U.S. patent application number 16/014391 was filed with the patent office on 2018-10-25 for driving support device, driving support system, and driving support method.
The applicant listed for this patent is Panasonic Intellectual Property Management Co., Ltd.. Invention is credited to Azusa GOJYO, Satoshi KAJITA, Toshiaki MORI, Makoto OKADA, Kazushige YAMADA, Osamu YAMAJI.
Application Number | 20180304905 16/014391 |
Document ID | / |
Family ID | 55347056 |
Filed Date | 2018-10-25 |
United States Patent
Application |
20180304905 |
Kind Code |
A1 |
YAMADA; Kazushige ; et
al. |
October 25, 2018 |
DRIVING SUPPORT DEVICE, DRIVING SUPPORT SYSTEM, AND DRIVING SUPPORT
METHOD
Abstract
In a driving support device, an image output unit outputs an
image including a host vehicle object representing a host vehicle
and a nearby vehicle object representing a nearby vehicle, to a
display unit. The operation signal input unit receives an operation
of a user for changing a distance between the host vehicle object
and the nearby vehicle object in the image displayed on the display
unit. The command output unit outputs a command for instructing one
vehicle to travel following another vehicle when the distance
between the host vehicle object and the nearby vehicle object is
equal to or less than a predetermined distance, to an automatic
driving control unit that controls automatic driving.
Inventors: |
YAMADA; Kazushige;
(Kanagawa, JP) ; YAMAJI; Osamu; (Hiroshima,
JP) ; GOJYO; Azusa; (Kanagawa, JP) ; KAJITA;
Satoshi; (Kanagawa, JP) ; MORI; Toshiaki;
(Kanagawa, JP) ; OKADA; Makoto; (Kanagawa,
JP) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
Panasonic Intellectual Property Management Co., Ltd. |
Osaka |
|
JP |
|
|
Family ID: |
55347056 |
Appl. No.: |
16/014391 |
Filed: |
June 21, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
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15503385 |
Feb 10, 2017 |
10017189 |
|
|
PCT/JP2016/003380 |
Jul 19, 2016 |
|
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16014391 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
B60W 2556/65 20200201;
B60W 2520/105 20130101; G08G 1/096758 20130101; B60K 2370/1438
20190501; B60W 10/20 20130101; B60W 2710/18 20130101; B60W 2720/106
20130101; G06F 3/04883 20130101; B60W 2510/20 20130101; B60W
2510/0638 20130101; B60K 31/00 20130101; G06F 3/0486 20130101; B60W
2710/20 20130101; B60W 2754/30 20200201; B60K 35/00 20130101; G05D
1/0088 20130101; B60W 30/165 20130101; B60W 50/10 20130101; B60W
10/04 20130101; B60W 50/14 20130101; G08G 1/096725 20130101; B60W
2050/146 20130101; B60W 2510/081 20130101; B60W 2710/0644 20130101;
G06F 3/04817 20130101; B60W 2710/081 20130101; B60W 10/18 20130101;
B60W 30/16 20130101; G06F 3/04845 20130101; B60W 30/18163 20130101;
G08G 1/096791 20130101; B60W 2510/18 20130101; B60W 2554/801
20200201; B60K 2370/146 20190501 |
International
Class: |
B60W 50/10 20060101
B60W050/10; B60K 35/00 20060101 B60K035/00; G08G 1/0967 20060101
G08G001/0967; B60W 10/20 20060101 B60W010/20; G06F 3/0488 20060101
G06F003/0488; B60W 50/14 20060101 B60W050/14; B60K 31/00 20060101
B60K031/00; B60W 30/18 20060101 B60W030/18; B60W 10/18 20060101
B60W010/18; B60W 30/16 20060101 B60W030/16; G06F 3/0486 20060101
G06F003/0486; G06F 3/0484 20060101 G06F003/0484; G06F 3/0481
20060101 G06F003/0481; B60W 30/165 20060101 B60W030/165; G05D 1/00
20060101 G05D001/00; B60W 10/04 20060101 B60W010/04 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 31, 2015 |
JP |
2015-152848 |
Claims
1. A driving support device, comprising: an image output unit,
which, in operation, outputs an image including a plurality of
vehicle icons representing a plurality of vehicles, to a display
unit; an operation signal input unit, which, in operation, receives
an operation of a user selecting, on a touch panel, the plurality
of vehicle objects; and an instruction unit, which, in operation,
outputs line instruction commands to the plurality of vehicles in
response to the operation signal input unit receiving the
operation, the line instruction commands instructing the plurality
of vehicles to travel in a single file line.
2. The driving support device of claim 1 wherein the operation
includes the user drawing, on the touch panel, a path that
surrounds the plurality of vehicle objects.
3. The driving support device of claim 2 wherein the path forms a
closed region in the image.
4. The driving support device of claim 1 wherein the operation
includes the user creating, on the touch panel, a rectangular box
that surrounds the plurality of vehicle objects.
5. The driving support device of claim 1, further comprising: an
input-output unit, which, in operation, transmits at least one of
the line instruction commands to at least one of the plurality of
vehicles using vehicle-to-vehicle communication or a relay
device.
6. The driving support device of claim 1 wherein the line
instruction commands instruct a first vehicle of the plurality of
vehicles to travel following a second vehicle of the plurality of
vehicles, and a third vehicle of the plurality of vehicle to travel
following the first vehicle.
7. The driving support device of claim 6 wherein, in response to
the operating signal input unit receiving the operation, the image
output unit outputs, in the image, a first following icon
representing that the first vehicle is following the second
vehicle, and a second following icon representing that the third
vehicle is following the first vehicle.
8. The driving support device of claim 1 wherein the line
instruction commands instruct the plurality of vehicles to maintain
a substantially equal distance from each other.
9. The driving support device of claim 1 wherein the line
instruction commands instruct the plurality of vehicles to travel
in a single traffic lane.
10. The driving support device of claim 1 wherein the plurality of
vehicle icons includes at least three vehicle icons that represent
at least three vehicles.
11. A driving support system comprising: a display device, which,
in operation, displays an image; and a driving support device,
which, in operation, outputs an image to the display, the driving
support device including: an image output unit, which, in
operation, outputs an image including a plurality of vehicle icons
representing a plurality of vehicles, to a display unit; an
operation signal input unit, which, in operation, receives an
operation of a user selecting, on a touch panel, the plurality of
vehicle objects; and an instruction unit, which, in operation,
outputs line instruction commands to the plurality of vehicles in
response to the operation signal input unit receiving the
operation, the line instruction commands instructing the plurality
of vehicles to travel in a single file line.
12. The driving support system of claim 11 wherein the operation
includes the user drawing, on the touch panel, a path that
surrounds the plurality of vehicle objects.
13. The driving support system of claim 11 wherein the operation
includes the user creating, on the touch panel, a rectangular box
that surrounds the plurality of vehicle objects.
14. The driving support system of claim 11, further comprising: an
input-output unit, which, in operation, transmits at least one of
the line instruction commands to at least one of the plurality of
vehicles using vehicle-to-vehicle communication or a relay
device.
15. The driving support system of claim 11 wherein the line
instruction commands instruct the plurality of vehicles to maintain
a substantially equal distance from each other.
16. A driving support method, comprising: outputting an image
including a plurality of vehicle icons representing a plurality of
vehicles, to a display unit; receiving an operation of a user
selecting, on a touch panel, the plurality of vehicle objects; and
outputting line instruction commands to the plurality of vehicles
in response to the operation signal input unit receiving the
operation, the line instruction commands instructing the plurality
of vehicles to travel in a single file line.
17. The driving support method of claim 16 wherein the operation
includes the user drawing, on the touch panel, a path that
surrounds the plurality of vehicle objects.
18. The driving support method of claim 16 wherein the operation
includes the user creating, on the touch panel, a rectangular box
that surrounds the plurality of vehicle objects.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a Continuation application of U.S.
patent application Ser. No. 15/503,385 filed Feb. 10, 2017, which
is a U.S. national stage application of the PCT International
Application No. PCT/JP2016/003380 filed on Jul. 19, 2016, which
claims the benefit of foreign priority of Japanese patent
application No. 2015-152848 filed on Jul. 31, 2015, the contents
all of which are incorporated herein by reference.
TECHNICAL FIELD
[0002] The present invention relates to a technique that supports a
driving operation instruction of a driver to a vehicle during
automatic driving.
BACKGROUND ART
[0003] In recent years, developments in automatic driving have
progressed. For automatic driving, autonomy levels defined in 2013
by the National Highway Traffic Safety Administration (NHTSA) are
classified as no autonomy (level 0), specific-function autonomy
(level 1), complex-function autonomy (level 2), semi-automatic
driving (level 3), and full-automatic driving (level 4). Level 1 is
a driving support system that automatically performs one of
acceleration, deceleration, and steering, and level 2 is a driving
support system that automatically performs two or more of
acceleration, deceleration, and steering in coordination. In all
cases, a driver is required to be involved in a driving operation.
Autonomy level 4 is a fully-automatic driving system that
automatically performs all of acceleration, deceleration, and
steering, and thus a driver is not involved in a driving operation.
Autonomy level 3 is a semi-fully-automatic driving system that
automatically performs all of acceleration, deceleration, and
steering, but if necessary, a driving operation is performed by a
driver.
[0004] As a form of automatic driving, a form in which a driver
does not operate an existing driving operation unit such as a
steering, an accelerator pedal, or the like but instructs a
specific driving operation such as traffic lane change, passing,
following traveling, or the like to a vehicle by issuing a command
to a vehicle is considered. In this form, a user interface in which
there are fewer erroneous operations is required.
CITATION LIST
Patent Literature
[0005] PTL 1: Japanese Patent Unexamined Publication No.
2013-67303
[0006] PTL 2: Japanese Patent Unexamined Publication No.
2012-76483
SUMMARY OF THE INVENTION
[0007] An object of the present invention is to provide a technique
that allows a driver to intuitively and conveniently instruct a
specific driving operation to a vehicle.
[0008] A driving support device according to an aspect of the
present invention includes an image output unit, an operation
signal input unit, and a command output unit. The image output unit
outputs an image including a host vehicle object representing a
host vehicle and a nearby vehicle object representing nearby
vehicle, to a display unit. The operation signal input unit
receives an operation of a user for changing a distance between the
host vehicle object and the nearby vehicle object in the image
displayed on the display unit. The command output unit outputs a
command for instructing one vehicle to travel following another
vehicle when the distance between the host vehicle object and the
nearby vehicle object is equal to or less than a predetermined
distance, to an automatic driving control unit that controls
automatic driving.
[0009] As another aspect of the present invention, an aspect in
which an expression of the present invention is converted into a
device, a system, a method, a program, a recording medium in which
a program is recorded, and a vehicle equipped with the device by
arbitrarily combining the above components is also effective.
[0010] According to the present invention, a driver can intuitively
and conveniently instruct a specific driving operation to a
vehicle.
BRIEF DESCRIPTION OF DRAWINGS
[0011] FIG. 1 is a block diagram illustrating a configuration of a
vehicle according to an embodiment of the present invention.
[0012] FIG. 2 is a diagram illustrating an example of a basic
sequence of a detection unit, an automatic driving controller, a
HMI controller, a display unit, and an input unit in FIG. 1.
[0013] FIG. 3 is a diagram illustrating an example of a basic
flowchart for explaining processing in the HMI controller in FIG.
1.
[0014] FIG. 4 is a flowchart for explaining update processing of a
reception mode according to the embodiment of the present
invention.
[0015] FIG. 5 is a flowchart illustrating an example of
determination processing in a case where a gesture operation for
instructing following traveling is input in step S9 of FIG. 3.
[0016] FIG. 6 is a flowchart illustrating a first processing
example of issuing a following instruction command by a gesture
operation according to the embodiment of the present invention.
[0017] FIG. 7 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 6.
[0018] FIG. 8 is a flowchart illustrating a second processing
example of issuing a following instruction command by a gesture
operation according to the embodiment of the present invention.
[0019] FIG. 9 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 8.
[0020] FIG. 10 is a flowchart illustrating a third processing
example of issuing a following instruction command by a gesture
operation according to the embodiment of the present invention.
[0021] FIG. 11 is a flowchart illustrating a modification example
of the third processing example of issuing a following instruction
command by a gesture operation according to the embodiment of the
present invention.
[0022] FIG. 12 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 10 and FIG. 11
according to the embodiment of the present invention.
[0023] FIG. 13 is a flowchart illustrating a first processing
example of issuing a following inter-vehicle distance change
instruction command for changing an inter-vehicle distance during
following traveling by a gesture operation according to the
embodiment of the present invention.
[0024] FIG. 14 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 13.
[0025] FIG. 15 is a flowchart illustrating a second processing
example of issuing a following inter-vehicle distance change
instruction command for changing an inter-vehicle distance during
following traveling by a gesture operation according to the
embodiment of the present invention.
[0026] FIG. 16 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 15.
[0027] FIG. 17 is a flowchart illustrating a processing example of
issuing a command for interchanging positions of two vehicles in
following traveling by a gesture operation according to the
embodiment of the present invention.
[0028] FIG. 18 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 17.
[0029] FIG. 19 is a flowchart illustrating a first processing
example of issuing an inter-vehicle distance setting instruction
command for setting an inter-vehicle distance between a host
vehicle and a nearby vehicle by a gesture operation according to
the embodiment of the present invention.
[0030] FIG. 20 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 19.
[0031] FIG. 21 is a flowchart illustrating a second processing
example of issuing an inter-vehicle distance setting instruction
command for setting an inter-vehicle distance between a host
vehicle and a nearby vehicle by a gesture operation according to
the embodiment of the present invention.
[0032] FIG. 22 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 21.
[0033] FIG. 23 is a flowchart illustrating a first processing
example of issuing a following release command for releasing
following traveling by a gesture operation according to the
embodiment of the present invention.
[0034] FIG. 24 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 23.
[0035] FIG. 25 is a flowchart illustrating a second processing
example of issuing a following release command for releasing
following traveling by a gesture operation according to the
embodiment of the present invention.
[0036] FIG. 26 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 25.
[0037] FIG. 27 is a flowchart illustrating a display example of a
schematic diagram in a vehicle that can choose an adaptive cruise
control (ACC) mode and a following mode according to the embodiment
of the present invention.
[0038] FIG. 28A is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 27.
[0039] FIG. 28B is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 27.
[0040] FIG. 29 is a flowchart illustrating a fourth processing
example of issuing a following instruction command by a gesture
operation according to the embodiment of the present invention.
[0041] FIG. 30 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 29.
[0042] FIG. 31 is a flowchart illustrating a processing example of
issuing a line instruction command for instructing line traveling
by a gesture operation according to the embodiment of the present
invention.
[0043] FIG. 32A is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 31.
[0044] FIG. 32B is a diagram illustrating another example of a
gesture operation according to the flowchart of FIG. 31.
[0045] FIG. 33 is a flowchart illustrating a fifth processing
example of issuing a following instruction command by a gesture
operation according to the embodiment of the present invention.
[0046] FIG. 34 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 33.
[0047] FIG. 35 is a diagram illustrating a display example
according to the embodiment of the present invention during a
period for which a host vehicle icon is dragged and dropped onto a
nearby vehicle icon.
[0048] FIG. 36 is a diagram illustrating another display example
according to the embodiment of the present invention during a
period for which a host vehicle icon is dragged and dropped onto a
nearby vehicle icon.
[0049] FIG. 37 is a diagram illustrating a display example of a
host vehicle icon being dragged according to the embodiment of the
present invention in a case where there is a drop disable area or
the like.
[0050] FIG. 38A is a diagram illustrating another display example
of a host vehicle icon being dragged according to the embodiment of
the present invention in a case where there is a drop disable area
or the like.
[0051] FIG. 38B is a diagram illustrating another display example
of a host vehicle icon being dragged according to the embodiment of
the present invention in a case where there is a drop disable area
or the like.
[0052] FIG. 38C is a diagram illustrating another display example
of a host vehicle icon being dragged according to the embodiment of
the present invention in a case where there is a drop disable area
or the like.
[0053] FIG. 39 is a diagram illustrating a display example
according to the embodiment of the present invention in a case
where a drag operation is disabled.
[0054] FIG. 40A is a diagram illustrating another display example
according to the embodiment of the present invention in a case
where a drag operation is disabled.
[0055] FIG. 40B is a diagram illustrating another display example
according to the embodiment of the present invention in a case
where a drag operation is disabled.
DESCRIPTION OF EMBODIMENTS
[0056] Prior to the description of an exemplary embodiment of the
present invention, problems in an apparatus of the related art are
briefly described. In a design in which each switch is designed for
a specific driving operation such as traffic lane change, passing,
following traveling, or the like, since the correspondence between
a switch operation and automatic traveling control is not
intuitive, selecting an instruction among many switches, or
selecting a changed function with reduced switches according to a
situation is a complex task. Thus, there is a problem in that a
wide range of users including a person who has not been driving up
to now, a person who wants to continue to drive even though the
driving capability of the person has been reduced, or the like,
cannot use an automatic driving vehicle without training.
[0057] Hereinafter, embodiments of the present invention will be
described with reference to the drawings. FIG. 1 is a block diagram
illustrating a configuration of vehicle 1 according to an
embodiment of the present invention, and illustrates a
configuration related to automatic driving. Vehicle 1 (a host
vehicle) with an automatic driving mode includes driving support
device (human-machine interface (HMI) controller) 10, automatic
driving control device (automatic driving controller) 20, display
device 30, detection unit 40, and driving operation unit 50.
[0058] Display device 30 includes display unit 31 and input unit
32. Display device 30 may be a head unit such as a car navigation
system, a display audio, or the like, a portable terminal device
such as a smart phone, a tablet, or the like, or a dedicated
console terminal device.
[0059] Display unit 31 is a liquid crystal display, an organic
electro-luminescence (EL) display, or a heads-up display (HUD).
Input unit 32 is a user interface that receives an input of a user.
Display unit 31 and input unit 32 may be an integrated touch panel
display. Such as a proximity touch panel that can detect proximity
of a hand on a touch panel or a touch pad or a position of a finger
due to a hover operation, one that receives a gesture input at a
position apart from a predetermined distance from the display unit
may be used. Input unit 32 may have an input device such as a
mouse, a stylus pen, a trackball, or the like for assisting the
gesture input. A pen that emits visible light or infrared light may
also be used.
[0060] Display unit 31 and input unit 32 may be physically
separated from each other, instead of being an integrated touch
panel display. For example, input unit 32 includes a sensor such as
a camera or the like, and may be a non-contact type input device
that allows a gesture operation input in the air. For example, an
operation method that starts to drag with a gesture by pointing a
target with a finger and making a thumb finger and an index finger
close and shut together, and ends to drag with a gesture by making
a thumb finger and an index finger separated from each other, is
considered.
[0061] Driving support device 10 and display device 30 may be
connected to each other by wire communication such as a dedicated
line, a controller area network (CAN), or the like, or may be
connected to each other by wire communication or wireless
communication such as universal serial bus (USB), Ethernet
(registered trademark), Wi-Fi (registered trademark), Bluetooth
(registered trademark), or the like.
[0062] Detection unit 40 includes position information acquisition
unit 41, sensor 42, speed information acquisition unit 43, and map
information acquisition unit 44. Position information acquisition
unit 41 acquires a current position of vehicle 1 from a global
positioning system (GPS) receiver. Sensor 42 is a general term for
various sensors for detecting a situation outside the vehicle and a
state of vehicle 1. As a sensor for detecting a situation outside
the vehicle, for example, a camera, a millimeter wave radar, a
light detection and ranging (laser imaging detection and ranging,
LIDAR), a temperature sensor, a pressure sensor, a humidity sensor,
an illumination sensor, or the like is mounted. As a situation
outside the vehicle, a road situation in which the host vehicle
travels or an environmental situation including weather, and a
traveling position or a traveling state of a nearby vehicle
traveling at the periphery of the host vehicle are considered. Any
information outside the vehicle that can be detected by the sensor
may be considered. As a sensor for detecting a state of vehicle 1,
for example, an acceleration sensor, a gyro sensor, a geomagnetic
sensor, an inclination sensor, or the like is mounted. Speed
information acquisition unit 43 acquires the current speed of
vehicle 1 from a vehicle speed sensor. Map information acquiring
unit 44 acquires map information around the current position of
vehicle 1 from a map database. Map database may be recorded on a
recording medium in vehicle 1, or may be downloaded from a map
server via a network in use.
[0063] Detection unit 40 and automatic driving control device 20
are connected to each other by wire communication such as a
dedicated line, a USB, an Ethernet (registered trademark), a
controller area network (CAN), or the like. A configuration in
which data acquired and detected by detection unit 40 is directly
output from detection unit 40 to driving support device 10 may be
employed.
[0064] Driving operation unit 50 includes steering 51, brake pedal
52, accelerator pedal 53, and blinker switch 54. In an automatic
driving mode according to the present embodiment, acceleration,
deceleration, steering, and blinker blink are a target of automatic
control by automatic driving control device 20. In FIG. 1, an
operation unit when these controls are performed manually is drawn.
Information indicating that driving operation unit 50 is slightly
moved by a driver in a manual way may output to driving support
device 10.
[0065] Steering 51 is an operation unit for steering the vehicle.
When steering 51 is rotated by a driver, the traveling direction of
the vehicle is controlled through a steering actuator. The steering
actuator can be electronically controlled by a steering electronic
control unit (ECU).
[0066] Brake pedal 52 is an operation unit for decelerating vehicle
1. When brake pedal 52 is depressed by a driver, the vehicle is
decelerated via a brake actuator. The brake actuator can be
electronically controlled by a brake ECU.
[0067] Accelerator pedal 53 is an operation unit for accelerating
vehicle 1. When accelerator pedal 53 is depressed by a driver, an
engine rotation speed and/or a motor rotation speed is controlled
via an accelerator actuator. In a pure gas car, the engine rotation
speed is controlled. In a pure electric vehicle, the motor rotation
speed is controlled. In a hybrid car, both of the engine rotation
speed and the motor rotation speed are controlled. The accelerator
actuator can be electronically controlled by an engine ECU and/or a
motor ECU.
[0068] Blinker switch 54 is an operation unit for blinking a
blinker so as to notify a course of the vehicle to the outside.
When blinker switch 54 is turned on/off by a driver, the blinker is
turned on/off via a blinker controller. The blinker controller
includes a drive circuit such as a relay controlling power supply
to a blinker lamp, or the like.
[0069] Each of the steering ECU, the brake ECU, the engine ECU, the
motor ECU, and the blinker controller and automatic driving control
device 20 are connected to each other by wired communication such
as a CAN, a dedicated line, or the like. Each of the steering ECU,
the brake ECU, the engine ECU, the motor ECU, and the blinker
controller respectively transmits a state signal indicating the
state of each of a steering, a brake, an engine, a motor, and a
blinker lamp to automatic driving control device 20.
[0070] In the automatic driving mode, each of the steering ECU, the
brake ECU, the engine ECU, and the motor ECU drives the
corresponding actuator according to a control signal supplied from
automatic driving control device 20. In a manual driving mode, a
configuration in which an instruction is directly transferred from
each of steering 51, brake pedal 52, and accelerator pedal 53 to
the corresponding actuator in a mechanical way may be employed, or
a configuration in which electronic control intervenes via the
corresponding ECU may be employed. The blinker controller turns
on/off the blinker lamp according to the control signal supplied
from automatic driving control device 20 or an instruction signal
from blinker switch 54.
[0071] Automatic driving control device 20 is an automatic driving
controller that has an automatic driving control function, and
includes control unit 21, memory unit 22, and input-output unit
(I/O unit) 23. The configuration of control unit 21 may be realized
by cooperation between hardware resources and software resources or
only hardware resources. As the hardware resources, a processor, a
read only memory (ROM), a random access memory (RAM), and other
large-scale integration (LSI) circuits can be used, and as software
resources, an operating system, an application, and a program such
as a firmware or the like can be used. Memory unit 22 includes a
non-volatile recording medium such as a flash memory or the like.
Input-output unit 23 performs various communication controls
according to various communication formats.
[0072] Control unit 21 calculates a control value for controlling
an object of automatic control such as a traveling direction of
vehicle 1 or the like by applying various parameter values
collected from detection unit 40 and various ECUs to an automatic
driving algorithm. Control unit 21 transfers the calculated control
value to each ECU or controller of an object of control. In the
present embodiment, the control value is transferred to the
steering ECU, the brake ECU, the engine ECU, and the blinker
controller. In a case of an electric vehicle or a hybrid car, the
control value is transferred to the motor ECU instead of the engine
ECU or in addition to the engine ECU.
[0073] Driving support device 10 is a human machine interface (HMI)
controller for performing an interface function between vehicle 1
and a driver, and includes determination unit 11, image generation
unit 12, instruction unit 13, and input-output unit 14.
Determination unit 11, image generation unit 12, and instruction
unit 13 can be realized by cooperation between hardware resources
and software resources, or only hardware resources. As the hardware
resources, a processor, a ROM, a RAM, and other LSI circuits can be
used, and as software resources, an operating system, an
application, and a program such as a firmware or the like can be
used. Input-output unit 14 performs various communication controls
according to various communication formats. Input-output unit 14
includes image output unit 14a, operation signal input unit 14b,
command output unit 14c, and vehicle information input unit 14d.
Image output unit 14a outputs an image generated by image
generation unit 12 to display unit 31. Operation signal input unit
14b receives an operation signal that is input from input unit 32
by an operation of a driver, a passenger, or a user outside the
vehicle, and outputs the operation signal to determination unit 11.
Command output unit 14c outputs the command instructed by
instruction unit 13 to automatic driving controller 20. Vehicle
information input unit 14d receives detection data acquired by
detection unit 40 or vehicle information generated by automatic
driving controller 20, and outputs the detection data or the
vehicle information to image generation unit 12.
[0074] Automatic driving controller 20 and HMI controller 10 are
directly connected to each other by a signal line. A configuration
in which automatic driving controller 20 and HMI controller 10 are
connected to each other via a CAN may be employed. A configuration
in which automatic driving controller 20 and HMI controller 10 are
integrated into one controller may be also employed.
[0075] FIG. 2 is a diagram illustrating an example of a basic
sequence of detection unit 40, automatic driving controller 20, HMI
controller 10, display unit 31, and input unit 32 in FIG. 1.
Detection unit 40 detects host vehicle position information, host
vehicle traveling road information, and host vehicle peripheral
information, and outputs the detected information to automatic
driving controller 20 (P1). Automatic driving controller 20 outputs
the host vehicle position information, the host vehicle traveling
road information, and the host vehicle peripheral information
acquired from detection unit 40 including nearby vehicle that
travels the periphery of a host vehicle, to HMI controller 10 (P2).
HMI controller 10 generates a schematic diagram including the host
vehicle, the nearby vehicle, and the host vehicle peripheral
situation based on the information acquired from automatic driving
controller 20 (P3). HMI controller 10 outputs the generated
schematic diagram to display device 30, and the schematic diagram
is displayed on display unit 31 (P4).
[0076] A user who views the schematic diagram displayed on display
unit 31 comes into contact with input unit 32 (P5). Display unit 31
outputs coordinate data at a position at which the contact is
detected to HMI controller 10 (P6). HMI controller 10 determines a
type of the command based on the coordinate data acquired from
display device 30 (P7). HMI controller 10 receives an additional
input until a certain period of time has elapsed (P8 to P12). After
determination of the command, HMI controller 10 regenerates a
schematic diagram indicating that the command is being instructed
(P8). HMI controller 10 outputs the regenerated schematic diagram
to display device 30, and the regenerated schematic diagram is
displayed on display unit 31 (P9). In a case where the command
corresponding to the gesture operation by the touch of a user does
not exist, HMI controller 10 generates a schematic diagram
including an error message, and outputs the schematic diagram to
display device 30, and the schematic diagram is displayed on
display unit 31.
[0077] When a user who views the schematic diagram indicating that
the command is being instructed comes into contact with input unit
32 (P10), display unit 31 outputs the coordinate data at a position
at which the contact is detected to HMI controller 10 (P11). HMI
controller 10 executes additional command determination processing
based on the coordinate data acquired from display device 30 (P12).
In a case where there is no input of a new command in the
additional command processing (P12), HMI controller 10 issues a
command determined in P7 to automatic driving controller 20 (P13
and P14). In a case where a new command is input in the additional
command processing (P12), HMI controller 10 issues a new command to
automatic driving controller 20. In a case where the new command
that is input is a cancel command, HMI controller 10 cancels the
issue of a command. Processing of overwriting and canceling of the
original command due to a new command may be performed by automatic
driving controller 20. In this case, after the command
determination processing in P7 and P12, HMI controller 10 transmits
the command to automatic driving controller 20, and performs
processing of overwriting and canceling according to an internal
state of automatic driving controller 20.
[0078] Detection unit 40 periodically detects the host vehicle
position information, the host vehicle traveling road information,
and the host vehicle peripheral information, and outputs the
information to automatic driving controller 20 (P15). Automatic
driving controller 20 determines whether or not control instructed
by the command issued from HMI controller 10 is executable (P16),
based on the information. In a case where it is determined that the
control is executable, automatic driving controller 20 outputs a
control start notification to HMI controller 10 (P17). When the
control start notification is received, HMI controller 10
regenerates a schematic diagram including a message indicating that
the control is being performed (P18). HMI controller 10 outputs the
regenerated schematic diagram to display device 30, and the
regenerated schematic diagram is displayed on the display unit 31
(P19).
[0079] Although not illustrated, automatic driving controller 20
calculates a specific control value for controlling driving
operation unit 50 that performs the issued command by applying
various parameter values collected from detection unit 40 or
various ECUs to an automatic driving algorithm, and transfers the
control value to the ECU or controller of each control target, the
control value being an automatic control target such as a traveling
direction of vehicle 1 or the like. Driving operation unit 50
operates based on the specific control value. When a predetermined
control value or the detection data acquired by detection unit 40
is a predetermined value (in a predetermined range), and when
automatic driving controller 20 determines that a condition of the
issued command is satisfied, driving operation unit 50 determines
that performing of the command is completed.
[0080] When a control completion notification is received from
automatic driving controller 20, HMI controller 10 generates a
schematic diagram including a message indicating that control is
completed, and outputs the generated schematic diagram to display
device 30. During a period for which an operation from a user is
not received, HMI controller 10 generates a schematic diagram
including a message indicating that an operation is not received,
and outputs the generated schematic diagram to display device
30.
[0081] FIG. 3 is a diagram illustrating an example of a basic
flowchart for explaining processing of HMI controller 10 in FIG. 1.
Determination unit 11 of HMI controller 10 checks whether or not a
driving mode is an automatic driving mode or a manual driving mode
(S1). In the manual driving mode (N in S2), the process ends. In a
case of the automatic driving mode (Y in S2), processing is
performed as follows.
[0082] Sensor information that is input from detection unit 40 to
automatic driving controller 20 is updated at any time (S3). Image
generation unit 12 of HMI controller 10 generates a schematic
diagram including the host vehicle, a nearby vehicle, and the host
vehicle peripheral situation based on the host vehicle position
information, the host vehicle traveling road information, and the
host vehicle peripheral information including a nearby vehicle
traveling the periphery of a host vehicle that are input from
automatic driving controller 20, and draws the generated schematic
diagram on display unit 31 (S4). Determination unit 11 checks
whether or not a reception mode is a reception enable mode in which
an operation from a user can be received or a reception disable
mode in which an operation from a user cannot be received (S5). In
a case where the reception mode is the reception disable mode (N in
S6), the process ends. In a case where the reception mode is the
reception enable mode (Y in S6), determination unit 11 determines
whether or not there is a contact to input unit 32 by a user (S7).
In a case where there is no contact to input unit 32 by a user (N
in S8), predetermined-time elapse determination processing (S12) to
be described later is performed. In a case where there is a contact
to input unit 32 by a user (Y in S8), determination unit 11
determines a control command according to a gesture operation input
by a user (S9). The details of the determination processing will be
described later.
[0083] In a case where the control command determined in step S9 is
not a cancel command (N in S10), image generation unit 12 displays
that the command is being instructed on display unit 31 (S11). When
a predetermined time has elapsed after the control command is
determined (Y in S12), in a case where there is a control command
determined in step S9 (Y in S13), operation reception disable is
displayed on display unit 31 (S14), determination unit 11 updates
the reception mode from the reception enable mode to the reception
disable mode (S15), and instruction unit 13 outputs the determined
control command to automatic driving controller 20 (S16). Until a
predetermined time has elapsed (N in S12), the process transitions
to step S3.
[0084] In step S10, in a case where the determined control command
is a cancel command (Y in S10), cancel is displayed (S110), and the
process ends. In step S13, in a case where there is no control
command determined in step S9, an input error is displayed (S111),
and the process ends. Automatic driving controller 20 periodically
detects the host vehicle position information, the host vehicle
traveling road information, and the host vehicle peripheral
information from detection unit 40. Since the host vehicle
peripheral situation constantly changes, after the control command
is output to automatic driving controller 20, there is a case where
it is determined that the control command is not executable. For
example, after a following instruction, there is a case where other
cars interrupt between the host vehicle and a nearby vehicle. In a
case where it is determined that the control command is executable
by automatic driving controller 20 (Y in S17), image generation
unit 12 displays that the control is being performed on display
unit 31 (S18), and starts counting by activating a timer (S19). In
a case where it is determined that the control is not executable by
automatic driving controller 20 (N in S17), image generation unit
12 displays a control disable error on display unit 31 (S112).
[0085] FIG. 4 is a flowchart for explaining update processing of a
reception mode. When a count value of the timer reaches a set value
(for example, 10 seconds) (Y in S113), determination unit 11 of HMI
controller 10 updates the reception mode from the reception disable
mode to the reception enable mode (S114). The count value of the
timer may be changed according to the host vehicle peripheral
situation. When a notification indicating completion of the control
is received from automatic driving controller 20, or when it is
determined that the control according to the control command is
completed based on behavior of vehicle 1, determination unit 11 may
update the reception mode from the reception disable mode to the
reception enable mode.
[0086] Hereinafter, in this embodiment, as a control command, an
example in which a control command for instructing following
traveling is issued will be described. The following traveling is a
traveling form in which a host vehicle travels while keeping a
constant inter-vehicle distance from a preceding vehicle. The
following traveling has an effect of reducing wind pressure of the
following vehicle and improving fuel efficiency of the following
vehicle. A user inputs a gesture operation for instructing
following traveling to input unit 32. A specific example of the
gesture operation will be described later.
[0087] FIG. 5 is a flowchart illustrating an example of
determination processing in a case where a gesture operation for
instructing following traveling is input in step S9 of FIG. 3.
Determination unit 11 of HMI controller 10 determines whether or
not a host vehicle mark is present at a contact start position
(S9a). In a case where the host vehicle mark is not present at the
contact start position (N in S9a), determination unit 11 determines
that the gesture operation is a control command of another
instruction other than a following instruction (S9b).
[0088] In a case where the host vehicle mark is present at the
contact start position (Y in S9a), image generation unit 12 draws a
drop enable area in the schematic diagram, and displays the area on
display unit 31 (S9c). A specific example of the drop enable area
will be described later.
[0089] Determination unit 11 receives a touch event generated in
input unit 32 (S9d), and determines the type of the touch event
(S9e). In a case where the type of the touch event is a movement
(movement in S9e), image generation unit 12 draws a prediction
trajectory/route candidate of vehicle 1 in the schematic diagram,
and the prediction trajectory/route candidate of vehicle 1 is
displayed on display unit 31 (S9f).
[0090] In a case where the type of the touch event is a contact end
(a contact end in S9e), determination unit 11 determines whether or
not a contact end position is on a nearby vehicle mark (S9g). In a
case where the contact end position is on a nearby vehicle mark (Y
in S9g), determination unit 11 determines whether or not the nearby
vehicle mark is positioned on the same lane on which the host
vehicle mark is positioned (S9h). In a case where the nearby
vehicle mark is positioned on the same lane on which the host
vehicle mark is positioned (Y in S9h), determination unit 11
determines that the gesture operation is a following instruction
command (S9i). In a case where the nearby vehicle mark is not
positioned on the same lane on which the host vehicle mark is
positioned (N in S9h), determination unit 11 determines whether or
not a traveling direction of the host vehicle is the same as a
traveling direction of the nearby vehicle (S9j). In a case where
the traveling direction of the host vehicle is the same as the
traveling direction of the nearby vehicle (Y in S9j), determination
unit 11 determines that the gesture operation is a traffic lane
change instruction command for instructing traffic lane change to
the lane on which the nearby vehicle mark is positioned (S9k). In a
case where the traveling direction of the host vehicle is not the
same as the traveling direction of the nearby vehicle (N in S9j),
image generation unit 12 displays an error message on display unit
31 (S9l).
[0091] In a case where the contact end position is not on the
nearby vehicle mark in step S9g (N in S9g), determination unit 11
determines whether or not a distance between a coordinate of the
nearby vehicle mark and a coordinate at the time of contact start
is different from a distance between a coordinate of the nearby
vehicle mark and a coordinate at the time of contact end (S9m). In
a case where the two distances are the same (N in S9m),
determination unit 11 determines that the gesture operation is a
control command of another instruction other than a following
instruction (S9n). In a case where the two distances are different
from each other (Y in S9m), determination unit 11 determines
whether or not the host vehicle is traveling following the nearby
vehicle (S9o). In a case where the host vehicle is not traveling
following the nearby vehicle (N in S9o), determination unit 11
determines that the gesture operation is a target speed change
instruction command (S9p). In a case where the host vehicle is
traveling following the nearby vehicle (Y in S9o), determination
unit 11 determines that the gesture operation is an inter-vehicle
distance change instruction command (S9q).
[0092] Hereinafter, a specific example of the gesture operation
that is used at the time of following will be described. In the
following examples, it is assumed that a touch panel display in
which display unit 31 and input unit 32 are integrated is used.
[0093] FIG. 6 is a flowchart illustrating a first processing
example of issuing a following instruction command by a gesture
operation. Determination unit 11 of HMI controller 10 receives a
touch event (DOWN) from the touch panel (S40). The touch event
(DOWN) is an event representing a contact state change on the touch
panel from a non-contact state to a contact state by a finger or a
pen.
[0094] Determination unit 11 determines whether or not a coordinate
detected by the touch event (DOWN) is present in a display area of
the host vehicle icon (S41). In a case where the coordinate
detected by the touch event (DOWN) is present outside the display
area of the host vehicle icon (N in S41), it is determined that the
gesture operation is not a following instruction, and the process
ends.
[0095] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of the host vehicle icon (Y
in S41), determination unit 11 receives a touch event (MOVE) from
the touch panel (S42). The touch event (MOVE) is an event
representing a change from a contact state on a certain point of
the touch panel to a contact state on another point of the touch
panel by a finger or a pen. Then, determination unit 11 receives a
touch event (UP) from the touch panel (S43). The touch event (UP)
is an event representing a contact state change on the touch panel
from a contact state to a non-contact state by a finger or a
pen.
[0096] Determination unit 11 determines whether or not a coordinate
detected by the touch event (UP) is present in a display area of
the nearby vehicle icon (S44). In a case where the coordinate
detected by the touch event (UP) is present in the display area of
the nearby vehicle icon (Y in S44), instruction unit 13 issues a
following instruction command for instructing the host vehicle to
travel following the nearby vehicle according to the nearby vehicle
icon, to automatic driving controller 20 (S45). Image generation
unit 12 displays a following icon indicating that the host vehicle
is in traveling following the nearby vehicle at a position between
the host vehicle icon and the nearby vehicle icon in the schematic
diagram (S46). In a case where the coordinate detected by the touch
event (UP) is present outside the display area of the nearby
vehicle icon (N in S44), it is determined that the gesture
operation is not a following instruction command, and the process
ends.
[0097] FIG. 7 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 6. In the schematic
diagram illustrated in (a) of FIG. 7, a host vehicle icon V1 and a
nearby vehicle icon V2 are displayed on the same lane. As display
forms of the host vehicle, the nearby vehicle, and a peripheral
situation including a road, various display forms are considered. A
real photographed image may be used, and a fine CG image or an
animation image may be used. Display of the host vehicle is not
limited to an icon, and the host vehicle may be displayed as a more
simple mark or character, or may be displayed as a real
photographed image. In other words, there is no problem as long as
the host vehicle is displayed on a screen as an object in any
display form. The same is true in display of the nearby
vehicle.
[0098] When a driver is about to travel following the nearby
vehicle, as illustrated in (a) of FIG. 7, a driver drags the host
vehicle icon V1, and as illustrated in (b) of FIG. 7, drops the
host vehicle icon V1 onto the nearby vehicle icon V2. Accordingly,
a following instruction command issued, and as shown in (c) of FIG.
7, a following icon F1 indicating that the host vehicle is in
traveling following the nearby vehicle is displayed at a position
between the host vehicle icon V1 and the nearby vehicle icon
V2.
[0099] FIG. 8 is a flowchart illustrating a second processing
example of issuing a following instruction command by a gesture
operation. The second processing example is an example of dragging
and dropping a nearby vehicle icon. Determination unit 11 of HMI
controller 10 receives a touch event (DOWN) from the touch panel
(S40). Determination unit 11 determines whether or not a coordinate
detected by the touch event (DOWN) is present in a display area of
the nearby vehicle icon (S47). In a case where the coordinate
detected by the touch event (DOWN) is present outside the display
area of the nearby vehicle icon (N in S47), it is determined that
the gesture operation is not a following instruction, and the
process ends.
[0100] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of the nearby vehicle icon (Y
in S47), determination unit 11 receives a touch event (MOVE) from
the touch panel (S42). Then, determination unit 11 receives a touch
event (UP) from the touch panel (S43). Determination unit 11
determines whether or not a coordinate detected by the touch event
(UP) is present in a display area of the host vehicle icon (S48).
In a case where the coordinate detected by the touch event (UP) is
present in the display area of the host vehicle icon (Y in S48),
instruction unit 13 issues a following instruction command for
instructing the host vehicle to travel following the nearby vehicle
corresponding to the nearby vehicle icon to automatic driving
controller 20 (S45). Image generation unit 12 displays a following
icon indicating that the host vehicle is traveling following the
nearby vehicle, at a position between the host vehicle icon and the
nearby vehicle icon in the schematic diagram (S46). In a case where
the coordinate detected by the touch event (UP) is present outside
the display area of the host vehicle icon (N in S48), it is
determined that the gesture operation is not a following
instruction command, and the process ends.
[0101] FIG. 9 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 8. In a case where a
driver to travel following a nearby vehicle, as illustrated in (a)
of FIG. 9, a driver drags a nearby vehicle icon V2, and as
illustrated in (b) of FIG. 9, drops the nearby vehicle icon V2 onto
a host vehicle icon V1. Accordingly, a following instruction
command is issued, and as illustrated in (c) of FIG. 9, a following
icon F1 indicating that the host vehicle is traveling following the
nearby vehicle is displayed at a position between the host vehicle
icon V1 and the nearby vehicle icon V2. The following icon F1 may
be an icon representing a linking state of the host vehicle and the
nearby vehicle such as a spring or a string, or an arrow pointing
two parties, or may be a character description such as following
traveling. The following icon F1 may be displayed at a position
other than a position between the host vehicle icon and the nearby
vehicle icon. [0053]
[0102] FIG. 10 is a flowchart illustrating a third processing
example of issuing a following instruction command by a gesture
operation. The third processing example is an example of
instructing a nearby vehicle to travel following the host vehicle.
Processes from step S40 to step S48 are the same as those of the
flowchart of FIG. 8. In a case where the coordinate detected by the
touch event (UP) is present in the display area of a host vehicle
icon (Y in S48), instruction unit 13 transmits a nearby vehicle
following instruction command for instructing the nearby vehicle
corresponding to the nearby vehicle icon to travel following the
host vehicle, to the nearby vehicle via a vehicle-to-vehicle
communication (S49). For example, as a vehicle-to-vehicle
communication, a vehicle-to-vehicle communication based on
intelligent transport systems (ITS) can be used.
[0103] In a case where the coordinate detected by the touch event
(UP) is present outside the display area of the host vehicle icon
(N in S48), the nearby vehicle following instruction command is not
transmitted.
[0104] HMI controller 10 of the nearby vehicle receives the nearby
vehicle following instruction command, and replies "following" or
"non-following" according to an operation of a driver of the nearby
vehicle, to HMI controller 10 that is a transmission destination of
the command. Determination unit 11 of HMI controller 10 of the host
vehicle determines whether or not a response of "following" is
received from the nearby vehicle (S410). In a case where a response
of "following" is received from the nearby vehicle (Y in S410),
image generation unit 12 displays a following icon indicating that
the nearby vehicle is traveling following the host vehicle, at a
position between the host vehicle icon and the nearby vehicle icon
in the schematic diagram (S46). In a case where a response of
"following" is not received from the nearby vehicle (N in S410),
nearby vehicle following traveling is not established, and the
process of step S46 is skipped.
[0105] FIG. 11 is a flowchart illustrating a modification example
of the third processing example of issuing a following instruction
command by a gesture operation. In the modification example, the
process of step S49 in the flowchart of FIG. 10 is replaced to the
process of step S411. In other words, in a case where the
coordinate detected by the touch event (UP) is present in the
display area of a host vehicle icon (Y in S48), instruction unit 13
transmits a nearby vehicle following instruction command for
instructing the nearby vehicle corresponding to the nearby vehicle
icon to travel following the host vehicle, to the nearby vehicle
via a relay device (S411). The relay device may be a road-side
device, or a relay server on the Internet. As an example of the
former, a road-to-vehicle communication based on the ITS can be
used, and the nearby vehicle following instruction command is
transmitted from the host vehicle to the nearby vehicle via the
road-to-vehicle communication between the host vehicle and the
road-side device and the road-to-vehicle communication between the
road-side device and the nearby vehicle.
[0106] FIG. 12 is a diagram illustrating an example of a gesture
operation according to the flowcharts of FIG. 10 and FIG. 11. In a
case where a driver tries a nearby vehicle (following vehicle) to
travel following host vehicle, as illustrated in (a) of FIG. 12, a
driver drags a nearby vehicle icon V2, and as illustrated in (b) of
FIG. 12, drops the nearby vehicle icon V2 onto a host vehicle icon
V1. Accordingly, a nearby vehicle following instruction command is
issued, and when nearby vehicle following traveling is established,
as illustrated in (c) of FIG. 12, a following icon F1 indicating
that the nearby vehicle is traveling following the host vehicle is
displayed at a position between the host vehicle icon V1 and the
nearby vehicle icon V2. As a gesture operation for issuing the
following instruction command, other than the above operation, an
operation that links the host vehicle icon and the nearby vehicle
icon may be used.
[0107] FIG. 13 is a flowchart illustrating a first processing
example of issuing a following inter-vehicle distance change
instruction command for changing an inter-vehicle distance during
following traveling by a gesture operation. In this processing
example, it is assumed that a host vehicle is traveling following a
nearby vehicle or a nearby vehicle is traveling following a host
vehicle. Determination unit 11 of HMI controller 10 receives
two-point first and second touch event (DOWN) from the touch panel
(S412). Determination unit 11 determines whether or not a
coordinate detected by a first touch event (DOWN) is present in a
display area of the host vehicle icon (S413). In a case where the
coordinate detected by the first touch event (DOWN) is present
outside the display area of the host vehicle icon (N in S413), it
is determined that the gesture operation is not an inter-vehicle
distance change instruction, and the process ends.
[0108] In a case where the coordinate detected by the first touch
event (DOWN) is present in the display area of the host vehicle
icon (Y in S413), determination unit 11 determines whether or not a
coordinate detected by a second touch event (DOWN) is present in a
display area of the nearby vehicle icon (S414). In a case where the
coordinate detected by the second touch event (DOWN) is present
outside the display area of the nearby vehicle icon (N in S414), it
is determined that the gesture operation is not an inter-vehicle
distance change instruction, and the process ends.
[0109] In a case where the coordinate detected by the second touch
event (DOWN) is present in the display area of the nearby vehicle
icon (Y in S414), determination unit 11 receives a touch event
(MOVE) from the touch panel (S415). Then, determination unit 11
receives two-point third and fourth touch event (UP) from the touch
panel (S416). Determination unit 11 compares the distance between a
third coordinate and a fourth coordinate detected by the third and
fourth touch event (UP) and the distance between a first coordinate
and a second coordinate detected by the first and second touch
event (DOWN) (S417). In a case where the two distances are
different from each other (Y in S417), instruction unit 13 issues a
following inter-vehicle distance change instruction command for
changing the distance between the host vehicle and the nearby
vehicle in following traveling to automatic driving controller
20
[0110] (S418). Image generation unit 12 changes the inter-vehicle
distance between the host vehicle icon and the nearby vehicle icon
in the schematic diagram (S419). In a case where the two distances
are the same (N in S417), it is determined that the gesture
operation is not an inter-vehicle distance change instruction, and
the process ends.
[0111] FIG. 14 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 13. In a case where a
driver is about to change the inter-vehicle distance between the
host vehicle and the nearby vehicle in following traveling, as
illustrated in (a) of FIG. 14, a driver touches the host vehicle
icon V1 and the nearby vehicle icon V2 with two fingers. In this
state, as illustrated in (b) of FIG. 14, when a driver pinches in
the inter-vehicle distance, an inter-vehicle distance change
instruction command for shortening the inter-vehicle distance
between the host vehicle and the nearby vehicle is issued. The
inter-vehicle distance after change is determined according to the
distance between the host vehicle icon V1 and the nearby vehicle
icon V2. In (c) of FIG. 14, a schematic diagram after the
inter-vehicle distance changes is illustrated, and the
inter-vehicle distance between the host vehicle icon V1 and the
nearby vehicle icon V2 is shorten, compared to the inter-vehicle
distance in (a) of FIG. 14. In a state where a driver touches the
host vehicle icon V1 and the nearby vehicle icon V2 with two
fingers, when a driver pinches out the inter-vehicle distance
between the host vehicle icon V1 and the nearby vehicle icon V2, an
inter-vehicle distance change instruction command for increasing
the inter-vehicle distance between the host vehicle and the nearby
vehicle is issued.
[0112] FIG. 15 is a flowchart illustrating a second processing
example of issuing a following inter-vehicle distance change
instruction command for changing an inter-vehicle distance during
following traveling by a gesture operation. Even in this processing
example, it is assumed that host vehicle is traveling following a
nearby vehicle or a nearby vehicle is traveling following host
vehicle. Determination unit 11 of HMI controller 10 receives
two-point first and second touch event (DOWN) from the touch panel
(S420). Determination unit 11 determines whether or not coordinates
detected by the two-point first and second touch event (DOWN) are
present on a line connecting a position of a host vehicle icon (a
first coordinate) and a position of a nearby vehicle icon (a second
coordinate) (S421). In a case where the coordinates detected by the
two-point first and second touch event (DOWN) are not present on
the line (N in S421), it is determined that the gesture operation
is not an inter-vehicle distance change instruction, and the
process ends.
[0113] In a case where the coordinates detected by the two-point
touch event (DOWN) are present on the line (Y in S421),
determination unit 11 receives a touch event (MOVE) from the touch
panel (S422). Then, determination unit 11 receives two-point third
and fourth touch event (UP) from the touch panel (S423).
Determination unit 11 compares the distance between a fifth
coordinate and a sixth coordinate detected by the third and fourth
touch event
[0114] (UP) and the distance between a third coordinate and a
fourth coordinate detected by the first and second touch event
(DOWN) (S424). In a case where the two distances are different from
each other (Y in S424), instruction unit 13 issues a following
inter-vehicle distance change instruction command for changing the
distance between the host vehicle and the nearby vehicle in
following traveling to automatic driving controller 20 (S425).
Image generation unit 12 changes the inter-vehicle distance between
the host vehicle icon and the nearby vehicle icon in the schematic
diagram (S426). In a case where the two distances are the same (N
in S424), it is determined that the gesture operation is not an
inter-vehicle distance change instruction, and the process
ends.
[0115] FIG. 16 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 15. In a case where a
driver is about to change the inter-vehicle distance between a host
vehicle and a nearby vehicle in following traveling, as illustrated
in (a) of FIG. 16, a driver touches two points on an imaginary line
L1 between a host vehicle icon V1 and a nearby vehicle icon V2 with
two fingers. In this state, as illustrated in (b) of FIG. 16, when
a driver pinches in the inter-vehicle distance, an inter-vehicle
distance change instruction command for shortening the
inter-vehicle distance between the host vehicle and the nearby
vehicle is issued. The inter-vehicle distance after change is
determined according to the distance between the host vehicle icon
V1 and the nearby vehicle icon V2. In (c) of FIG. 16, a schematic
diagram after the inter-vehicle distance changes is illustrated,
and the inter-vehicle distance between the host vehicle icon V1 and
the nearby vehicle icon V2 (a) is shorten, compared to the
inter-vehicle distance in (a) of FIG. 16. In a state where a driver
touches the two points on the imaginary line L1 between the host
vehicle icon V1 and the nearby vehicle icon V2 with two fingers,
when a driver pinches out the inter-vehicle distance between the
host vehicle icon V1 and the nearby vehicle icon V2, an
inter-vehicle distance change instruction command for increasing
the inter-vehicle distance between the host vehicle and the nearby
vehicle is issued. In (a) of FIG. 16 and (b) of FIG. 16, the
imaginary line L1 is displayed in the schematic diagram, but an
example in which the imaginary line L1 is not displayed may be also
employed. As a gesture operation for issuing the inter-vehicle
distance change instruction command, an operation with one finger
other than the pinch operation with two fingers may be used, and an
operation for changing the distance between the host vehicle icon
and the nearby vehicle icon may be used.
[0116] FIG. 17 is a flowchart illustrating a processing example of
issuing a command for interchanging positions of two vehicles in
following traveling by a gesture operation. In this processing
example, it is assumed that a host vehicle is traveling following a
nearby vehicle. Processes from step S412 to step S416 are the same
as those of the flowchart of FIG. 13. Determination unit 11
determines whether or not the center point between a third
coordinate and a fourth coordinate detected by the third and fourth
touch event (UP) is the same as the center point between a first
coordinate and a second coordinate detected by the first and second
touch event (DOWN) (S427). In a case where the center point between
the third coordinate and the fourth coordinate is the same as the
center point between the first coordinate and the second coordinate
(Y in S427), instruction unit 13 issues a following release
instruction command for releasing following traveling in which the
host vehicle is traveling following the nearby vehicle to automatic
driving controller 20 (S428). At this time, instruction unit 13
transmits a nearby vehicle following instruction command for
instructing the nearby vehicle to follow the host vehicle to the
nearby vehicle via a vehicle-to-vehicle communication (S429). The
nearby vehicle following instruction command may be transmitted to
the nearby vehicle via a relay device. Image generation unit 12
interchanges the host vehicle (following vehicle) icon and the
nearby vehicle (followed vehicle) icon in the schematic diagram
(S430). In a case where positions of the two center points are
different from each other in step S427 (N in S427), it is
determined that the gesture operation is not a following traveling
vehicle interchange instruction, and the process ends.
[0117] FIG. 18 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 17. In a case where a
driver is about to interchange positions of the host vehicle and a
nearby vehicle in following traveling, as illustrated in (a) of
FIG. 18, a driver touches the host vehicle icon V1 and a nearby
vehicle icon V2 with two fingers. In this state, as illustrated in
(b) of FIG. 18, a driver rotates the two fingers so as to
interchange the host vehicle icon V1 and the nearby vehicle icon
V2. Accordingly, a command for interchanging the positions of the
host vehicle and the nearby vehicle in following traveling is
issued. In (c) of FIG. 18, a schematic diagram after vehicle
interchange is illustrated, and the positions of the host vehicle
icon V1 and the nearby vehicle icon V2 are reversed compared to the
positions in (a) of FIG. 18. In (a) and (b) of FIG. 18, an
imaginary line L1 and a center point C2 between the host vehicle
icon V1 and the nearby vehicle icon V2 are displayed in the
schematic diagram, but an example in which the imaginary line L1
and the center point C2 are not displayed may be also employed. The
order of following traveling is periodically interchanged, and thus
it is possible to equalize fuel consumption in the host vehicle and
the nearby vehicle. As a gesture operation that issues a following
relationship change instruction command, other than the above
operation, an operation that interchanges the following
relationship between the host vehicle icon and the nearby vehicle
icon may be used. The host vehicle icon and the nearby vehicle icon
may be interchanged by displaying an interchange button in the host
vehicle icon or the nearby vehicle icon or between the host vehicle
icon and the nearby vehicle icon, and pressing the interchange
button. After a following relationship is set, automatic driving
controller 20 may periodically perform interchange control.
[0118] FIG. 19 is a flowchart illustrating a first processing
example of issuing an inter-vehicle distance setting instruction
command for setting an inter-vehicle distance between host vehicle
and nearby vehicle by a gesture operation. This processing example
can be also applied in a stage of instructing following traveling,
and a stage of inter-vehicle distance change after following
traveling is established. Determination unit 11 of HMI controller
10 receives a touch event (DOWN) from the touch panel (S431).
Determination unit 11 determines whether or not a coordinate
detected by the touch event (DOWN) is present in a display area of
the host vehicle icon (S432). In a case where the coordinate
detected by the touch event (DOWN) is present outside the display
area of the host vehicle icon (N in S432), it is determined that
the gesture operation is not an inter-vehicle distance setting
instruction, and the process ends.
[0119] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of the host vehicle icon (Y
in S432), determination unit 11 receives a touch event (MOVE) from
the touch panel (S433). Image generation unit 12 displays the
inter-vehicle distance between the host vehicle and the nearby
vehicle in the schematic diagram (S434). During a period for which
a touch event (UP) is not received from the touch panel (N in
S435), the process transitions to step S433, and reception of a
touch event (MOVE) and display of the inter-vehicle distance
information are continued (S433 and S434). That is, as the distance
between the host vehicle icon and the nearby vehicle icon is
changed, image generation unit 12 updates the inter-vehicle
distance information in the schematic diagram in real time.
[0120] When a touch event (UP) is received from the touch panel (Y
in S435), determination unit 11 determines whether or not a
coordinate detected by the touch event (UP) is present in the same
traffic lane as that of the host vehicle icon and behind the nearby
vehicle icon (S436). In a case where the coordinate detected by the
touch event (UP) is present in the same traffic lane as that of the
host vehicle icon and behind the nearby vehicle icon (Y in S436),
instruction unit 13 issues an inter-vehicle distance setting
instruction command for setting an inter-vehicle distance according
to the distance between the host vehicle icon and the nearby
vehicle icon to automatic driving controller 20 (S437). Image
generation unit 12 displays the inter-vehicle distance information
that is set in the schematic diagram (S438). In a case where the
coordinate detected by the touch event (UP) is not present in the
same traffic lane as that of the host vehicle icon and behind the
nearby vehicle icon (N in S436), it is determined that the gesture
operation is not an inter-vehicle distance setting instruction, and
the process ends.
[0121] FIG. 20 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 19. In a case where a
driver is about to set an inter-vehicle distance between host
vehicle and nearby vehicle, as illustrated in (a) of FIG. 20, a
driver drags a host vehicle icon V1, and as illustrated in (b) of
FIG. 20, upwardly or downwardly moves the host vehicle icon V1.
During dragging, a pop-up window P1 for displaying an inter-vehicle
distance is displayed. As illustrated in (c) of FIG. 20, when the
host vehicle icon V1 is dropped, an inter-vehicle distance setting
instruction command is issued. A message indicating that an
inter-vehicle distance is set is displayed in the pop-up window P1,
and then the pop-up window P1 is deleted.
[0122] FIG. 21 is a flowchart illustrating a second processing
example of issuing an inter-vehicle distance setting instruction
command for setting an inter-vehicle distance between host vehicle
and nearby vehicle by a gesture operation. This processing example
can be applied in a stage of inter-vehicle distance change after
following traveling is established. Determination unit 11 of HMI
controller 10 receives a touch event (DOWN) from the touch panel
(S439). Determination unit 11 determines whether or not a
coordinate detected by the touch event (DOWN) is present in a
display area of a host vehicle icon (S440). In a case where the
coordinate detected by the touch event (DOWN) is present outside
the display area of a host vehicle icon (N in S440), it is
determined that the gesture operation is not an inter-vehicle
distance setting instruction, and the process ends.
[0123] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of a host vehicle icon (Y in
S440), determination unit 11 receives a touch event (MOVE) from the
touch panel (S441). Determination unit 11 determines whether or not
a coordinate detected by the touch event (MOVE) is present in a
display area of the host vehicle icon (S442). In a case where the
coordinate detected by the touch event (MOVE) is present outside
the display area of the host vehicle icon (N in S442), the process
transitions to S441, and reception of the touch event (MOVE) is
continued.
[0124] In a case where the coordinate detected by the touch event
(MOVE) is present in the display area of the host vehicle icon (Y
in S442), determination unit 11 receives a touch event (UP) from
the touch panel (S443). In other words, a flick input starting from
the host vehicle icon is detected. Instruction unit 13 issues an
inter-vehicle distance setting instruction command for setting a
current inter-vehicle distance between the host vehicle and the
nearby vehicle to be a constant value, shorten, or lengthen, to
automatic driving controller 20 (S444). Image generation unit 12
displays the inter-vehicle distance information that is set in the
schematic diagram (S445).
[0125] FIG. 22 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 21. In a case where a
driver is about to set an inter-vehicle distance between host
vehicle and nearby vehicle, as illustrated in (a) of FIG. 22, a
driver flicks a host vehicle icon V1 as a starting point. When the
host vehicle icon V1 is flicked, as illustrated in (b) of FIG. 22,
a pop-up window P1 in which a distance excluded from the current
inter-vehicle distance or a distance added to the current
inter-vehicle distance is included is displayed, and an
inter-vehicle distance setting instruction command is issued. Then,
as illustrated in (c) of FIG. 22, a message indicating that the
changed inter-vehicle distance is set is displayed in the pop-up
window P1, and then the pop-up window P1 is deleted after a
predetermined time has elapsed. In (a) and (b) of FIG. 22, the
inter-vehicle distance is shorten by 10m by flicking the host
vehicle icon V1 to the left side. When the host vehicle icon V1 is
flicked to the right side, the inter-vehicle distance is lengthen
by 10m.
[0126] FIG. 23 is a flowchart illustrating a first processing
example of issuing a following release command for releasing
following traveling by a gesture operation. Determination unit 11
of HMI controller 10 receives a touch event (DOWN) from the touch
panel (S446). Determination unit 11 determines whether or not a
coordinate detected by the touch event (DOWN) is present in a
display area of the host vehicle icon (S447). In a case where the
coordinate detected by the touch event (DOWN) is present outside
the display area of the host vehicle icon (N in S447), it is
determined that the gesture operation is not a following release
instruction, and the process ends.
[0127] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of the host vehicle icon (Y
in S447), determination unit 11 receives a touch event (MOVE) from
the touch panel (S448). During a period for which the touch event
(UP) is not received from the touch panel (N in S449), the process
transitions to step S448, and reception of a touch event
[0128] (MOVE) is continued. When a touch event (UP) is received
from the touch panel (Y in S449), determination unit 11 determines
whether or not a coordinate detected by the touch event (UP) is
present in the same traffic lane as that of the host vehicle icon
and behind the nearby vehicle icon (S450). In a case where the
coordinate detected by the touch event (UP) is present in the same
traffic lane as that of the host vehicle icon and behind the nearby
vehicle icon (Y in S450), instruction unit 13 issues a following
release instruction command to automatic driving controller 20
(S451). Image generation unit 12 deletes the following icon in the
schematic diagram (S452). In a case where the coordinate detected
by the touch event (UP) is not present in the same traffic lane as
that of the host vehicle icon and behind the nearby vehicle icon (N
in S450), it is determined that the gesture operation is not a
following release instruction, and the process ends.
[0129] FIG. 24 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 23. In a case where a
driver is about to release the following traveling, as illustrated
in (a) of FIG. 24, a driver flicks a host vehicle icon V1 as a
starting point in a direction away from a nearby vehicle icon V2 on
the same traffic lane. When the host vehicle icon V1 is flicked in
the direction, a following release instruction command is issued.
Then, as illustrated in (b) of FIG. 24, a pop-up window P1
including a message indicating that following traveling is released
is displayed, and then the pop-up window P1 is deleted after a
predetermined time has elapsed. The following icon F1 is also
deleted. Instead of flicking the host vehicle icon V1 in a
direction away from the nearby vehicle icon V2, a form in which a
following release instruction command is issued by flicking the
nearby vehicle icon V2 in a direction away from the host vehicle
icon V1 may be employed.
[0130] FIG. 25 is a flowchart illustrating a second processing
example of issuing a following release command for releasing
following traveling by a gesture operation. Processes from step
S446 to step S448 are the same as those of the flowchart of FIG.
23. When a touch event (UP) is received from the touch panel
(S448), determination unit 11 determines whether or not a
coordinate detected by the touch event (UP) is present in the
display area of the following icon (S453). In a case where the
coordinate detected by the touch event (UP) is present outside the
display area of the following icon (N in S453), the process
transitions to S448, and reception of the touch event (MOVE) is
continued. In a case where the coordinate detected by the touch
event (UP) is present in the display area of the following icon (Y
in S453), determination unit 11 determines whether or not a touch
event (UP) is received from the touch panel (S449). In a case where
the touch event (UP) is not received (N in S449), it is determined
that the gesture operation is not a following release instruction,
and the process ends. In a case where the touch event (UP) is
received (Y in S449), instruction unit 13 issues a following
release instruction command to automatic driving controller 20
(S451). Image generation unit 12 deletes the following icon in the
schematic diagram (S452).
[0131] FIG. 26 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 25. In a case where a
driver is about to release following traveling, as illustrated in
(a) of FIG. 26, a driver swipes the following icon F1 so as to
traverse the following icon. Accordingly, a following release
instruction command is issued. Then, as illustrated in (b) of FIG.
26, a pop-up window P1 including a message indicating that
following traveling is released is displayed, and then the pop-up
window P1 is deleted after a predetermined time has elapsed. The
following icon F1 is also deleted. In order to issue a following
release instruction command, other than the above operation, an
operation that cancels the link between the host vehicle icon and
the nearby vehicle icon may be used.
[0132] FIG. 27 is a flowchart illustrating a display example of a
schematic diagram in a vehicle that can choose an adaptive cruise
control (ACC) mode and a following mode. In the present embodiment,
the ACC mode is a mode whose main purpose is constant speed
traveling at a set speed, and the following mode is a mode whose
main purpose is traveling while maintaining an inter-vehicle
distance that is set between the host vehicle and the preceding
vehicle.
[0133] Determination unit 11 of HMI controller 10 receives a touch
event (DOWN) from the touch panel (S454). Determination unit 11
determines whether or not a coordinate detected by the touch event
(DOWN) is present in a display area of a host vehicle icon (S455).
In a case where the coordinate detected by the touch event (DOWN)
is present outside the display area of a host vehicle icon (N in
S455), the process ends without display processing.
[0134] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of a host vehicle icon (Yin
S455), determination unit 11 receives a touch event (MOVE) from the
touch panel (S456). Determination unit 11 determines whether or not
the ACC mode is in an ON state (S457). In a case where the ACC mode
is in an ON state (Yin S457), image generation unit 12 displays a
current vehicle speed of the host vehicle in the schematic diagram
(S458). In a case where the ACC mode is not in an ON state (N in
S457), image generation unit 12 displays an inter-vehicle distance
between the host vehicle and the nearby vehicle in the schematic
diagram (S459). During a period for which the touch event (UP) is
not received from the touch panel (N in S460), the process
transitions to step S456, and processes from step S457 to step S459
are continued.
[0135] When the touch event (UP) is received from the touch panel
(Y in S460), determination unit 11 determines whether or not a
coordinate detected by the touch event (UP) is present in the same
traffic lane as that of the host vehicle icon and behind the nearby
vehicle icon (S461). In a case where the coordinate detected by the
touch event (UP) is present in the same traffic lane as that of the
host vehicle icon and behind the nearby vehicle icon (Y in S461),
Image generation unit 12 displays the vehicle speed information or
the inter-vehicle distance information that is set in the schematic
diagram (S462). In a case where the coordinate detected by the
touch event (UP) is not present in the same traffic lane as that of
the host vehicle icon and behind the nearby vehicle icon (N in
S461), the process ends without displaying the vehicle speed
information or the inter-vehicle distance information that is
set.
[0136] FIG. 28A is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 27. In FIG. 28A, an
example in a case where the host vehicle is set to the ACC mode is
illustrated. In a case where a driver is about to set the vehicle
speed, as illustrated in (a) of FIG. 28A, a driver drags a host
vehicle icon V1, and as illustrated in (b) of FIG. 28A, upwardly or
downwardly moves the host vehicle icon V1. For example, moving
upwardly means speed-up, and moving downwardly means speed-down.
During dragging, a pop-up window P1 for displaying the vehicle
speed is displayed. As illustrated in (c) of FIG. 28A, when the
host vehicle icon V1 is dropped, a vehicle speed setting
instruction command is issued. A message indicating that the
vehicle speed is set is displayed in the pop-up window P1, and then
the pop-up window P1 is deleted.
[0137] In FIG. 28B, an example in a case where the host vehicle is
set to the following mode is illustrated. In a case where a driver
is about to set the inter-vehicle distance between the host vehicle
and the nearby vehicle, as illustrated in (d) of FIG. 28B, a driver
drags a host vehicle icon V1, and as illustrated in (e) of FIG.
28B, upwardly or downwardly moves the host vehicle icon V1. For
example, moving upwardly means that the inter-vehicle distance is
shorten, and moving downwardly means that the inter-vehicle
distance is lengthen. During dragging, a pop-up window P1 for
displaying the inter-vehicle distance is displayed. As illustrated
in (f) of FIG. 28B, when the host vehicle icon V1 is dropped, an
inter-vehicle distance setting instruction command is issued. A
message indicating that an inter-vehicle distance is set is
displayed in the pop-up window P1, and then the pop-up window P1 is
deleted.
[0138] FIG. 29 is a flowchart illustrating a fourth processing
example of issuing a following instruction command by a gesture
operation. The fourth processing example is an example of dragging
a host vehicle icon and then changing a scale of the schematic
diagram. Determination unit 11 of HMI controller 10 receives a
touch event (DOWN) from the touch panel (S463). Determination unit
11 determines whether or not a coordinate detected by the touch
event (DOWN) is present in a display area of a host vehicle icon
(S464). In a case where the coordinate detected by the touch event
(DOWN) is present outside the display area of a host vehicle icon
(N in S464), it is determined that the gesture operation is not a
following instruction, and the process ends.
[0139] In a case where the coordinate detected by the touch event
(DOWN) is present in the display area of a host vehicle icon (Y in
S464), determination unit 11 receives a touch event (MOVE) from the
touch panel (S465). Determination unit 11 determines whether or not
a nearby vehicle (preceding vehicle) icon is included in the
schematic diagram of the screen displayed on the touch panel
(S466). In a case where a nearby vehicle (preceding vehicle) icon
is not included in the schematic diagram of the screen (N in S466),
image generation unit 12 changes (reduces) a scale of the schematic
diagram such that a nearby vehicle (preceding vehicle) icon is
included in the schematic diagram (S467). In a case where a nearby
vehicle (preceding vehicle) icon is included in the schematic
diagram of the screen (Yin S466), the process of step S467 is
skipped. During a period for which the touch event (UP) is not
received from the touch panel (N in S468), the process transitions
to step S465, and processes from step S465 to step S467 are
continued. When the touch event (UP) is received from the touch
panel (Y in S468), instruction unit 13 issues a scale change
instruction command to automatic driving controller 20 (S469).
Image generation unit 12 displays the schematic diagram on the set
scale (S470).
[0140] FIG. 30 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 29. As illustrated in
(a) of FIG. 30, when a driver drags a host vehicle icon V1, in a
case where a nearby vehicle icon is not present in the schematic
diagram displayed on the screen, as illustrated in (b) of FIG. 30,
a driver decreases the scale of the schematic diagram until the
nearby vehicle icon V2 is included in the schematic diagram. When
the host vehicle icon V1 is dropped onto the nearby vehicle icon
V2, a following instruction command is issued. Accordingly, it is
possible to easily find a nearby vehicle and more quickly issue a
following instruction command, and this leads to a saving in fuel
consumption.
[0141] FIG. 31 is a flowchart illustrating a processing example of
issuing a line instruction command for instructing line traveling
by a gesture operation. In the present embodiment, line traveling
means a traveling form in which three or more vehicles travel side
by side in a line while keeping the same inter-vehicle distance
from each other. Relationship between two vehicles adjacent to each
other is the same as the following traveling.
[0142] Determination unit 11 of HMI controller 10 receives a touch
event (DOWN) from the touch panel (S471). Then, determination unit
11 receives a touch event (MOVE/UP) from the touch panel (S472).
Determination unit 11 determines the type of the touch event
(S473). In a case where the type of the touch event is "MOVE" (MOVE
in S473), determination unit 11 stores a coordinates of the touch
event (MOVE) in a work area (S474). Then, the process transitions
to step S472, and reception of a touch event (MOVE/UP) is
continued.
[0143] In a case where the type of the touch event is "UP"
(S473UP), determination unit 11 determines whether or not the
coordinate of the touch event (MOVE) forms a closed region by
referring to the work area (S474). In a case where the coordinate
of the touch event (MOVE) forms a closed region (Y in S474),
determination unit 11 determines whether or not multiple vehicle
icons including a host vehicle icon are included in the closed
region (S475). In a case where the multiple vehicle icons are
included in the closed region (Y in S475), instruction unit 13
issues a line instruction command to automatic driving controller
20 (S476), while instruction unit 13 transmits the line instruction
command to each of multiple nearby vehicles corresponding to
multiple nearby vehicle icons in the closed region via a
vehicle-to-vehicle communication (via a relay device) (S478). In a
case where one nearby vehicle icon is included in the closed
region, instead of the line instruction command, a following
instruction command is issued and transmitted. In a case where the
coordinate of the touch event (MOVE) does not form a closed region
in step S474 (N in S474), and in a case where multiple vehicle
icons are not included in the closed region in step S475 (N of
S475), it is determined that the gesture operation is not a line
instruction, and the process ends.
[0144] FIG. 32A is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 31. In a case where a
driver tries three vehicles including the host vehicle and two
nearby vehicles to travel in a line, as illustrated in (a) of FIG.
32A, a driver moves an instruction point so as to surround a host
vehicle icon V1 and two nearby vehicle icons V2 and V3, and returns
the instruction point to the starting point of the instruction
point, thereby forming a closed region A1. When the closed region
A1 is formed, a line instruction command is issued, and as
illustrated in (b) of FIG. 32A, line traveling is established with
three vehicles including the host vehicle and the two other
vehicles. Following icons F1 and F2 are displayed at a position
between vehicle icons V1, V2, and V3 that are adjacent to each
other.
[0145] Next, FIG. 32B is a diagram illustrating another example of
a gesture operation according to the flowchart of FIG. 31. In a
case where a driver tries three vehicles including a host vehicle
and two other vehicles to travel in a line, as illustrated in (c)
of FIG. 32B, a driver selects a host vehicle icon V1 and two nearby
vehicle icons V2 and V3 using a rectangular-shaped range
designation window A2. When a range designation operation is
completed, a line instruction command is issued, and as illustrated
in (d) of FIG. 32B, line traveling is established with three
vehicles including the host vehicle and the two other vehicles.
Following icons F1 and F2 are displayed at a position between
vehicle icons V1, V2, and V3 that are adjacent to each other.
[0146] FIG. 33 is a flowchart illustrating a fifth processing
example of issuing a following instruction command by a gesture
operation. The fifth processing example is an example of requesting
a confirm operation. Processes from step S40 to step S44 are the
same as those of the flowchart of FIG. 6.
[0147] In a case where the coordinate detected by the touch event
(UP) is present in the display area of the nearby vehicle icon (Y
in S44), when determination unit 11 receives a confirm gesture
input (Y in S485), instruction unit 13 issues a following
instruction command for instructing the host vehicle to travel
following the nearby vehicle corresponding to the nearby vehicle
icon, to automatic driving controller 20 (S45). Image generation
unit 12 displays a following icon indicating that the host vehicle
is traveling following the nearby vehicle, at a position between
the host vehicle icon and the nearby vehicle icon in the schematic
diagram (S46). During a period for which there is no confirm
gesture input (N in S485), the issue of the command is
suspended.
[0148] FIG. 34 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 33. When a driver is
about to travel following a nearby vehicle, as illustrated in (a)
of FIG. 34, a driver drags the host vehicle icon V1, and as
illustrated in (b) of FIG. 34, moves the host vehicle icon V1 onto
a nearby vehicle icon V2. When the host vehicle icon V1 is moved, a
confirm button C1 is displayed. As illustrated in (c) of FIG. 34,
when the confirm button C1 is pressed, a following instruction
command is issued, and when following traveling is established, a
following icon F1 is displayed at a position between the host
vehicle icon V1 and the nearby icon V2.
[0149] FIG. 35 is a diagram illustrating a display example during a
period for which a host vehicle icon V1 is dragged and dropped onto
a nearby vehicle icon V2. In a case where a driver is about to
travel following a nearby vehicle, as illustrated in (a) of FIG.
35, a driver drags the host vehicle icon V1. During a period for
which the host vehicle icon V1 is dragged and dropped onto the
nearby vehicle icon V2, as illustrated in (b) of FIG. 35, an
afterimage Via (a circle mark with a dotted line, or the like) is
displayed at the original position of the host vehicle icon. As
illustrated in (c) of FIG. 35, when the host vehicle icon V1 is
dropped onto the nearby vehicle icon V2, the afterimage Via is
deleted. As illustrated in (d) of FIG. 35, when following traveling
is established, a following icon F1 is displayed at a position
between the host vehicle icon V1 and the nearby vehicle icon
V2.
[0150] FIG. 36 is a diagram illustrating another display example
during a period for which a host vehicle icon V1 is dragged and
dropped onto a nearby vehicle icon V2. In (a) of FIG. 36, an
example in which drop areas are displayed in the vicinity of a road
area during a period for which the host vehicle icon V1 is dragged
and dropped onto the nearby vehicle icon V2 is illustrated.
[0151] In (a) of FIG. 36, a cancel drop area D1, a
rerouting-to-home drop area D2, a left-turn drop area D3, and a
right-turn drop area D4 are respectively displayed at up, down,
right and left side of the road area. A driver drops the host
vehicle icon V1 onto any one of the drop areas D1 to D4, and thus
the corresponding operation can be performed. In the drop area, an
operation other than the above operation may be displayed, and for
example, an operation instruction such as rerouting to a gas
station, rerouting to a parking area, rerouting to a service area,
passing, traffic lane change, ACC, acceleration and deceleration to
a target speed, or the like may be displayed. All roads may be a
cancel drop area.
[0152] In (b) of FIG. 36, an example in which, during a period for
which the host vehicle icon V1 is dragged and dropped onto the
nearby vehicle icon V2, a color of a background such as a road or
the like is changed (inverted, thinned, or the like) and the color
of a background is returned to the original color thereof after the
dropping is completed is illustrated. In (c) of FIG. 36, an example
in which, during a period for which the host vehicle icon V1 is
dragged and dropped onto the nearby vehicle icon V2, a movement
trajectory T1 being dragged from a drag start position is displayed
(a dotted line, or the like) and the trajectory T1 is deleted after
the dropping is completed is illustrated.
[0153] FIG. 37 is a diagram illustrating a display example of a
host vehicle icon V1 being dragged in a case where there is a drop
disable area or the like. In a case where a driver is about to
travel following the nearby vehicle, as illustrated in (a) of FIG.
37, a driver drags the host vehicle icon V1. After the host vehicle
icon V1 is dragged, when there is a drop disable area (a vehicle
that is refused to be followed, an opposite traffic lane, or the
like) or when a following operation is disabled depending on a
situation, the color of the host vehicle icon V1 is changed
(inverted, thinned, or the like). In a case where dropping onto a
nearby vehicle icon V2 is disabled, as illustrated in (b) of FIG.
37, when the host vehicle icon V1 is dropped onto the nearby
vehicle icon V2, as illustrated in (c) of FIG. 37, the host vehicle
icon V1 is returned to the original position thereof, and a pop-up
window P3 including an error message such as "This is a following
operation disable area." is displayed.
[0154] FIG. 38A to FIG. 38C are diagrams illustrating another
display example of a host vehicle icon V1 being dragged in a case
where there is a drop disable area or the like. In FIG. 38A, an
example in which, after the host vehicle icon V1 is dragged, when a
following operation is disabled, a color of a background such as a
road or the like is changed is illustrated. When a following
operation is possible, the color of a background is returned to the
original color thereof. In FIG. 38B, an example in which, after the
host vehicle icon V1 is dragged, a color of a drop disable area is
changed (inverted, thinned, or the like) is illustrated. In FIG.
38C, an example in which, after the host vehicle icon V1 is
dragged, when there is a drop disable area or when a following
operation is disabled, a notification using an error sound or a
vibration is performed is illustrated.
[0155] FIG. 39 is a diagram illustrating a display example in a
case where a drag operation is disabled. In a case where a driver
is about to travel following the nearby vehicle, as illustrated in
(a) of FIG. 39, at the starting of dragging of the host vehicle
icon V1, when a start of an operation is disabled, as illustrated
in (b) of FIG. 39, a color of the host vehicle icon V1 is changed,
and a drag operation (a movement of an icon) is disabled. In
addition, a pop-up window P3 including an error message such as
"This is a following operation disable area." is displayed.
[0156] FIG. 40A and FIG. 40B are diagrams illustrating another
display example in a case where a drag operation is disabled. In
FIG. 40A, an example in which, at the starting of dragging of the
host vehicle icon V1, in a case where a start of an operation is
disabled, a color of a background such as a road or the like is
changed is illustrated. When a following operation is enabled, the
color of a background is returned to the original color thereof. In
FIG. 40B, an example in which, at the starting of dragging of the
host vehicle icon V1, in a case where a start of an operation is
disabled, in a state where a drag operation cannot be performed, a
notification using an error sound or a vibration is performed is
illustrated.
[0157] During a period for which the host vehicle icon is dropped
and following traveling is established, image generation unit 12
may display a state of the nearby vehicle as a ghost, and display a
trajectory of the host vehicle. During a period for which the host
vehicle icon is dropped and following traveling is established,
image generation unit 12 may change a display state of the host
vehicle icon (flashing, a color change, a size, a position, or the
like). During a period for which the host vehicle icon is dropped
and following traveling is established, determination unit 11 may
queue a next instruction as an additional operation (reserve
control to be performed after completion of current control).
During a period for which the host vehicle icon is dropped and
following traveling is established, in a case where a following
operation is temporarily disabled due to waiting for the light to
change or the like, image generation unit 12 may perform a display
such as "trying" until following control is established. During
dragging of the host vehicle icon, or during a period for which the
host vehicle icon is dropped and following traveling is
established, image generation unit 12 may display an estimated
required-time or a remaining required-time until the host vehicle
icon is dropped and following traveling is established. In a case
where following traveling control is temporarily disabled, the
control may be set in advance to be continued until the control is
enabled or suspended and stopped.
[0158] As described above, according to the present embodiment, an
icon displayed on the touch panel is moved by a gesture, and thus
it is possible to transfer the contents of various operations to
automatic driving controller 20. The gesture operation of the icon
is a simple operation, and thus a driver is released from a driving
operation in the related art such as turning of steering 51,
depressing of accelerator pedal 53, or the like. For example, it is
possible to easily instruct following traveling, by displaying the
schematic diagram including a host vehicle icon and a nearby
vehicle icon and moving the host vehicle icon onto the nearby
vehicle icon. A driver can perform a confirmation of a peripheral
situation and an operation instruction on the touch panel at the
same time, and thus the sight line of the driver does not move.
Accordingly, it is possible to reduce the possibility of an
erroneous operation and realize safer driving. Although a gesture
operation corresponding to a control command is described as a
drag-and-drop operation or the like, a touch-and touch operation
may be used. A predetermined operation is preferably used, but an
operation that is customizable by a driver may be used. Further, in
order to recognize the corresponding relationship of a gesture
operation and a control command, a comment, an icon, or an arrow
may be displayed by display unit, or a guide display or a voice
guidance may be provided by display unit 31.
[0159] As above, the present invention has been described based on
the embodiments. These embodiments have been presented by way of
example only, and it should be understood by those skilled in the
art that the embodiments can be modified in various forms by
combining the respective elements or processing processes, and the
modification examples are included in the scope of the present
invention.
[0160] For example, although an example in which HMI controller 10
is implemented by a dedicated LSI is assumed, functions of HMI
controller 10 may be realized using a CPU in a portable device such
as a smart phone or a tablet that is used as display device 30. In
this case, a portable device that is used as display device 30 and
automatic driving controller 20 are directly connected to each
other. Functions of HMI controller 10 may be realized by a CPU in a
head unit such as a car navigation device, a display audio, or the
like. A dedicated LSI on which HMI controller 10 is mounted may be
included in a head unit.
[0161] The embodiments may be specified by the following items.
[Item 1]
[0162] A driving support device (10) including:
[0163] an image output unit (14a) that outputs an image including a
host vehicle object representing a host vehicle and a nearby
vehicle object representing a nearby vehicle, to a display unit
(31);
[0164] an operation signal input unit (14b) that receives an
operation of a user for changing a distance between the host
vehicle object and the nearby vehicle object in the image displayed
on the display unit (31); and
[0165] a command output unit (14c) that outputs a command for
instructing one vehicle to travel following another vehicle when
the distance between the host vehicle object and the nearby vehicle
object is equal to or less than a predetermined distance, to an
automatic driving control unit (20) that controls automatic
driving.
[0166] In this case, a user can intuitively and conveniently
perform an operation for instructing the following traveling.
[Item 2]
[0167] The driving support device according to Item 1, in which
when the operation signal input unit (14b) receives an operation of
the user for moving the host vehicle object in the image displayed
on the display unit (31) to the position of the nearby vehicle
object, or an operation of the user for moving the nearby vehicle
object to the position of the host vehicle object, the command
output unit (14c) outputs a command for instructing the following
traveling, to the automatic driving control unit (20).
[0168] In this case, a user can intuitively and conveniently
perform an operation for instructing the following traveling.
[Item 3]
[0169] The driving support device (10) according to Item 1 or 2,
further including: a notification unit (14) that notifies the
nearby vehicle of a radio signal for notifying the following
traveling through a vehicle-to-vehicle communication or a relay
device.
[0170] In this case, it is possible to intuitively and conveniently
perform an operation for notifying that the host vehicle travels
following the nearby vehicle, or an operation for notifying that
the nearby vehicle travels following the host vehicle.
[Item 4]
[0171] The driving support device (10) according to Item 1, in
which when the operation signal input unit (14b) receives an
operation of the user for changing the distance between the host
vehicle object and the nearby vehicle object in the image displayed
on the display unit (31) in a state of the following traveling, the
command output unit (14c) outputs a command for instructing the
change of the inter-vehicle distance between the host vehicle and
the nearby vehicle, to the automatic driving control unit (20).
[0172] In this case, it is possible to intuitively and conveniently
perform an operation for changing the inter-vehicle distance during
the following traveling.
[Item 5]
[0173] The driving support device (10) according to Item 1, in
which when the operation signal input unit (14b) receives an
operation of the user for changing a distance between two points on
an imaginary line connecting the host vehicle object and the nearby
vehicle object in the image displayed on the display unit (31) in a
state of the following traveling, the command output unit (14c)
outputs a command for instructing the change of the inter-vehicle
distance between the host vehicle and the nearby vehicle, to the
automatic driving control unit (20).
[0174] In this case, it is possible to intuitively and conveniently
perform an operation for changing the inter-vehicle distance during
the following traveling.
[Item 6]
[0175] The driving support device (10) according to Item 4 or 5,
further including: a notification unit (14) that notifies the
nearby vehicle of a radio signal for notifying the change of the
inter-vehicle distance between the host vehicle and the nearby
vehicle through a vehicle-to-vehicle communication or a relay
device.
[0176] In this case, it is possible to intuitively and conveniently
perform an operation for notifying the nearby vehicle of the change
of the inter-vehicle distance.
[Item 7]
[0177] The driving support device (10) according to Item 1, in
which when the operation signal input unit (14b) receives an
operation of the user for interchanging the host vehicle object and
the nearby vehicle object in the image displayed on the display
unit (31) in a state of the following traveling, the command output
unit (14c) outputs a command for instructing the switching from a
state in which one vehicle travels following another vehicle to a
state in which the another vehicle travels following the one
vehicle, to the automatic driving control unit (20).
[0178] In this case, it is possible to intuitively and conveniently
perform an operation for switching the order of vehicles during the
following traveling.
[Item 8]
[0179] The driving support device (10) according to Item 1, in
which when the operation signal input unit (14b) receives an
operation of the user for moving the host vehicle object or the
nearby vehicle object in the image displayed on the display unit
(31) to the outside of an imaginary line connecting the host
vehicle object and the nearby vehicle object in a state of the
following traveling, the command output unit (14c) outputs a
command for instructing the release of the following traveling, to
the automatic driving control unit (20).
[0180] In this case, it is possible to intuitively and conveniently
perform an operation for releasing the following traveling.
[Item 9]
[0181] The driving support device (10) according to Item 1, in
which when the operation signal input unit (14b) receives an
operation of the user for making an imaginary line connecting the
host vehicle object and the nearby vehicle object in the image
displayed on the display unit (31) intersect at an instruction
point in a state of the following traveling, the command output
unit (14c) outputs a command for instructing the release of the
following traveling, to the automatic driving control unit
(20).
[0182] In this case, it is possible to intuitively and conveniently
perform an operation for releasing the following traveling.
[Item 10]
[0183] The driving support device (10) according to any one of
Items 1 to 9, in which the image output unit (14a) outputs an image
including a following object representing the following traveling
between the host vehicle object and the nearby vehicle object in a
state of the following traveling, to the display unit (31).
[0184] In this case, a user can intuitively recognize that the host
vehicle and the nearby vehicle are in following traveling.
[Item 11]
[0185] The driving support device (10) according to Item 10, in
which the following object is a spring-shaped object or a
string-shaped object.
[0186] In this case, a user can intuitively recognize that the host
vehicle and the nearby vehicle are in following traveling.
[Item 12]
[0187] A driving support system (10, 30) including:
[0188] a display device (30) that displays an image; and
[0189] a driving support device (10) that outputs an image to the
display device (30),
[0190] in which the driving support device (10) includes: [0191] an
image output unit (14a) that outputs an image including a host
vehicle object representing a host vehicle and a nearby vehicle
object representing nearby vehicle, to the display device (30);
[0192] an operation signal input unit (14b) that receives an
operation of a user for changing a distance between the host
vehicle object and the nearby vehicle object in the image displayed
on the display device (30); and [0193] a command output unit (14c)
that outputs a command for instructing one vehicle to travel
following another vehicle when the distance between the host
vehicle object and the nearby vehicle object is equal to or less
than a predetermined distance, to an automatic driving control unit
(20) that controls automatic driving.
[0194] In this case, a user can intuitively and conveniently
perform an operation for instructing the following traveling.
[Item 13]
[0195] A driving support method including:
[0196] a step of outputting an image including a host vehicle
object representing a host vehicle and a nearby vehicle object
representing nearby vehicle, to a display unit (31);
[0197] a step of receiving an operation of a user for changing a
distance between the host vehicle object and the nearby vehicle
object in the image displayed on the display unit (31); and
[0198] a step of outputting a command for instructing one vehicle
to travel following the another vehicle when the distance between
the host vehicle object and the nearby vehicle object is equal to
or less than a predetermined distance, to an automatic driving
control unit (20) that controls automatic driving.
[0199] In this case, a user can intuitively and conveniently
perform an operation for instructing the following traveling.
[Item 14]
[0200] A driving support program causing a computer to perform:
[0201] processing of outputting an image including a host vehicle
object representing a host vehicle and a nearby vehicle object
representing a nearby vehicle, to a display unit (31);
[0202] processing of receiving an operation of a user for changing
a distance between the host vehicle object and the nearby vehicle
object in the image displayed on the display unit (31); and
[0203] processing of outputting a command for instructing one
vehicle to travel following the another vehicle when the distance
between the host vehicle object and the nearby vehicle object is
equal to or less than a predetermined distance, to an automatic
driving control unit (20) that controls automatic driving.
[0204] In this case, a user can intuitively and conveniently
perform an operation for instructing the following traveling.
[Item 15]
[0205] An automatic drive vehicle (1) including:
[0206] an image output unit (14a) that outputs an image including a
host vehicle object representing a host vehicle and a nearby
vehicle object representing a nearby vehicle, to a display unit
(31);
[0207] an operation signal input unit (14b) that receives an
operation of a user for changing a distance between the host
vehicle object and the nearby vehicle object in the image displayed
on the display unit (31);
[0208] a command output unit (14c) that outputs a command for
instructing one vehicle to travel following another vehicle when
the distance between the host vehicle object and the nearby vehicle
object is equal to or less than a predetermined distance; and
[0209] an automatic driving control unit (20) that executes the
output command.
[0210] In this case, a user can intuitively and conveniently
perform an operation for instructing the following traveling.
INDUSTRIAL APPLICABILITY
[0211] The present invention can be used in a vehicle equipped with
automatic driving mode.
REFERENCE MARKS IN THE DRAWINGS
[0212] 1 vehicle [0213] 10 HMI controller (driving support device)
[0214] 11 determination unit [0215] 12 image generation unit [0216]
13 instruction unit [0217] 14 input-output unit [0218] 14a image
output unit [0219] 14b operation signal input unit [0220] 14c
command output unit [0221] 14d vehicle information input unit
[0222] 20 automatic driving controller (automatic driving control
device) [0223] 21 control unit [0224] 22 memory unit [0225] 23
input-output unit [0226] 30 display device [0227] 31 display unit
[0228] 32 input unit [0229] 40 detection unit [0230] 41 position
information acquisition unit [0231] 42 sensor [0232] 43 speed
information acquisition unit [0233] 44 map information acquisition
unit [0234] 50 driving operation unit [0235] 51 steering [0236] 52
brake pedal [0237] 53 accelerator pedal [0238] 54 blinker
switch
* * * * *