JP2015185088A - Information presentation device and information presentation method - Google Patents

Abstract

It is confirmed that a driver can take over from automatic operation control to manual operation control.
An information presentation apparatus according to the present invention is used in an automatic traveling vehicle capable of switching between automatic driving control and manual driving control, and is in a state in which a driver can take over from automatic driving control to manual driving control. The visual act determining unit 7 that determines the visual act by the driver to confirm that the visual act is confirmed, the visual act control unit 9 that performs control for causing the driver to execute the determined visual act, and executed by the driver And a driver analysis unit 3 that detects the visually recognized action.
[Selection] Figure 1

Description

  The present invention relates to an information presentation apparatus and method used for an automatic traveling vehicle capable of switching between automatic driving control for automatically controlling traveling of the vehicle and manual driving control by a driver.

  In recent years, an automatic traveling vehicle has been developed that automatically performs vehicle traveling control by an automatic driving system. In such an automatic traveling vehicle, a driver's consciousness is tested to determine a consciousness level during automatic driving control. Conventionally, as a method for determining a driver's consciousness level in a vehicle capable of automatic traveling control, Patent Literature 1 is disclosed.

  In the driver awareness level determination method disclosed in Patent Document 1, a test item is given to the driver when a predetermined driving time has elapsed, and the response is evaluated to determine the driver awareness level.

  Here, since the driver of the autonomous vehicle leaves the operation to the automatic driving system at the time of automatic driving control, it lacks the recognition of the surrounding environment and the grasp of the state of the own vehicle that were taken for granted at the time of manual driving. There is a high possibility. However, despite the fact that the driver is in this state, the automatic driving vehicle may switch from automatic driving control to manual driving control, so the driver can take over driving at any time instead of the automatic driving system. It is requested.

JP-A-11-185200

  However, since the conventional driver awareness level determination method described above only determines whether or not the driver is aware, it is confirmed whether the driver can take over from automatic driving control to manual driving control. There was a problem that it was not possible.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and provides an information presentation apparatus and method for confirming that the driver can take over from automatic driving control to manual driving control. The purpose is to provide.

  In order to solve the above-described problem, an information presentation apparatus according to an aspect of the present invention is used for an automatic traveling vehicle capable of switching between automatic driving control and manual driving control. This information presentation device determines a visual act by the driver for confirming that the driver can take over from the automatic operation control to the manual operation control, and causes the driver to execute the determined visual act. The visual act performed by the driver is detected.

  According to the present invention, since it is possible to confirm that the driver can take over from the automatic driving control to the manual driving control, even if the automatic driving vehicle is switched from the automatic driving control to the manual driving control, the driving continues safely. can do.

FIG. 1 is a block diagram showing a configuration of an information presentation apparatus according to an embodiment of the present invention. FIG. 2 is a flowchart illustrating a processing procedure of a visual recognition action control loop by the information presentation device according to the embodiment of the present invention. FIG. 3 is a flowchart showing the processing procedure of the visual action execution determination process by the information presenting apparatus according to the embodiment of the present invention. FIG. 4 is a flowchart showing a processing procedure of an automatic driving control loop by the information presenting apparatus according to the embodiment of the present invention.

  Hereinafter, an embodiment to which the present invention is applied will be described with reference to the drawings.

[Configuration of information presentation device]
FIG. 1 is a block diagram showing the configuration of the information presentation apparatus according to the present embodiment. As shown in FIG. 1, the information presentation device 1 according to the present embodiment includes a driver analysis unit 3, a driver reaction recording unit 5, a visual act determination unit 7, a visual act control unit 9, and a task input unit. 11, a display image generation unit 13, an alarm control unit 15, and a sound generation unit 17. Furthermore, the information presenting apparatus 1 includes an ambient environment recognition unit 21, an itinerary control unit 23, a host vehicle behavior generation unit 25, a host vehicle behavior determination unit 27, a vehicle behavior control unit 29, and a visual behavior measurement unit 31. It has.

  The information presentation apparatus 1 according to the present embodiment is mounted on an automatic traveling vehicle (hereinafter referred to as a vehicle) that can switch between automatic driving control that automatically performs driving control of the vehicle and manual driving control by a driver. In addition, an automatic driving system is mounted on the vehicle, and the automatic driving system automatically performs driving control of the vehicle based on the driving state of the vehicle and the external environment. Then, the automatic driving system switches from automatic driving control to manual driving control at a predetermined timing or as necessary.

  The driver analysis unit 3 detects the driver's state and operation from each device mounted on the vehicle and acquires information such as the operation status of the vehicle so that the driver is in what state and in what state. Analyzes whether the operation or driving operation has been performed. In particular, in this embodiment, the information measured by the visual behavior measuring unit 31 is acquired, the visual behavior of the driver is analyzed, and the visual recognition performed by the driver is detected.

  The driver analysis unit 3 can also analyze the driver's biological signal to estimate the driver's arousal level, fatigue level, driving accuracy, driving stability, and the like. The driver analysis unit 3 acquires brain wave α wave, θ wave, heart rate, frequency analysis of heart rate waveform, respiratory rate, eye movement frequency, closed eye time, head posture, salivary cortisol and amylase as physiological information. Further, the driver analysis unit 3 acquires vehicle lateral position fluctuation amount as vehicle information, steering pattern, frequency analysis of steering waveform, etc. as behavior information, and based on these information, the arousal level, fatigue level, driving accuracy, Estimate driving stability.

  The driver reaction recording unit 5 records the reaction performed by the driver such as the state of the driver, the operation performed by the driver, and the driving operation. Specifically, the driver reaction recording unit 5 records information such as a result analyzed by the driver analysis unit 3, a task input from the task input unit 11, and whether or not a visual recognition action is performed.

  The visual recognition action determination unit 7 determines the visual action by the driver for confirming that the driver of the vehicle can take over from the automatic driving control to the manual driving control. Here, the visual recognition action of this embodiment is for confirming that the process of recognition performed by the driver during manual driving can be executed. Normally, when a driver performs manual driving, he / she “recognizes” the situation around the vehicle, “determines” what operation should be performed, and “operates” the vehicle based on that determination. The process is executed. Therefore, in this embodiment, a visual recognition action for confirming that the driver can execute a recognition process among these processes is set, and the driver performs the visual recognition action so that the driver can drive automatically. Check that it is possible to take over from control to manual operation control.

  Specifically, the visual recognition action determination unit 7 acquires a plurality of candidates for the vehicle behavior generated by the vehicle behavior generation unit 25, and also allows safe driving area information and obstacles in the surrounding environment from the vehicle behavior generation unit 25. Get placement information. Based on these pieces of information, the visual recognition action determination unit 7 determines whether the visual behavior of the driver is in a state where it can be taken over from automatic driving control to manual driving control. Determine the action. For example, the visual recognition action determination unit 7 identifies the position of the obstacle in front of the vehicle from the obstacle arrangement information, and confirms that the driver recognizes the obstacle in order to turn his gaze forward. Determine as. In addition to this, in order to confirm that the driver recognizes the external environment such as an on-vehicle display device such as a display meter and a signal, the visual recognition determination unit 7 is a part of the display contents such as the on-vehicle display device and the signal. In regard to, it may be determined to call the driver attention as a visual act.

  The visual act control unit 9 performs control for causing the driver to execute the visual act determined by the visual act determining unit 7. Specifically, the visual recognition action control unit 9 determines the timing for requesting the driver to execute the visual recognition action, determines whether the driver has executed the visual recognition action, and sets an approval flag.

  The task input unit 11 acquires a candidate for own vehicle behavior generated by the own vehicle behavior generation unit 25 and displays the candidate for own vehicle behavior on the display device 33 as a task. The driver can operate the vehicle by selecting and inputting from the displayed tasks. Here, the task is the minimum unit of driving operations such as straight ahead, right / left turn, left / right lane change, stop, start, acceleration, deceleration, etc., and the display screen provided to the driver shows straight forward or right / left turn A pictogram representing the task is displayed. When displaying the task, the task input unit 11 displays the task selected by the automatic driving system, the task that can be selected by the driver, or the task that cannot be selected by the driver. Therefore, the driver can change the task by selecting a task that the automatic driving system has not selected from the selectable tasks. Although the final vehicle behavior is determined by the own vehicle behavior determining unit 27, the task input from the task input unit 11 is preferentially determined as the own vehicle behavior.

  The display image generation unit 13 is connected to the display device 33 and generates a display image to be presented to the driver when the driver is requested to perform a visual act or when a task is displayed. Output to. The display device 33 is configured by a liquid crystal display or the like, and is disposed, for example, at a position with an angle of 10 degrees and a viewing distance of 90 cm below the front of the driver.

  The alarm control unit 15 is connected to the alarm sound generation unit 35. When the alarm control unit 15 acquires information from the visual action control unit 9 and determines that an alarm is necessary, the alarm control unit 15 sets an appropriate alarm sound and generates the alarm sound generation unit 35. To output a signal. The alarm control unit 15 also outputs a signal to the display image generation unit 13 so that an alarm image is displayed on the display device 33 when an alarm is required. Similarly, the alarm control unit 15 outputs a signal to the sound generation unit 17 so that an alarm message is output from the speaker 37.

  The sound generation unit 17 is connected to the speaker 37, and generates an appropriate message and outputs it to the speaker 37 when requesting the driver to perform the visual recognition action.

  The ambient environment recognition unit 21 acquires information on the surrounding environment of the host vehicle from a sensor group 41 mounted on the host vehicle such as a camera, a radar, and a GPS, and acquires map data and current position information of the host vehicle from the database 43. To do. Based on these pieces of information, the surrounding environment recognition unit 21 recognizes the surrounding environment of the host vehicle and generates surrounding environment information.

  The itinerary control unit 23 acquires the map data stored in the database 43 and the current position information of the host vehicle, and manages the entire travel route from the current position of the host vehicle to the destination. The itinerary control unit 23 generates itinerary plan information in which a plan for the entire travel route of the host vehicle is recorded.

  The own vehicle behavior generation unit 25 acquires the surrounding environment information from the surrounding environment recognition unit 21 to recognize the surrounding environment of the host vehicle, acquires the itinerary plan information from the itinerary control unit 23, and grasps the travel route of the host vehicle. . And based on these information, the own vehicle behavior production | generation part 25 calculates | requires the safe driving | running | working possible area | region information and obstacle arrangement | positioning information of the own vehicle in the present time, and the some vehicle which can drive | work the own vehicle in a safe driving | running | working possible area | region. The candidate of the own vehicle behavior (running track and speed profile) is calculated.

  The own vehicle behavior determination unit 27 acquires the surrounding environment information from the surrounding environment recognition unit 21 to recognize the surrounding environment of the host vehicle, acquires the itinerary plan information from the itinerary control unit 23, and grasps the travel route of the host vehicle. . Based on the information, the host vehicle behavior determining unit 27 determines the host vehicle behavior from the host vehicle behavior candidates generated by the host vehicle behavior generating unit 25 and outputs the determined host vehicle behavior to the vehicle behavior control unit 29. . In addition, when a driver | operator performs a visual recognition action, the own vehicle behavior determination part 27 evaluates one by one whether the visual recognition action is effective in light of the present conditions of surrounding environment. Further, when a task is input from the task input unit 11 by the driver, the host vehicle behavior determination unit 27 preferentially determines the host vehicle behavior by giving priority to the input task.

  The vehicle behavior control unit 29 outputs a control signal to each actuator 45 mounted on the host vehicle in order to execute the host vehicle behavior determined by the host vehicle behavior determination unit 27. At this time, the vehicle behavior control unit 29 outputs the own vehicle behavior as a control result to the driver analysis unit 3.

  The visual behavior measuring unit 31 measures the driver's visual behavior (gazing, tracking, scanning, blinking, closed eyes, etc.) and outputs the driver's gaze direction information in order to detect the visual action by the driver. . In particular, the visual behavior measuring unit 31 measures the visual behavior of monitoring the surrounding environment of the host vehicle and the vehicle-mounted display among the visual behavior of the driver. For example, the visual behavior measurement unit 31 measures the driver's eye movement, head movement, upper body movement, and whole body movement, calculates the gaze direction and depression angle in the self-centered coordinate system, and outputs the calculated gaze direction and depression angle to the driver analysis unit 3. .

  The information presentation device 1 includes a general-purpose electronic circuit including a microcomputer, a microprocessor, and a CPU and peripheral devices, and operates as the above-described units by executing a specific program.

[Processing procedure of visual recognition control loop]
Next, the processing procedure of the visual recognition control loop by the information presentation apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG.

  As shown in FIG. 2, first, in step S <b> 101, the visual recognition action control unit 9 reads data necessary for processing of the visual recognition action control loop. Specifically, the visual recognition action control unit 9 reads the gaze direction information of the visual behavior measurement unit 31 from the driver analysis unit 3, reads the ambient environment information from the ambient environment recognition unit 21, and the itinerary plan information from the itinerary control unit 23. Read. Further, the visual recognition action control unit 9 also reads the driver reaction history recorded in the driver reaction recording unit 5.

  In step S102, the visual recognition action control unit 9 analyzes the visual recognition action requested by the driver and the driver's reaction history with respect to the visual recognition action based on the read data.

  In step S103, the visual recognition action control unit 9 determines whether or not the visual action non-execution count is equal to or greater than a reference value. However, the non-execution of the visual act includes a case where the driver does not respond to the visual act execution request or an inappropriate reaction. And the visual recognition action control part 9 progresses to step S104, when the frequency | count of non-execution of visual recognition is more than a reference value, and when the frequency | count of non-execution of visual recognition is less than a reference value, it progresses to step S105.

  In step S104, the visual recognition action control unit 9 sets the approval flag to “false” because the number of non-execution of the visual action is equal to or greater than the reference value. Thereby, the visual recognition action control unit 9 determines that the driver does not approve the automatic driving control, and controls the automatic driving control to be interrupted. In addition, the visual recognition action control unit 9 determines that the driver is not in a state in which the driver can take over from the automatic driving control to the manual driving control. Furthermore, the visual recognition action control unit 9 inputs to the host vehicle behavior determination unit 27 that the approval flag is set to “false”.

  Thus, when the approval flag is set to “false”, the information presentation apparatus 1 according to the present embodiment ends the visual recognition action control loop.

  On the other hand, in step S105, the visual recognition action determination unit 7 determines the visual recognition action requested from the driver. Specifically, the visual recognition action determination unit 7 acquires a plurality of candidates for own vehicle behavior from the own vehicle behavior generation unit 25, and acquires safe driving possible region information and obstacle arrangement information. Based on these pieces of information, the visual recognition action determination unit 7 determines whether the driver's visual behavior can be confirmed to be a state that can be taken over from automatic driving control to manual driving control. To determine the visual act. For example, the visual recognition action determination unit 7 specifies the position of the obstacle in front of the vehicle from the obstacle arrangement information, and determines that the driver turns his / her line of sight on the obstacle as the visual recognition action. Or the visual recognition action determination part 7 may determine that a driver | operator turns a line of sight to the driving | running | working track | truck of the own vehicle behavior which the automatic driving system selected. In addition to this, the visual recognition action determination unit 7 may determine that the driver directs his / her line of sight to a part of the external environment such as an in-vehicle display such as a display meter or a signal.

  Next, in step S <b> 106, the visual act control unit 9 determines the timing for requesting the driver to perform the visual act. Specifically, the visual recognition action control unit 9 acquires the analysis result of the driver's state and the line-of-sight direction information from the driver analysis unit 3, and the timing and progress of the previous visual recognition action executed from the driver reaction recording unit 5. Get time information. Moreover, the visual recognition action control part 9 acquires safe driving | running | working possible area | region information and obstacle arrangement | positioning information from the visual recognition action determination part 7, and acquires the information regarding driving control from the automatic driving system of the own vehicle. And based on such information, the visual recognition action control part 9 determines the timing which requests | requires a visual recognition action from a driver | operator.

  For example, the visual recognition action control unit 9 requests the driver to execute the visual recognition action every time a predetermined time elapses or every time the host vehicle performs a predetermined number of times of traveling control. Moreover, the visual recognition action control part 9 may set the timing which requests | requires a visual action from a driver | operator based on a driver | operator's state. For example, the visual recognition action control unit 9 requests the driver to execute the visual recognition action when detecting that the driver is not awake or detecting that the driver is not monitoring the front. In addition, if the driver's arousal level, driving accuracy, and driving stability are high, the time until the visual action is requested is set longer, and if the driver's arousal level, driving accuracy, and driving stability are low, the visual act is required. You may set short time until. Similarly, if the driver's fatigue level is high, the time until the visual action is requested is set short, and if the driver's fatigue level is low, the time is set long.

  Furthermore, the visual recognition action control unit 9 may set a timing for requesting the visual action from the driver based on the traveling state of the host vehicle and the external situation. For example, the timing for requesting the visual recognition action is set according to the speed of the host vehicle, the traffic jam condition, whether or not the vehicle is traveling on an expressway, and the like. However, when the driver performs manual driving control, the visual recognition action control unit 9 performs control so as to delay the timing of requesting the visual recognition action from the driver.

  In addition, when the timing at which takeover from automatic operation control to manual operation control is set in advance, the visual act control unit 9 sets an interval for requesting the driver to execute the visual act as the timing approaches. shorten. For example, when the automatic driving control is handed over to the manual driving control when getting off from the automobile exclusive road to the general road, the interval for requesting the driver to perform the visual recognition action is shortened as the timing of getting off the general road approaches.

  In step S107, the visual recognition action control unit 9 determines whether or not it is the timing for requesting the visual recognition action determined in step S106. It is determined whether it is a request timing. Then, when it is time to request a visual recognition action, the process proceeds to step S108.

  In step S108, the visual recognition action control unit 9 requests the driver to execute the visual recognition action. Specifically, the visual recognition action control unit 9 provides the driver with monitoring information that prompts the driver to monitor the surrounding environment of the host vehicle and the in-vehicle display, and requests the driver to execute the visual recognition action. For example, the visual recognition action control unit 9 instructs the display image generation unit 13 and the audio generation unit 17 to generate an audio message and a display image for requesting execution of the visual recognition action. As a result, a display image that prompts the user to monitor the surrounding environment is displayed on the display device 33, and a voice message is output from the speaker 37.

  However, the provided display image or voice message does not directly guide the driver's line of sight, but encourages the driver's line of sight to face obstacles or in-vehicle displays. For example, if there is an obstacle in front of the vehicle, the message “Is the vehicle in front of the vehicle safe?” Is output instead of directing the driver ’s line of sight with the message “There is an obstacle in front of the right”. To prompt the driver to monitor the front of the vehicle. Also, instead of outputting the message “Please check the speedometer” to direct the line of sight to the in-vehicle display, the driver monitors the in-vehicle display by outputting the message “Is the speed appropriate?” To encourage.

  At this time, the visual recognition action control unit 9 may cause the display device 33 to display a spatial frequency and temporal frequency pattern having no luminance edge as the monitoring information. For example, the visual act control unit 9 displays a pattern whose main component is a spatial frequency of 1 CPD (Cycle Per Degree) or less and a temporal frequency of 1 to 7 Hz on the display device 33. Accordingly, the driver can recognize the monitoring information through peripheral vision without directing his / her line of sight toward the display device 33.

  Further, the visual recognition control unit 9 may provide sensory stimulation to the driver in synchronization with the monitoring information. For example, a vibration stimulus may be given to the driver through steering or the like, or a sound effect may be provided. Thus, the driver can surely feel that the monitoring information is provided.

  In step S109, the visual recognition action control unit 9 evaluates the consistency between the measurement result of the visual behavior measurement unit 31, the traveling state of the host vehicle, and the external situation, and determines whether the driver has performed the visual recognition action. . The specific visual action execution determination process will be described later with reference to FIG. And when a driver | operator does not perform a visual recognition act, it progresses to step S110. In step S110, the visual recognition action control unit 9 inputs non-execution of the visual recognition action to the driver reaction recording unit 5 and returns to step S101.

  On the other hand, in step S109, when the driver performs a visual recognition action, the process proceeds to step S111. In step S111, the visual recognition action control unit 9 inputs execution of the visual recognition action to the driver reaction recording unit 5, and proceeds to step S112.

  In step S112, the visual recognition action control unit 9 sets the approval flag to “true”. Thereby, the visual recognition action control unit 9 determines that the driver has approved the automatic driving control, and performs control so as to continue the automatic driving control. The visual recognition action control unit 9 determines that the driver can take over from automatic driving control to manual driving control. Further, the visual recognition action control unit 9 inputs to the host vehicle behavior determination unit 27 that the approval flag is set to “true”.

  Thus, when the approval flag is set to “true”, the information presentation apparatus 1 according to the present embodiment ends the visual recognition action control loop.

[Procedure for visual recognition execution determination processing]
Next, the processing procedure of the visual action execution determination process executed in step S109 of the visual action control loop described above will be described with reference to the flowchart of FIG.

  As shown in FIG. 3, first, in step S <b> 201, the visual recognition action control unit 9 reads data necessary for visual recognition action execution determination processing. Specifically, the visual recognition action control unit 9 reads the ambient environment information from the ambient environment recognition unit 21, and reads data such as safe driving possible area information and obstacle arrangement information from the visual activity determination unit 7. Thereby, the visual recognition action control part 9 can recognize the road layout around the own vehicle, the presence or absence of an obstacle, the distance to the obstacle, and the like.

  In step S <b> 202, the visual recognition action control unit 9 reads gaze direction information data measured by the visual behavior measurement unit 31 from the driver analysis unit 3. Thereby, the visual recognition action control part 9 can recognize the azimuth | direction and depression angle of a driver | operator's gaze stop point in the own vehicle center coordinate system.

  In step S203, the visual activity control unit 9 compares the measurement result of the visual behavior measurement unit 31 with the traveling state and the external situation of the host vehicle, and whether the driver's visual behavior is consistent with the surrounding environment of the host vehicle. Determine whether or not. For example, the visual recognition action control unit 9 compares the presence / absence of an obstacle in each direction centered on the host vehicle and the line-of-sight stop point (direction) in the host vehicle central coordinate system.

  And the visual recognition action control part 9 progresses to step S204, when a driver | operator's visual action is consistent with the surrounding environment of the own vehicle. In step S204, the visual recognition action control unit 9 outputs the execution of the visual recognition action and determines that the driver can take over from the automatic driving control to the manual driving control.

  On the other hand, if the driver's visual behavior is not consistent with the surrounding environment of the host vehicle in step S203, the process proceeds to step S205. In step S <b> 205, the visual recognition action control unit 9 outputs a non-execution of visual recognition action and determines that the driver is not in a state where it can take over from automatic driving control to manual driving control.

  When the execution or non-execution of the visual action is thus output, the visual action execution determination process is terminated and the process returns to step S109 of the visual action control loop.

[Processing procedure of automatic operation control loop]
Next, the processing procedure of the automatic driving control loop by the information presentation apparatus 1 according to the present embodiment will be described with reference to the flowchart of FIG.

  As shown in FIG. 4, first, in step S <b> 301, the own vehicle behavior generation unit 25 reads the surrounding environment information from the surrounding environment recognition unit 21 and reads the itinerary plan information from the itinerary control unit 23.

  In step S302, the vehicle behavior generation unit 25 generates a vehicle behavior candidate according to the system logic of a normal automatic driving system. A plurality of candidates for the own vehicle behavior are generated and include information on the traveling track and speed profile of the own vehicle.

  Here, the system logic of the automatic driving system is a logic for determining the own vehicle behavior in consideration of driving efficiency and safety. For example, the vehicle behavior is determined with priority on the shortest route to the destination, or the vehicle behavior is determined with priority over time over the distance in a traffic jam section. On the route, although necessary lane changes are made, priority is given to safety so that unnecessary lane changes are not made.

  In accordance with such a system logic, the host vehicle behavior generation unit 25 generates a plurality of traveling tracks such as a right turn, a left turn, and a straight travel, and speed profiles at that time as candidates for the host vehicle behavior.

  In step S <b> 303, the host vehicle behavior determination unit 27 determines whether the approval flag is “true” based on the input from the visual recognition action control unit 9. If the approval flag is “true”, the host vehicle behavior determination unit 27 determines that the continuation of automatic driving is approved, and proceeds to step S304. If the approval flag is not “true” The process returns to step S301.

  In step S304, the host vehicle behavior determination unit 27 determines whether or not there is a task input from the driver via the task input unit 11. If there is no task input, the process proceeds to step S305, where the task input is performed. If there is, the process proceeds to step S306.

  In step S305, the host vehicle behavior determination unit 27 determines the host vehicle behavior according to the system logic of the automatic driving system because there is no task input from the driver. Since the vehicle behavior generation unit 25 generates a plurality of candidates for the vehicle behavior, the vehicle behavior determination unit 27 determines the vehicle behavior according to the system logic from these candidates.

  For example, in the system logic of the automatic driving system, the own vehicle behavior is determined in consideration of driving efficiency and safety. Therefore, when there is no traffic jam, the own vehicle behavior is determined by giving priority to the shortest route to the destination. On the other hand, when there is a traffic jam, the vehicle behavior is determined by giving priority to time over distance.

  In this way, the own vehicle behavior determining unit 27 determines the traveling trajectory such as right turn, left turn, straight traveling, and the speed profile at that time as the own vehicle behavior, and proceeds to step S307.

  On the other hand, in step S <b> 306, the host vehicle behavior determination unit 27 determines the task input from the driver via the task input unit 11 as the host vehicle behavior. Then, the host vehicle behavior determining unit 27 records in the driver reaction recording unit 5 that the task input from the driver has been determined as the host vehicle behavior, and proceeds to step S307.

  In step S307, the vehicle behavior control unit 29 executes the host vehicle behavior determined in step S305 or step S306. That is, the vehicle behavior control unit 29 executes either the own vehicle behavior determined according to the system logic in step S305 or the input task from the driver determined in step S306. At this time, the vehicle behavior control unit 29 outputs a control signal necessary for executing the own vehicle behavior to the actuator 45 to execute the own vehicle behavior. Further, the vehicle behavior control unit 29 inputs the executed own vehicle behavior to the driver analysis unit 3.

  When the vehicle behavior is thus executed, the information presentation device 1 according to the present embodiment ends the automatic driving control loop.

[Effect of the embodiment]
As described above in detail, in the information presentation device 1 according to the present embodiment, the driver performs a visual recognition action to confirm that the driver can take over from the automatic driving control to the manual driving control. Let As a result, it can be confirmed that the driver can take over from the automatic driving control to the manual driving control, so that it is possible to continue traveling safely even if the automatic driving control is switched from the automatic driving control to the manual driving control. it can.

  In addition, the information presentation device 1 according to the present embodiment includes a visual behavior measuring unit 31 that measures the visual behavior of the driver in order to detect a visual recognition action by the driver. Thereby, the visual recognition action by the driver can be detected based on the measurement result of the driver's visual behavior.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, the visual behavior for monitoring the surrounding environment and the vehicle-mounted display of the autonomous vehicle is measured among the visual behavior of the driver. Accordingly, it is possible to accurately determine whether or not the driver can take over from the automatic driving control to the manual driving control based on the visual behavior of the driver.

  Further, according to the information presentation device 1 according to the present embodiment, the driver's eye movement, head movement, upper body movement, and whole body movement are measured, so that the driver's visual behavior can be accurately measured.

  Furthermore, in the information presentation device 1 according to the present embodiment, the measurement result by the visual behavior measurement unit 31 is compared with the traveling state and the external situation of the autonomous vehicle, and it is determined whether the visual recognition action has been executed. Thereby, it is possible to accurately determine whether or not the driver can take over from the automatic operation control to the manual operation control.

  Moreover, in the information presentation apparatus 1 according to the present embodiment, whether or not the visual recognition action is executed by comparing the presence / absence of the obstacle in each direction with the self-traveling vehicle as the center and the gaze stop point in the self-centered coordinate system Determine. Thereby, it is possible to accurately determine whether or not the driver can take over from the automatic operation control to the manual operation control.

  Furthermore, according to the information presenting apparatus 1 according to the present embodiment, since the automatic driving control is interrupted when the driver does not execute the visual recognition action, safety can be ensured in the automatic traveling vehicle.

  Moreover, in the information presentation apparatus 1 which concerns on this embodiment, execution of a visual recognition action is requested | required every time progress of predetermined time, or whenever driving | running control of the predetermined number of times by an autonomous vehicle is performed. Thereby, since execution of a visual recognition act can be requested | required with respect to a driver | operator regularly, safety | security can be improved in automatic operation control.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, when the driver detects that the driver is not awakened or when the driver detects that the driver is not monitoring the front, the visual presentation action is performed to the driver. Request. As a result, when the driver's consciousness level is lowered, the driver can be requested to perform the visual recognition action, so safety can be improved in the automatic traveling vehicle.

  Moreover, in the information presentation apparatus 1 which concerns on this embodiment, the timing which requests | requires a driver | operator to perform a visual recognition action is set based on a driver | operator's state, the driving | running | working state of an autonomous vehicle, and an external condition. Thereby, according to a driver | operator's state, the driving | running | working state of an autonomous vehicle, and an external condition, execution of a visual recognition act can be requested | required of a driver at an appropriate timing.

  Furthermore, in the information presentation apparatus 1 according to the present embodiment, when the timing at which the automatic operation control is transferred to the manual operation control is set in advance, the interval for requesting the execution of the visual action as the timing approaches is set. shorten. Thereby, when handing over from automatic driving | operation control to manual driving | operation control is performed, a driver | operator can be made into the state which can be handed over reliably.

  Moreover, in the information presentation apparatus 1 according to the present embodiment, when the driver performs manual driving control, the timing for requesting the driver to perform the visual act is delayed. Thereby, since the frequency | count of request | requiring a visual act can be reduced, the load of a system and a driver | operator's troublesomeness can be reduced.

  Furthermore, the information presentation apparatus 1 according to the present embodiment provides the driver with monitoring information that prompts the driver to monitor the surrounding environment of the automatic traveling vehicle and the vehicle-mounted display. Accordingly, the driver is prompted by the monitoring information, and can smoothly shift to monitoring of the surrounding environment and the vehicle-mounted display.

  Further, according to the information presenting apparatus 1 according to the present embodiment, the pattern of spatial frequency and time frequency that does not have the luminance edge is displayed as the monitoring information. Can recognize monitoring information.

  Furthermore, according to the information presentation device 1 according to the present embodiment, the sensory stimulus is provided to the driver in synchronization with the monitoring information, so that the driver can surely recognize that the monitoring information is provided. .

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and even if it is a form other than this embodiment, as long as it does not depart from the technical idea of the present invention, it depends on the design and the like. Of course, various modifications are possible.

DESCRIPTION OF SYMBOLS 1 Information presentation apparatus 3 Driver analysis part 5 Driver reaction recording part 7 Visual action determination part 9 Visual action control part 11 Task input part 13 Display image generation part 15 Alarm control part 17 Voice generation part 21 Ambient environment recognition part 23 Itinerary control Unit 25 vehicle behavior generation unit 27 vehicle behavior determination unit 29 vehicle behavior control unit 31 visual behavior measurement unit 33 display device 35 alarm sound generation unit 37 speaker 41 sensor group 43 database 45 actuator

Claims (16)

An information presentation device used for an automatic traveling vehicle capable of switching between automatic driving control for automatically controlling driving of a vehicle and manual driving control by a driver,
A visual act determining unit for determining a visual act by the driver for confirming that the driver of the automatic traveling vehicle is in a state that can be handed over from automatic driving control to manual driving control;
A visual act control unit that performs control for causing the driver to execute the visual act determined by the visual act determining unit;
An information presentation apparatus comprising: a driver analysis unit that detects the visual recognition action performed by the driver.   The information presentation device according to claim 1, further comprising a visual behavior measuring unit that measures a driver's visual behavior in order to detect the visual recognition behavior.   The information presentation device according to claim 2, wherein the visual behavior measuring unit measures a visual behavior of monitoring a surrounding environment and a vehicle-mounted display of the automatic traveling vehicle among the visual behavior of the driver.   The information presentation apparatus according to claim 2, wherein the visual behavior measuring unit measures a driver's eye movement, head movement, upper body movement, and whole body movement.   The visual recognition action control unit compares a measurement result of the visual behavior measurement unit with a traveling state and an external situation of the automatic traveling vehicle to determine whether or not the visual recognition action has been executed. Item 5. The information presentation device according to any one of Items 2 to 4.   The visual act control unit compares the presence / absence of an obstacle in each direction centering on the autonomous vehicle and the gaze stop point in the self-centered coordinate system measured by the visual behavior measurement unit, 6. The information presenting apparatus according to claim 5, wherein it is determined whether or not it has been executed.   The said visual recognition action control part interrupts the automatic driving | operation control of the said automatic travel vehicle, when a driver | operator does not perform the said visual recognition action. Information presentation device.   The said visual act control part requests | requires execution of the said visual act to a driver | operator every time progress of predetermined time or the driving | running | working control of the predetermined number of times by the said automatic traveling vehicle is performed. 8. The information presentation device according to any one of items 7.   When the visual act control unit detects that the driver is not awake, or detects that the driver is not monitoring the front, the visual act control unit requests the driver to perform the visual act. The information presentation device according to any one of claims 1 to 8, wherein   The said visual act control part sets the timing which requests | requires a driver | operator to perform the said visual act based on a driver | operator's state, the driving | running | working state of the said autonomous vehicle, and the external condition. The information presentation apparatus according to any one of? 9.   When the timing for taking over from automatic driving control to manual driving control is set in advance, the visual act control unit shortens the interval for requesting the driver to execute the visual act as the timing approaches. The information presenting apparatus according to claim 1, wherein the information presenting apparatus is an information presenting apparatus.   The said visual recognition action control part delays the timing which requests | requires a driver | operator to perform the said visual recognition action, when a driver | operator performs manual driving | operation control. The information presentation device described.   The said visual recognition action control part provides the driver | operator with the monitoring information which urges | urges a driver | operator to monitor the surrounding environment and the vehicle-mounted display of the said automatic traveling vehicle, In any one of Claims 1-12 characterized by the above-mentioned. The information presentation device described.   The information presentation apparatus according to claim 13, wherein the visual recognition control unit displays a pattern of a spatial frequency and a temporal frequency that does not have a luminance edge as the monitoring information.   The information presentation device according to claim 13 or 14, wherein the visual act control unit provides a driver with a sensory stimulus in synchronization with the monitoring information. An information presenting method for an information presenting device used for an automatic traveling vehicle capable of switching between automatic driving control for automatically performing vehicle driving control and manual driving control by a driver,
Determining the visual act by the driver to confirm that the driver of the autonomous vehicle is in a state that can be handed over from automatic driving control to manual driving control;
Perform control for causing the driver to execute the determined visual act,
An information presentation method, wherein the visual recognition action executed by a driver is detected.

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