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WO2018105114A1 - Dispositif de commande de rapport et procédé de commande de rapport - Google Patents

Dispositif de commande de rapport et procédé de commande de rapport Download PDF

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Publication number
WO2018105114A1
WO2018105114A1 PCT/JP2016/086776 JP2016086776W WO2018105114A1 WO 2018105114 A1 WO2018105114 A1 WO 2018105114A1 JP 2016086776 W JP2016086776 W JP 2016086776W WO 2018105114 A1 WO2018105114 A1 WO 2018105114A1
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WO
WIPO (PCT)
Prior art keywords
automatic driving
driver
notification
control
unit
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2016/086776
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English (en)
Japanese (ja)
Inventor
悦男 轟
下谷　光生
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2016/086776 priority Critical patent/WO2018105114A1/fr
Publication of WO2018105114A1 publication Critical patent/WO2018105114A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present invention relates to a notification control device and a notification control method for informing in advance that a vehicle is automatically driven.
  • Patent Literature 1 the advance notice is given using a predetermined device at a predetermined timing without considering the driver's condition. Further, in Patent Document 2, a warning is given using the same device regardless of the state of the driver. Therefore, when the technique of Patent Document 2 is applied to Patent Document 1, it is considered possible to make a cancellation notice according to the driver's condition, but in this case, it is determined in advance at a predetermined timing. Cancellation notice will be made using the equipment.
  • Patent Documents 1 and 2 do not consider changing the method of advance notification of automatic driving cancellation according to the time until automatic driving is canceled, and cancel appropriate automatic driving for the driver. It could not be said that prior notice of
  • This invention was made in order to solve such a problem, and it aims at providing the alerting control apparatus and alerting
  • a notification control device includes a driver state information acquisition unit that acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, And a control unit that performs control to determine how to notify the cancellation of the automatic driving in advance based on the estimated time until the driving is released and the driver state information acquired by the driver state information acquisition unit.
  • the notification control method acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, the predicted time until automatic driving is canceled, and the acquired driving Based on the person state information, control is performed to determine how to notify the cancellation of the automatic driving in advance.
  • the notification control device includes a driver state information acquisition unit that acquires driver state information, which is information indicating a driver's state in a vehicle that is traveling in automatic driving, and automatic driving is canceled.
  • driver state information which is information indicating a driver's state in a vehicle that is traveling in automatic driving
  • automatic driving is canceled.
  • the notification control method acquires driver state information that is information indicating a driver's state in a vehicle that is traveling in automatic driving, the predicted time until automatic driving is canceled, and the acquired driver state information Based on the above, since the control for determining how to cancel the automatic driving in advance is performed, it is possible to appropriately perform the prior notification of the automatic driving cancellation.
  • FIG. 1 is a block diagram showing an example of the configuration of the notification control apparatus 1 according to the present embodiment. Note that FIG. 1 shows the minimum necessary components constituting the notification control apparatus according to the present embodiment.
  • the notification control device 1 is mounted on a vehicle, and the vehicle can be switched between automatic driving for automatically performing all of acceleration, steering, and braking, and manual driving by a driver.
  • the notification control device 1 includes a driver state information acquisition unit 2 and a control unit 3.
  • the driver state information acquisition unit 2 acquires driver state information that is information indicating the state of the driver in a vehicle that is traveling in automatic driving.
  • the control unit 3 performs control for determining how to cancel the automatic driving in advance based on the predicted time until the automatic driving is canceled and the driver state information acquired by the driver state information acquiring unit 2. Do.
  • FIG. 2 is a block diagram illustrating an example of the configuration of the notification control device 4.
  • the notification control device 4 includes a control unit 3, a current position information acquisition unit 5, an automatic driving plan generation unit 6, a first communication unit 7, a second communication unit 8, and display output.
  • the first communication unit 7 is communicably connected to each of the occupant state recognition device 11 and the interior interior control device 13.
  • the second communication unit 8 is communicably connected to the mobile communication terminal 16.
  • the display output unit 9 is connected to the display unit 17.
  • the audio output unit 10 is connected to the speaker 18.
  • the current position information acquisition unit 5 acquires the current position information of the vehicle from, for example, GPS (Global Positioning System).
  • the automatic driving plan generation unit 6 is configured to store the vehicle current position information acquired by the current position information acquisition unit 5 according to an instruction from the control unit 3, a destination preset by a user such as a driver, and map information storage (not shown). Based on the map information stored in the unit, an automatic driving plan for the vehicle is generated.
  • the automatic operation plan includes a long-term automatic operation plan and a short-term automatic operation plan.
  • a long-term automatic operation plan refers to an automatic operation plan that is performed along the route from the current position to the destination.
  • a short-term automatic driving plan refers to an automatic driving plan that is performed based on the situation around the vehicle.
  • the map information stored in the map information storage unit includes information on road sections where automatic driving is possible and information on positions where automatic driving is canceled.
  • the map information storage unit may be provided inside the vehicle or may be provided outside.
  • the automatic driving plan generation unit 6 has a function of calculating a route from the current position to the destination.
  • the automatic operation plan generated by the automatic operation plan generation unit 6 includes a predicted time until the automatic operation is canceled. Specifically, the automatic driving plan generation unit 6 predicts the time until the automatic driving is canceled based on the current position of the vehicle acquired from the current position information acquisition unit 5 every predetermined time and the map information. To do.
  • the automatic driving plan may include a position for canceling automatic driving, or may include both a predicted time until canceling automatic driving and a position for canceling automatic driving.
  • the first communication unit 7 acquires occupant state information indicating the occupant state of the vehicle from the occupant state recognition device 11 in accordance with an instruction from the control unit 3.
  • the occupant includes a driver and a passenger present in the vehicle. That is, the 1st communication part 7 functions as the driver
  • the first communication unit 7 acquires at least driver state information.
  • the occupant state recognition device 11 recognizes the awake state as the state of the occupant from the image inside the vehicle taken by the camera 12.
  • the occupant state recognition device 11 acquires at least a binary value of “high” or “low” as the wake state of the occupant. For example, “high” in the awake state indicates a state in which the occupant is gazing at the front of the vehicle, and “low” in the awake state indicates other states.
  • the wakefulness state of the occupant can be determined using a known technique.
  • the occupant state recognition device 11 is not limited to recognizing the wakefulness state of the occupant, and may recognize the occupant state by other methods. For example, the occupant state recognition device 11 may recognize the degree of blur according to the state of the occupant's pupil.
  • the first communication unit 7 outputs the seat control information or the seat belt control information generated by the control unit 3 to the interior interior control device 13 according to the instruction of the control unit 3.
  • the vehicle interior control device 13 controls the vibration of the seat 14 based on the seat control information transmitted from the first communication unit 7.
  • the interior control device 13 controls the tightening strength of the seat belt 15 based on the seat belt control information.
  • the interior interior control device 13 may control interior interiors other than the seat 14 and the seat belt 15, and may control a handle (not shown), for example. In this case, the vehicle interior control device 13 controls the vibration of the steering wheel based on the steering wheel control information generated by the control unit 3.
  • the second communication unit 8 acquires operation information from the mobile communication terminal 16 in accordance with an instruction from the control unit 3.
  • the operation information is information indicating that the passenger is operating the mobile communication terminal 16.
  • the operation information is, for example, information indicating that the occupant is touch-operating the mobile communication terminal 16 or whether the occupant is operating the mobile communication terminal 16 with a camera mounted on the mobile communication terminal 16. Contains information about whether or not.
  • Examples of the mobile communication terminal 16 include a smartphone that a passenger has brought into the vehicle.
  • the second communication unit 8 establishes communication with the mobile communication terminal 16 by an application installed in the mobile communication terminal 16 in accordance with an instruction from the control unit 3, and a warning message for notifying automatic driving cancellation, and automatic driving cancellation Is transmitted to the mobile communication terminal 16.
  • the warning message and the warning sound are generated by the control unit 3.
  • an application installed in the mobile communication terminal 16 for example, a dedicated application for notifying automatic driving cancellation or an existing application such as e-mail may be used.
  • the display output unit 9 outputs a warning message for notifying automatic driving cancellation or a warning icon for notifying automatic driving cancellation to the display unit 17 in accordance with an instruction from the control unit 3.
  • a warning message or a warning icon is displayed on the display unit 17.
  • the warning message or warning icon is generated by the control unit 3.
  • HUD Head Up Display
  • a display device provided on the instrument panel, and a center display are installed in the vehicle as display device 17.
  • the voice output unit 10 outputs a warning sound for notifying the automatic driving release to the speaker 18 in accordance with an instruction from the control unit 3.
  • a warning sound is output from the speaker 18.
  • the warning sound is generated by the control unit 3.
  • a plurality of speakers 18 may be provided in the vehicle.
  • control unit 3 Based on the predicted time included in the automatic driving plan generated by the automatic driving plan generating unit 6 and the occupant state information acquired by the first communication unit 7, the control unit 3 determines how to notify the automatic driving cancellation in advance. Control to decide. In addition, the control unit 3 controls the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the voice output unit 10.
  • FIG. 3 is a block diagram illustrating an example of a hardware configuration of the notification control device 4. The same applies to the notification control apparatus 1.
  • the functions of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the audio output unit 10 in the notification control device 4 are as follows. Realized by a processing circuit. That is, the notification control device 4 performs control for determining how to notify the automatic driving release in advance, acquires current position information, generates an automatic driving plan, acquires occupant state information, and communicates with the mobile communication terminal 16. And a processing circuit for displaying information on the display 17 and outputting sound from the speaker 18.
  • the processing circuit is a processor 19 (also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)) that executes a program stored in the memory 20.
  • a processor 19 also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, DSP (Digital Signal Processor)
  • control unit 3 The functions of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the audio output unit 10 in the notification control device 4 are as follows. It is realized by software, firmware, or a combination of software and firmware. Software or firmware is described as a program and stored in the memory 20. The processing circuit reads out and executes the program stored in the memory 20, thereby realizing the function of each unit.
  • the notification control device 4 performs a control for determining how to notify the automatic driving release in advance, a step for acquiring current position information, a step for generating an automatic driving plan, a step for acquiring occupant state information, mobile communication
  • a memory 20 is provided for storing a program in which a step of communicating with the terminal 16, a step of displaying information on the display unit 17, and a step of outputting sound from the speaker 18 are executed as a result.
  • these programs are the procedure of the control unit 3, the current position information acquisition unit 5, the automatic driving plan generation unit 6, the first communication unit 7, the second communication unit 8, the display output unit 9, and the voice output unit 10, or It can be said that the method is executed by a computer.
  • the memory is non-volatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. All types of storage media such as volatile semiconductor memories, magnetic disks, flexible disks, optical disks, compact disks, mini disks, DVDs, and the like are applicable.
  • FIG. 4 is a flowchart showing an example of the operation of the notification control device 4.
  • step S1 the control unit 3 sets the warning level to “Mid” as an initial value.
  • the warning level includes three levels of “Low”, “Mid”, and “High”.
  • step S2 the automatic driving plan generation unit 6 follows the current position information of the vehicle acquired by the current position information acquisition unit 5, the preset destination, and the map information in accordance with an instruction from the control unit 3.
  • An automatic driving plan including at least an estimated time until the automatic driving is canceled is generated.
  • step S3 the control unit 3 determines how many minutes the predicted time T until the automatic operation cancellation included in the automatic operation plan generated by the automatic operation plan generation unit 6 is.
  • the process proceeds to step S4.
  • the case where the predicted time T is less than 0 minutes refers to the case where the current time has passed the predicted time T, that is, the case where the vehicle has canceled automatic driving.
  • the process proceeds to step S5. If the predicted time T is between 0 minutes and 5 minutes, the process proceeds to step S7.
  • 5 minutes and 10 minutes which are judgment criteria in step S3 are examples, and arbitrary time may be sufficient.
  • step S4 the control unit 3 performs control to stop notification of all automatic driving cancellations. Thereafter, the process proceeds to step S1. Thereby, the mobile communication terminal 16 and the display device 17 do not display the warning message and the warning icon. The mobile communication terminal 16 and the speaker 18 do not output a warning sound. The vehicle interior control device 13 stops the vibration of the seat 14.
  • step S5 the control unit 3 sets the warning level to “Low”.
  • step S6 the control unit 3 performs control so that, for example, a warning icon shown in FIG. Thereafter, the process proceeds to step S2.
  • the warning icon shown in FIG. 5 indicates that the automatic operation is canceled 10 minutes after the current time.
  • the period during which the occupant prepares for switching from automatic operation to manual operation is shown between two and a half minutes and ten minutes after the current time.
  • warning icon is not limited to the warning icon illustrated in FIG. 5, and may be an icon indicating that automatic driving is canceled.
  • the warning icon may be displayed on all the display devices 17, that is, the HUD, the display device provided on the instrument panel, and the center display. Moreover, you may display a warning icon only on the indicator 17 which a passenger
  • step S ⁇ b> 7 the first communication unit 7 acquires driver state information indicating the driver's arousal state from the occupant state recognition device 11 in accordance with an instruction from the control unit 3.
  • step S8 the control unit 3 determines whether the driver's arousal state acquired by the first communication unit 7 is “high” or “low”. When the driver's arousal state is “high”, the process proceeds to step S17. When the driver's arousal state is “low”, the process proceeds to step S9.
  • step S9 the control unit 3 determines whether the set warning level is “High” or “Other than High”. When the warning level is “High”, the process proceeds to step S14. When the warning level is “other than High”, that is, “Mid” or “Low”, the process proceeds to step S10.
  • step S10 the control unit 3 controls the display output unit 9 to display a warning message on all the display units 17, that is, the display units provided in the HUD, the instrument panel, and the center display.
  • the warning message may be a message notifying that automatic driving is released, such as a message “automatic driving will be released in T minutes”. “T minutes” corresponds to the predicted time T until the automatic operation is canceled.
  • step S11 the control unit 3 controls the audio output unit 10 to output a warning sound from the speaker 18.
  • a warning sound for example, a sound that informs that automatic driving is canceled, such as a voice “automatic driving is canceled in T minutes later” or an alarm sound, may be used. “T minutes” corresponds to the predicted time T until the automatic operation is canceled.
  • a warning sound may be output from all the speakers 18 or a warning sound may be output from any speaker 18.
  • a warning sound may be output from the speaker 18 near the passenger.
  • the position of the occupant may be determined based on, for example, an image captured by a camera installed in the vehicle. The camera that shoots at this time may also be used as the camera 12.
  • step S12 the vehicle interior control device 13 controls the seat 14 to vibrate weakly based on the seat control information transmitted from the first communication unit 7.
  • the interior interior control device 13 may control the seat belt 15 to be tightened weakly based on the seat belt control information transmitted from the first communication unit 7.
  • the interior interior control device 13 may perform control so that the steering wheel vibrates weakly based on the steering wheel control information transmitted from the first communication unit 7.
  • step S13 the control unit 3 sets the warning level to “High”. Thereafter, the process proceeds to step S2.
  • step S14 the control unit 3 controls the audio output unit 10 to increase the volume of the warning sound output from the speaker 18 and output the warning sound whose volume has been increased. As a result, a warning sound with an increased volume is output from the speaker 18.
  • step S15 the interior interior control device 13 controls the seat 14 to vibrate strongly based on the seat control information transmitted from the first communication unit 7.
  • the vehicle interior control device 13 may perform control so that the seat belt 15 is strongly tightened based on the seat belt control information transmitted from the first communication unit 7. Further, the interior interior control device 13 may perform control so that the steering wheel vibrates strongly based on the steering wheel control information transmitted from the first communication unit 7.
  • step S ⁇ b> 16 the second communication unit 8 transmits a warning message and a warning sound to the mobile communication terminal 16 in accordance with an instruction from the control unit 3.
  • the mobile communication terminal 16 displays a warning message and outputs a warning sound.
  • the warning message may be the same as the warning message in step S10, for example.
  • the warning sound may be the same as the warning sound in step S11, for example.
  • the control unit 3 identifies the mobile communication terminal 16 being operated by the occupant based on the operation information acquired from the mobile communication terminal 16 via the second communication unit 8, and warns only the specified mobile communication terminal 16.
  • the second communication unit 8 may be controlled to transmit a message and a warning sound.
  • step S17 the control unit 3 sets the warning level to “Mid”.
  • step S18 the vehicle interior control device 13 performs control so as to stop the vibration of the seat 14 based on the seat control information transmitted from the first communication unit 7.
  • the control unit 3 controls the audio output unit 10 so as not to output a warning sound from the speaker 18.
  • the control unit 3 returns the volume of the warning sound output from the speaker 18 to the initially set volume.
  • the control unit 3 controls the second communication unit 8 so as not to transmit the warning message and the warning sound to the mobile communication terminal 16.
  • step S18 is omitted when the driver's arousal state is “high” from the beginning. That is, the process of step S18 is performed when the driver's arousal state changes from “low” to “high”.
  • step S19 the control unit 3 controls the display output unit 9 to display, for example, a warning icon as shown in FIG. 5 on the display 17 provided on the HUD and the instrument panel.
  • step S20 the control unit 3 controls the audio output unit 10 to output a warning sound from the speaker 18.
  • the warning sound may be the same as the warning sound in step S11, for example.
  • the present invention is not limited to this.
  • the manner of notification may be changed according to the passenger's arousal state.
  • the vibration of the seat 14 on which the passenger is sitting is controlled according to the awakening state of the passenger, or the seat belt 15 used by the passenger is changed.
  • the degree of tightening may be controlled.
  • FIG. 6 is a block diagram illustrating an example of a configuration of the notification control device 21 according to a modification.
  • the notification control device 21 is connected to an automatic operation control device 22.
  • Other configurations and operations are the same as those of the notification control device 4 shown in FIG.
  • the control unit 3 directly acquires time information from the automatic operation control device 22 until the automatic driving is canceled, rather than acquiring the automatic driving plan including the predicted time T until the automatic driving cancellation generated by the automatic driving plan generation unit 6. It is possible to acquire the time until the automatic driving is canceled earlier. For example, if the control unit 3 determines in step S3 in FIG. 4 that the predicted time T until the automatic driving is canceled is within one minute, the control unit 3 acquires information on the time until the automatic driving is canceled from the automatic driving control device 22. You may do it. Specifically, the first communication unit 7 acquires information on the time from the automatic driving control device 22 until the automatic driving is canceled according to the instruction of the control unit 3.
  • FIG. 2 illustrates the case where the mobile communication terminal 16 displays a warning message and outputs a warning sound when the driver's arousal state is low and the warning level is “high”.
  • the present invention is not limited to this. Absent. You may make it perform notification of automatic driving
  • the occupant state recognition device 11 can recognize the driver's wakefulness in four stages: “sleeping”, “low wakefulness”, “slightly low wakefulness”, and “high wakefulness”.
  • the driver's arousal state is “sleeping”
  • the mobile communication terminal 16 may be vibrated, an alarm sound may be output, and the seat 14 and the handle may be vibrated.
  • the driver's arousal state is “low arousal state”
  • the mobile communication terminal 16 may be vibrated and the seat 14 and the handle may be vibrated weakly.
  • the driver's arousal state is “the arousal state is slightly low”
  • the mobile communication terminal 16 may be vibrated and a warning sound may be output from the speaker 18.
  • a warning message or a warning icon may be displayed on the display unit 17 and a warning sound may be output from the speaker 18. Even in such a case, it is possible to appropriately perform advance notification of automatic driving cancellation.
  • the method of prior notification of automatic driving cancellation according to the time until automatic driving cancellation and the driver's awakening state specifically, a device that performs prior notification, The content to be notified can be determined. Accordingly, it is possible to appropriately perform advance notification of automatic driving cancellation. For example, when the driver's arousal state is low, the vibration of the seat is increased stepwise or the volume of the warning sound is increased stepwise. It is more effective from the viewpoint of power consumption than the case of making it.
  • the notification control device described above is not only a vehicle navigation device, that is, a car navigation device, but also a navigation device or navigation constructed as a system by appropriately combining a PND (Portable Navigation Device) and a server that can be mounted on a vehicle.
  • the present invention can be applied to apparatuses other than the apparatus. In this case, each function or each component of the notification control device is distributed and arranged in each function that constructs the system.
  • the function of the notification control device can be arranged in a server or a mobile communication terminal.
  • a notification control device 23 an occupant state recognition device 11, a camera 12, an interior interior control device 13, a seat 14, a seat belt 15, a mobile communication terminal 16, a display 17, and a speaker are provided on the vehicle side.
  • the server 24 is provided with the automatic operation plan generation unit 6, a notification control system can be constructed.
  • the notification control device 21 shown in FIG. the notification control device 23 acquires an automatic driving plan including a predicted time until cancellation of the automatic driving from the server 24.
  • the mobile communication terminal 16 may include the automatic driving plan generation unit 6 instead of the server 24.
  • the notification control device 23 acquires an automatic driving plan including a predicted time until the automatic driving is canceled from the mobile communication terminal 16.
  • software for executing the operation in the above embodiment may be incorporated in, for example, a server or a mobile communication terminal.
  • the above-described notification control method obtains driver state information that is information indicating the state of the driver in a vehicle that is running in automatic driving, and the estimated time until automatic driving is canceled. Then, based on the acquired driver state information, control is performed to determine how to notify the cancellation of automatic driving in advance.
  • 1 notification control device 1 notification control device, 2 driver status information acquisition unit, 3 control unit, 4 notification control device, 5 current position information acquisition unit, 6 automatic operation plan generation unit, 7 first communication unit, 8 second communication unit, 9 display Output unit, 10 audio output unit, 11 occupant state recognition device, 12 camera, 13 interior control device, 14 seat, 15 seat belt, 16 mobile communication terminal, 17 display, 18 speaker, 19 processor, 20 memory, 21 notification Control device, 22 automatic operation control device, 23 notification control device, 24 servers.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Human Computer Interaction (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un objectif de la présente invention est de produire un dispositif de commande de rapport et un procédé de commande de rapport avec lesquels un rapport avancé d'annulation de conduite autonome peut être effectué correctement. Un dispositif de commande de rapport selon la présente invention comprend : une unité d'acquisition d'informations d'état de conducteur qui acquiert des informations d'état de conducteur, qui sont des informations indiquant l'état d'un conducteur d'un véhicule qui se déplace selon une conduite autonome ; et une unité de commande qui, sur la base des informations d'état de conducteur acquises par l'unité d'acquisition d'informations d'état de conducteur et d'un temps estimé jusqu'à ce que la conduite autonome soit annulée, effectue une commande pour déterminer un procédé de rapport préalable avancé de conduite autonome.
PCT/JP2016/086776 2016-12-09 2016-12-09 Dispositif de commande de rapport et procédé de commande de rapport Ceased WO2018105114A1 (fr)

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EP3706447A1 (fr) * 2019-03-07 2020-09-09 Yazaki Corporation Système de support de passager
CN111683855A (zh) * 2019-04-15 2020-09-18 深圳市大疆创新科技有限公司 一种自动驾驶车辆的报警控制方法、设备及自动驾驶车辆
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JP7339380B1 (ja) 2022-02-25 2023-09-05 本田技研工業株式会社 運転支援装置及び車両

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EP3706447A1 (fr) * 2019-03-07 2020-09-09 Yazaki Corporation Système de support de passager
JP2020144634A (ja) * 2019-03-07 2020-09-10 矢崎総業株式会社 乗客支援システム
CN111661069A (zh) * 2019-03-07 2020-09-15 矢崎总业株式会社 乘客辅助系统
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JP6992019B2 (ja) 2019-03-07 2022-01-13 矢崎総業株式会社 乗客支援システム
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