires the surrounding vehicle state as the situation data from the surrounding vehicle network 4 using inter-vehicle communication, an information server, or the like. The surrounding vehicle state refers to a driving state related to automatic driving of the surrounding vehicle. The other configuration is the same as that of the notification control apparatus 102 according to embodiment 2, and therefore, the description thereof is omitted.
< C-2. act >)
Fig. 15 is a diagram for explaining an outline of the operation of the notification control apparatus 103 according to embodiment 3. Fig. 15 shows a case where three vehicles, i.e., surrounding vehicles, are traveling in front of the vehicle. The notification control device 103 acquires the automatic driving states of the three surrounding vehicles. It is assumed that the result is that one surrounding vehicle is driven manually. Considering that a manually driven vehicle is mostly different in behavior from an automatically driven vehicle, it is considered that in a case where the manually driven vehicle runs around, it is necessary to pay more attention to the surrounding situation. Therefore, the notification control device 103 resumes the notification even when the vehicle is in the autonomous driving state in which the notification should be suppressed. That is, the notification control device 103 includes the automatic driving state of the surrounding vehicle in the situation data for determining whether the situation is normal.
The overall operation of the notification control apparatus 103 is the same as that of the notification control apparatus 102 shown in fig. 10. However, the acquisition process of the situation data in step S22 in fig. 10 includes a surrounding vehicle state acquisition process performed by the surrounding vehicle state acquisition unit 20.
Fig. 16 is a flowchart showing the surrounding vehicle state acquisition process performed by the surrounding vehicle state acquisition unit 20. The following describes the surrounding vehicle state acquisition process with reference to fig. 16. First, the surrounding vehicle state acquisition unit 20 determines whether or not there is an unregistered vehicle around the vehicle (step S31). In the case where there is no unregistered vehicle, the processing is ended. If there is an unregistered vehicle, it is determined whether communication with the unregistered vehicle is possible (step S32), and if communication is not possible, the autonomous driving state of the unregistered vehicle is generated as unknown (step S34). If communication with the unregistered vehicle is possible, the automatic driving state is acquired from the unregistered vehicle (step S33).
Next, the automatic driving state generated in step S34 or acquired in step S33 is transmitted to the situation determination unit 16 (step S35).
The condition determining unit 16 defines "the surrounding vehicle does not include a manually driven vehicle or a vehicle whose automatic driving state is unknown" as a condition of a normal condition. Therefore, if the automatic driving state of the surrounding vehicle acquired from the surrounding vehicle state acquisition unit 20 is "manual" or "unknown", it is determined that the current situation is an abnormal situation, and the situation data at that time is determined as abnormal situation data.
As in embodiment 2, the specific element extraction unit 19 compares the abnormal situation data with the past normal situation data stored in the situation storage unit 18, and extracts the specific element from the difference. In the example of fig. 15, "there is a manually driven vehicle in the surrounding vehicles" is extracted as the specific element.
The other operations of the notification control apparatus 103 are the same as those of the notification control apparatus 102 according to embodiment 2, and therefore, the description thereof is omitted.
< C-3. Effect >
In the notification control device 103 according to embodiment 3, the situation data acquired by the situation acquisition unit 11 includes information on the driving state related to the automated driving of the vehicle traveling around the vehicle. Therefore, the suppressed notification can be resumed when the autonomous driving state of the surrounding vehicle is different from the normal state.
< D. embodiment 4 >
< D-1. Structure >
Fig. 17 is a block diagram showing the configuration of the notification control device 104 and its peripheral devices. The notification control device 104 includes the configuration of the notification control device 102 according to embodiment 2, and the situation acquisition unit 11 further includes a driver state acquisition unit 21. The driver state acquisition unit 21 acquires the physical condition, cognitive condition, operation condition, and the like of the vehicle driver as the driver state. The other configuration is the same as that of the notification control apparatus 102 according to embodiment 2, and therefore, the description thereof is omitted.
< D-2. act >
Fig. 18 is a diagram for explaining an outline of the operation of the notification control device 104 according to embodiment 4. Fig. 18 shows the line of sight of the driver of a vehicle stopped in front of the train turnout. In this state, the driver will normally confirm the crossing gate, the left and right, and the mirror. When the driver does not confirm the mirror, it is determined that the state of the driver is not the normal state, and the notification control device 104 resumes the notification even when the vehicle is in the automatic driving state in which the notification should be suppressed. That is, the state of the driver is included in the situation data for determining whether the situation is normal or not in the notification control device 104.
The overall operation of the notification control apparatus 104 is the same as that of the notification control apparatus 102 shown in fig. 10. However, the condition data acquisition process in step S22 in fig. 10 includes a driver state acquisition process performed by the driver state acquisition unit 21.
Fig. 19 is a flowchart showing a driver state acquisition process performed by the driver state acquisition unit 21. First, the driver state acquisition portion 21 acquires sensed data from the driver sensor 5 (step S41). For example, information related to the line of sight, expression, or the like of the driver, the use status of the device such as a smartphone, or the like can be acquired from a captured image of a camera or an infrared camera that captures the driver. Further, it is possible to acquire information on whether or not the driver has gripped the steering wheel from the electrode mounted on the steering wheel, and it is also possible to acquire biological information such as the heartbeat of the driver when the driver has gripped the steering wheel. In addition, the conversation in the vehicle can be acquired by using the microphone.
Next, the driver state acquisition unit 21 generates the driver state from the acquired sensed data (step S42). For example, it is possible to determine whether or not there is a driver's cognitive status such as a dozing state or an inattention from the line of sight or the expression of the driver, determine the operating status of the driver from the grasping status of the steering wheel, and determine that the device is operating from the usage status of the device. Further, the physical condition of the driver, such as drinking, can be determined from the biological information. Thus, the driver state also includes at least any one or more of the physical condition, cognitive condition, or operational condition of the driver.
Next, the generated driver state is sent to the situation determination unit 16 (step S43).
As in embodiment 2, the situation determination unit 16 acquires situation data from the situation acquisition unit 11 and determines whether or not the current situation is a normal situation. In particular, in embodiment 3, since the condition data includes the driver's state from the driver state acquisition unit 21, the condition determination unit 16 has definition data of a normal state relating to the driver's state. In the case of the example of fig. 18, the situation determination unit 16 acquires information such as "crossing gate confirmed", "left and right confirmed", and "mirror not confirmed" as the driver state at the railroad crossing. Since the situation determination unit 16 has "confirm crossing gate", "confirm left and right", and "confirm mirror" as the normal state, it determines that the driver does not confirm the mirror that is normally confirmed, and determines that the current situation is not the normal situation. In another example, when the number of heartbeats or the like of the driver is greatly different from a normal value, it is determined that the current situation is not the normal situation.
As in embodiment 2, the specific element extraction unit 19 compares the abnormal situation data with the past normal situation data stored in the situation storage unit 18, and extracts the specific element from the difference. In the example of fig. 18, "unconfirmed mirror" is extracted as a specific element.
The other operations of the notification control apparatus 103 are the same as those of the notification control apparatus 102 according to embodiment 2, and therefore, the description thereof is omitted.
< D-3. Effect >
In the notification control device 104 according to embodiment 4, the situation data acquired by the situation acquisition unit 11 includes data relating to at least one or more of the physical situation, cognitive situation, and operation situation of the driver of the vehicle. Therefore, when the driver state is different from the normal state, the suppressed notification can be resumed.
< E. embodiment 5 >
In embodiments 1 to 4, when the vehicle is in an autonomous driving state in which notification should be suppressed, if the current situation is not a normal situation, the notification request is permitted. In the case of embodiment 5, in addition to the above, the notification request is also permitted when it is predicted that the vehicle is switched to the manual driving.
< E-1. Structure >
Fig. 20 is a block diagram showing the configuration of the notification control apparatus 105 and its peripheral apparatuses. The notification control device 105 includes, in addition to the configuration of the notification control device 102 according to embodiment 2, a switching prediction unit 22, and the switching prediction unit 22 predicts that the vehicle is switched from the automatic driving to the manual driving. The configuration of the notification control apparatus 105 other than the switching prediction unit 22 is the same as that of the notification control apparatus 102.
< E-2. action >
Fig. 21 is a diagram for explaining an outline of the operation of the notification control apparatus 105 according to embodiment 5. As shown in fig. 21, in the case where there is a possibility that the vehicle returns to manual driving from an automatic driving state in which notification should be suppressed due to heavy fog, the notification control device 105 resumes the suppressed notification.
Fig. 22 is a flowchart showing a manual driving switching prediction process of the switching prediction unit 22. The following describes the manual driving switching prediction processing with reference to fig. 22. The switching prediction unit 22 acquires the current situation data from the situation acquisition unit 11 and acquires the past situation data from the situation storage unit 18 (step S51). Then, future condition data is predicted from the condition data (step S52). Linear prediction, mechanical learning, or the like can be used in the prediction method. When the future situation data indicates a switch to manual driving (yes in step S53), the notification control unit 17 is notified that there is a possibility of switching to manual driving (step S54), and the process ends. On the other hand, if the future situation data is not switched to manual driving, the process is terminated as it is.
When receiving a notification of a possibility of switching to manual driving from the switching prediction unit 22, the notification control unit 17 permits execution of the notification request regardless of whether or not the current situation is a normal situation.
< E-3. modified example >
In the above description, the switching to the manual driving is predicted by the notification control device 105 itself by the switching prediction unit 22. However, the notification control device 105 itself may receive a notification indicating that the switching to the manual driving is predicted from the driving assistance system 2 without performing the prediction. That is, the notification control unit 17 allows the notification request to be executed when receiving a notification from the driving assistance system 2 indicating that the driving state of the vehicle is predicted to be switched to the manual driving.
< E-4. Effect >
In the notification control device 105 according to embodiment 5, the notification control unit 17 allows the notification request to be executed when it is predicted that the driving state of the vehicle is switched from the automatic driving state in which the notification should be suppressed to the manual driving state. Therefore, the driver can receive the notification and pay attention to the surrounding situation before the vehicle is switched to manual driving, and thus can smoothly switch from automatic driving to manual driving.
The notification control device 105 includes, in addition to the configuration of the notification control device 102 according to embodiment 2, a switching prediction unit 22 (situation prediction unit) that predicts future situation data from past situation data and current situation data by the switching prediction unit 22. Then, the notification control portion 17 allows the notification request to be executed in a case where it is predicted from the future condition data that the driving state of the vehicle is switched from the automatic driving state in which the notification should be suppressed to the manual driving. Therefore, the driver can receive the notification and pay attention to the surrounding situation before the vehicle is switched to manual driving, and thus can smoothly switch from automatic driving to manual driving.
< F. embodiment 6 >
< F-1. Structure >
Fig. 23 is a block diagram showing the configuration of notification control device 106 and its peripheral devices according to embodiment 6. The notification control apparatus 106 includes the forced notification determination unit 23 in addition to the configuration of the notification control apparatus 102 according to embodiment 2. The forced notification determination unit 23 forcibly allows the notification request under a specific condition, which is artificial or not.
< F-2. act >)
In embodiments 1 to 4, when the vehicle is in an autonomous driving state in which notification should be suppressed, the notification request is permitted in a case where the current situation is not a normal situation, such as a bicycle that is not normally present being disposed near the guide route as shown in fig. 3. Fig. 24 shows a normal state without a bicycle, unlike fig. 3. In embodiment 6, in the above case, the notification request is forcibly permitted even under a specific condition, which is artificial or not. This makes it possible to prevent the driver from being overly confident in the automated driving and to urge the driver to pay attention to the surrounding situation, because the notification is performed regardless of whether the current situation is the normal situation or not.
Fig. 25 is a flowchart showing the forced notification determination process performed by the forced notification determination unit 23. Next, the forced notification determination process performed by the forced notification determination unit 23 will be described. The forced notification determination unit 23 determines whether or not to forcibly perform the notification (step S61). The conditions for compulsorily notifying may be, for example, random distribution at regular intervals, according to a specific distribution such as uniform distribution or exponential distribution, or specific date, week, season, or the like. When the above condition is not satisfied, the forced notification determination unit 23 determines that the forced notification is not to be performed, and ends the process as it is. On the other hand, when the condition for compulsory notification is satisfied, the compulsory notification judgment unit 23 judges that the notification is compulsory, notifies the notification control unit 17 of the fact (step S62), transmits the judgment result to the status storage unit 18 (step S63), and ends the process.
When receiving a notification indicating that a forced notification is to be performed from the forced notification determination unit 23, the notification control unit 17 permits execution of the notification request regardless of whether or not the current status is a normal status.
< F-3. Effect >
In the notification control device 106 according to embodiment 6, when the vehicle is in an autonomous driving state in which notification should be suppressed, the notification control unit 17 allows the notification request to be executed regardless of whether the condition data is abnormal condition data or normal condition data when a specific condition, artificial or non-artificial, is satisfied. Therefore, the driver can be prevented from excessively relying on the automated driving and urged to pay attention to the surrounding situation because the notification is performed regardless of whether the current situation is the normal situation or not.
In addition, the present invention may be freely combined with each embodiment within the scope of the invention, or may be appropriately modified or omitted from each embodiment.
The present invention has been described in detail, but in the above description, all the embodiments are examples, and the present invention is not limited thereto. It is to be understood that numerous variations not illustrated are possible without departing from the scope of the invention.
Description of the reference symbols
The vehicle-mounted sensor system comprises an in-vehicle sensor 1, a driving assistance system 2, an output device 3, a vehicle network around 4, a driver sensor 5, a situation acquisition unit 11, a surrounding environment acquisition unit 12, an assistance situation acquisition unit 13, a running situation acquisition unit 14, a notification request acquisition unit 15, a situation determination unit 16, a notification control unit 17, a situation storage unit 18, a specific element extraction unit 19, a surrounding vehicle situation acquisition unit 20, a driver state acquisition unit 21, a switching prediction unit 22, a forced notification determination unit 23, a CPU31, a memory 32, a reception unit 33, and a notification control device 101, 102, 103, 104, 105, and 106.
Claims (7)
1. A notification control apparatus, comprising:
a situation acquisition unit that acquires situation data including at least data relating to one or more of a surrounding environment of the vehicle, an assistance status of a driving assistance system, and a traveling status of the vehicle, based on measurement data of a sensor mounted on the vehicle, the vehicle being capable of automatic driving with assistance of the driving assistance system;
a situation determination unit that determines whether the situation data is normal situation data that satisfies a predetermined condition or abnormal situation data that does not satisfy the predetermined condition;
a status storage unit that stores the normal status data;
a specific element extraction unit that, when the current situation data is the abnormal situation data, compares the abnormal situation data with the past normal situation data stored in the situation storage unit, and extracts a difference between the two as a specific element; and
a notification control section that, when the vehicle is in an autonomous driving state in which notification should be suppressed, permits execution of a notification request from the driving assistance system when the condition data is the abnormal condition data, and suppresses execution of the notification request when the condition data is the normal condition data,
the notification control unit specifies a notification means or notification content corresponding to the specific element when the specific element extraction unit extracts the specific element when the vehicle is in an autonomous driving state in which notification should be suppressed, and suppresses execution of the notification request when the specific element extraction unit does not extract the specific element.
2. The notification control device according to claim 1,
the condition data contains information on a driving state related to automatic driving of a vehicle that travels around the vehicle.
3. The notification control device according to claim 1,
the condition data includes data relating to at least any one or more of a physical condition, a cognitive condition, or an operational condition of a driver of the vehicle.
4. The notification control device according to claim 1,
the notification control portion permits execution of the notification request in a case where it is predicted that the driving state of the vehicle is switched from an automatic driving state in which notification should be suppressed to manual driving.
5. The notification control device according to claim 4,
further comprising a situation prediction unit for predicting future situation data from the past situation data and the current situation data,
the notification control portion permits execution of the notification request in a case where it is predicted from the future condition data that the driving state of the vehicle is switched from an automatic driving state in which notification should be suppressed to manual driving.
6. The notification control device according to claim 1,
the notification control unit permits the notification request to be executed regardless of whether the condition data is the abnormal condition data or the normal condition data, when a specific condition, artificial or not, is satisfied in a case where the vehicle is in an automatic driving state in which the notification should be suppressed.
7. A notification control method characterized by comprising, in a notification control unit,
acquiring situation data including data on a surrounding situation of a vehicle capable of automatic driving with assistance of a driving assistance system based on measurement data of a sensor mounted on the vehicle,
determining whether the status data is normal status data satisfying a predetermined condition or abnormal status data not satisfying the predetermined condition,
the general-condition data is stored in a memory,
when the current situation data is the abnormal situation data, the abnormal situation data is compared with the past normal situation data stored in the situation storage unit, and a difference between the two is extracted as a specific element,
allowing execution of a notification request from the driving assistance system in a case where the condition data is the abnormal condition data while the vehicle is in an autonomous driving state in which notification should be suppressed, and suppressing execution of the notification request in a case where the condition data is the normal condition data,
when the vehicle is in an autonomous driving state in which notification is to be suppressed, the specific element extraction unit determines a notification means or notification content corresponding to the specific element when the specific element is extracted, and suppresses execution of the notification request when the specific element is not extracted.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/JP2015/080684 WO2017072942A1 (en) | 2015-10-30 | 2015-10-30 | Notification control device and notification control method |
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| CN108140320A CN108140320A (en) | 2018-06-08 |
| CN108140320B true CN108140320B (en) | 2021-11-05 |
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| CN (1) | CN108140320B (en) |
| WO (1) | WO2017072942A1 (en) |
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| JP6624158B2 (en) * | 2017-05-22 | 2019-12-25 | 株式会社デンソー | Electronic control unit |
| JP2019091254A (en) * | 2017-11-15 | 2019-06-13 | オムロン株式会社 | Alarm control device, alarm control method, and program for alarm control |
| WO2019167231A1 (en) * | 2018-03-01 | 2019-09-06 | 本田技研工業株式会社 | Travel control device, travel control method, and program |
| JP6969451B2 (en) * | 2018-03-08 | 2021-11-24 | 株式会社オートネットワーク技術研究所 | In-vehicle control device, control program and device control method |
| CN111415520A (en) * | 2018-12-18 | 2020-07-14 | 北京航迹科技有限公司 | System and method for processing traffic target |
| JP7151495B2 (en) * | 2019-01-16 | 2022-10-12 | トヨタ自動車株式会社 | Autonomous driving system |
| JP7147627B2 (en) * | 2019-02-25 | 2022-10-05 | 株式会社Ｊｖｃケンウッド | Driving support device, driving support system, driving support method and program |
| KR20200128474A (en) * | 2019-04-24 | 2020-11-13 | 현대자동차주식회사 | Apparatus and method for notifying manual drive changing of vehicle and vehicle including the same |
| JP7138133B2 (en) * | 2020-03-16 | 2022-09-15 | 本田技研工業株式会社 | VEHICLE CONTROL DEVICE, VEHICLE, OPERATING METHOD AND PROGRAM OF VEHICLE CONTROL DEVICE |
| JP7264121B2 (en) * | 2020-07-01 | 2023-04-25 | トヨタ自動車株式会社 | Vehicle display/audio output control system |
| JP2022139446A (en) * | 2021-03-12 | 2022-09-26 | ソニーグループ株式会社 | Information processor, information processing method, and program |
| JP2024529540A (en) | 2021-08-04 | 2024-08-06 | ジェネトン | Hybrid promoters for gene expression in muscle and the CNS |
| CN113815637A (en) * | 2021-08-28 | 2021-12-21 | 济南臻真技术研究所 | Method, apparatus and storage medium for scheduling notification based on driving assistance function |
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| JP6494782B2 (en) | 2019-04-03 |
| WO2017072942A1 (en) | 2017-05-04 |
| CN108140320A (en) | 2018-06-08 |
| JPWO2017072942A1 (en) | 2018-04-05 |
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