U.S. patent application number 16/190802 was filed with the patent office on 2019-04-18 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 | 20190113394 16/190802 |
Document ID | / |
Family ID | 55808233 |
Filed Date | 2019-04-18 |
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United States Patent
Application |
20190113394 |
Kind Code |
A1 |
YAMADA; KAZUSHIGE ; et
al. |
April 18, 2019 |
DRIVING SUPPORT DEVICE, DRIVING SUPPORT SYSTEM AND DRIVING SUPPORT
METHOD
Abstract
A driver can intuitively and conveniently perform an operation
for instructing passing to a vehicle. In a driving support device,
an image output unit outputs, to a display unit, an image
containing an own vehicle object representing an own vehicle and an
another vehicle object representing another vehicle in front of the
own vehicle object. An operation signal input unit receives an
operation of a user for changing the positional relationship
between the own vehicle object and the another vehicle object in
the image displayed on the display unit. A command output unit
outputs, to an automatic driving control unit, a command for
instructing the own vehicle to pass the another vehicle when the
positional relationship between the own vehicle object and the
another vehicle object is changed such that the own vehicle object
is positioned in front of the another vehicle object.
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: |
55808233 |
Appl. No.: |
16/190802 |
Filed: |
November 14, 2018 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
|
|
15328893 |
Jan 24, 2017 |
10160451 |
|
|
PCT/JP2016/003382 |
Jul 19, 2016 |
|
|
|
16190802 |
|
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01K 7/16 20130101; B60K
2370/334 20190501; G06F 3/04817 20130101; B60W 2420/52 20130101;
H01C 1/14 20130101; H01C 13/02 20130101; G06F 3/0486 20130101; B60W
50/10 20130101; B60K 2370/141 20190501; B60W 2420/403 20130101;
B60W 2540/215 20200201; B60K 2370/152 20190501; B60W 2510/20
20130101; B60W 50/14 20130101; B60K 2370/146 20190501; G08G 1/167
20130101; G06F 3/04883 20130101; B60W 10/04 20130101; B60K 35/00
20130101; H01C 1/022 20130101; B60W 10/18 20130101; B60W 30/18163
20130101; B60K 2370/21 20190501; G01S 19/13 20130101; B60W 2050/146
20130101; B60W 2510/18 20130101; B60K 2370/1438 20190501; B60W
2520/105 20130101; B60W 2554/804 20200201; B60W 2710/18 20130101;
B60K 2370/126 20190501; B60W 30/14 20130101; B60W 2420/42 20130101;
B60W 10/20 20130101; B60W 2710/20 20130101; B60K 2370/333 20190501;
B60W 2720/10 20130101; G06F 3/04845 20130101; B60W 2754/50
20200201 |
International
Class: |
G01K 7/16 20060101
G01K007/16; H01C 1/022 20060101 H01C001/022; H01C 13/02 20060101
H01C013/02; H01C 1/14 20060101 H01C001/14 |
Foreign Application Data
Date |
Code |
Application Number |
Jul 31, 2015 |
JP |
2015-152850 |
Claims
1. A driving support device comprising: an image output unit,
which, in operation, outputs, to a display unit, image information
including an own vehicle object representing an own vehicle and an
another vehicle object representing another vehicle; an operation
signal input unit, which, in operation, receives an operation
signal of a user for changing, in the image displayed on the
display unit, a positional relationship between the own vehicle
object and the another vehicle object; and a command output unit,
which, in operation, outputs, to an automatic driving control unit
that controls automatic driving, a control command according to the
received operation signal, wherein the control command includes a
first control command and a second control command, and the command
output unit outputs, to the automatic driving control unit, the
second control command according to a second operation signal and
reserves a control corresponding to the second control command in
the automatic driving control unit before the command output unit
outputs, to the automatic driving control unit, the first control
command according to a first operation signal and performing of a
control corresponding to the first control command is
completed.
2. The driving support device of claim 1 wherein the first
operation signal is an operation signal of the user that changes a
positional relationship between the own vehicle object and the
another vehicle object such that the own vehicle object is
positioned in front of the another vehicle object, the first
control command is a command for instructing the own vehicle to
pass the another vehicle, the second operation signal is an
operation signal of the user that moves the own vehicle from a
first lane to a second lane, and the second control command is a
control command for instructing a traffic lane of the own vehicle
to change from the first lane to the second lane.
3. The driving support device of claim 2 wherein the driving
support device changes a command by the first command that
instructs a traffic lane change to a passing lane, passing the
another vehicle, and a traffic lane change to an original traffic
lane and a command by the second command that instructs a traffic
lane change to the passing lane to a command that instructs a
traffic lane change to the passing lane and passing the another
vehicle.
4. A driving support method, comprising: outputting, to a display
unit, image including an own vehicle object representing an own
vehicle and an another vehicle object representing another vehicle;
receiving an operation signal of a user for changing, in the image
displayed on the display unit, a positional relationship between
the own vehicle object and the another vehicle object; and
outputting, to an automatic driving control unit that controls
automatic driving, a control command according to the received
operation signal, wherein the control command includes a first
control command and a second control command, and the outputting of
the control command includes outputting, to the automatic driving
control unit the second control command according to a second
operation signal and reserving a control corresponding to the
second control command in the automatic driving control unit before
outputting, to the automatic driving control unit, the first
control command according to a first operation signal and
performing of a control corresponding to the first control command
is completed.
5. An automatic drive vehicle, comprising: an image output unit,
which, in operation, outputs, to a display unit, image including an
own vehicle object representing an own vehicle and an another
vehicle object representing another vehicle; an operation signal
input unit, which, in operation, receives an operation signal of a
user for changing, in the image displayed on the display unit, a
positional relationship between the own vehicle object and the
another vehicle object; a command output unit, which, in operation,
outputs a control command according to the received operation
signal; and an automatic driving control unit, which, in operation,
performs the outputted control command, wherein the control command
includes a first control command and a second control command, and
the command output unit outputs, to the automatic driving control
unit, the second control command according to a second operation
signal and reserves a control corresponding to the second control
command in the automatic driving control unit before the command
output unit outputs, to the automatic driving control unit, the
first control command according to a first operation signal and
performing of a control corresponding to the first control command
is completed.
Description
CROSS-REFERENCE TO RELATED APPLICATIONS
[0001] This application is a continuation of U.S. application Ser.
No. 15/328,893 filed on Jan. 24, 2018, which is a U.S. national
stage application of the PCT International Application No.
PCT/JP2016/003382 filed on Jul. 19, 2016, which claims the benefit
of foreign priority of Japanese patent application No. 2015-152850
filed on Jul. 31, 2015, the contents all of which are incorporated
herein by reference.
FIELD OF THE INVENTION
[0002] The present disclosure relates to a technique that supports
a driving operation instruction of a driver to a vehicle during
automatic driving.
DESCRIPTION OF THE RELATED ART
[0003] In recent years, developments in automatic driving of a car
have progressed. For automatic driving, automation levels defined
in 2013 by the National Highway Traffic Safety Administration
(NHTSA) are classified as no automation (level 0),
specific-function automation (level 1), complex-function automation
(level 2), semi-automatic driving (level 3), and fully-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. Automation 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. Automation 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.
10-105885
SUMMARY OF THE INVENTION
[0006] In only displaying road conditions, when a driver instructs
a specific driving operation to a vehicle, the driver needs to
operate each specific switch one by one, turn a steering wheel, or
depress an accelerator pedal while checking the road conditions. In
addition, the sight line of the driver moves, and there is a
possibility of an erroneous operation. In addition, 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,
the correspondence between a switch operation and automatic
traveling control is not intuitive. Further, selecting an
instruction among many switches or selecting a changed function
with reduced switches according to a situation is a complex task.
For this reason, 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.
[0007] The present disclosure has been made in consideration of
such a situation, and an object thereof is to provide a technique
that allows a driver to intuitively and conveniently instruct a
specific driving operation to a vehicle.
[0008] In order to solve the above-described problems, a driving
support device according to an aspect of the present disclosure
includes an image output unit, an operation signal input unit, and
a command output unit. The image output unit outputs, to a display
unit, an image containing an own vehicle object representing an own
vehicle and an another vehicle object representing another vehicle
in front of the own vehicle object. The operation signal input unit
receives an operation of a user for changing the positional
relationship between the own vehicle object and the another vehicle
object in the image displayed on the display unit. The command
output unit outputs, to an automatic driving control unit that
controls automatic driving, a command for instructing the own
vehicle to pass the another vehicle when the positional
relationship between the own vehicle object and the another vehicle
object is changed by the operation of the user for the operation
signal input unit such that the own vehicle object is positioned in
front of the another vehicle object.
[0009] As another aspect of the present disclosure, an aspect in
which the expression of the present disclosure is converted into a
device, a system, a method, a program, a recording medium in which
a program is recorded, and a vehicle equipped therewith by
arbitrarily combining the above components is also effective.
[0010] According to the present disclosure, 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 disclosure.
[0012] FIG. 2 is a diagram illustrating an example of a basic
sequence of detection unit, automatic driving controller, HMI
controller, display unit, and input unit in FIG. 1.
[0013] FIG. 3 is a diagram illustrating an example of a basic
flowchart for explaining processing of HMI controller in FIG.
1.
[0014] FIG. 4 is a flowchart for explaining update processing of a
reception mode.
[0015] FIG. 5 is a flowchart illustrating an example of
determination processing in a case where a gesture operation for
instructing passing is input in step S9 of FIG. 3.
[0016] FIG. 6 is a flowchart illustrating a first processing
example of issuing a passing instruction command by a gesture
operation.
[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 passing instruction command by a gesture
operation.
[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 passing instruction command by a gesture
operation.
[0021] FIG. 11 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 10.
[0022] FIG. 12 is a flowchart illustrating a fourth processing
example of issuing a passing instruction command by a gesture
operation.
[0023] FIG. 13 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 12.
[0024] FIG. 14 is a flowchart illustrating a fifth processing
example of issuing a passing instruction command by a gesture
operation.
[0025] FIG. 15 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 14.
[0026] FIG. 16 is a flowchart illustrating a sixth processing
example of issuing a passing instruction command by a gesture
operation.
[0027] FIG. 17 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 16.
[0028] FIG. 18 is a flowchart illustrating a seventh processing
example of issuing a traffic lane change instruction command by a
gesture operation.
[0029] FIG. 19 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 18.
[0030] FIG. 20 is a flowchart illustrating an eighth processing
example of issuing a passing instruction command by a gesture
operation.
[0031] FIG. 21 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 20.
[0032] FIG. 22 is a flowchart illustrating a ninth processing
example of issuing a passing instruction command by a gesture
operation.
[0033] FIG. 23 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 22.
[0034] FIG. 24 is a flowchart illustrating a processing example of
issuing a cancel command after a passing instruction command is
issued by a gesture operation.
[0035] FIG. 25 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 24.
[0036] FIG. 26 is a diagram illustrating another example of a
gesture operation according to the flowchart of FIG. 24.
[0037] FIG. 27 is a diagram illustrating a first display example of
an own vehicle icon being controlled while the own vehicle icon is
dropped and the own vehicle completes passing.
[0038] FIG. 28 is a diagram illustrating a second display example
of an own vehicle icon being controlled while the own vehicle icon
is dropped and the own vehicle completes passing.
[0039] FIG. 29 is a diagram illustrating a third display example of
an own vehicle icon being controlled while the own vehicle icon is
dropped and the own vehicle completes passing.
[0040] FIG. 30 is a diagram illustrating a fourth display example
of an own vehicle icon being controlled while the own vehicle icon
is dropped and the own vehicle completes passing.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0041] Hereinafter, embodiments of the present disclosure 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 disclosure, and illustrates a
configuration related to automatic driving. Vehicle 1 (an own
vehicle) with an automatic driving mode includes driving support
device (human machine interface (HMI)) 10, automatic driving
control device (automatic driving controller) 20, display device
30, detection unit 40, and driving operation unit 50.
[0042] 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.
[0043] Display unit 31 is a liquid crystal display, an organic EL
display, or a head-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.
[0044] 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.
[0045] 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.
[0046] 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 own vehicle
travels, an environmental situation including weather, and a
traveling position or a traveling state of another vehicle that
travels around the periphery of the own 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.
[0047] 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.
[0048] 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.
[0049] 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).
[0050] 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.
[0051] 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 are 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 at least one of an
engine ECU and a motor ECU.
[0052] 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.
[0053] 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.
[0054] 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.
[0055] 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 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
integrated (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.
[0056] Control unit 21 calculates a control value for controlling
an automatic control target such as a traveling direction of
vehicle 1 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 the ECU or controller of each control target. 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.
[0057] 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, generation unit
12, instruction unit 13, and input-output unit 14. Determination
unit 11, 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 (I/O 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 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
generation unit 12.
[0058] 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.
[0059] 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 own vehicle position information, own
vehicle traveling road information, and own vehicle peripheral
information including another vehicle that travels around the
periphery of the own vehicle, and outputs the detected information
to automatic driving controller 20 (P1). Automatic driving
controller 20 outputs the own vehicle position information acquired
from detection unit 40, the own vehicle traveling road information,
and the own vehicle peripheral information to HMI controller 10
(P2). HMI controller 10 generates a schematic diagram including the
own vehicle, another vehicle, and the own 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).
[0060] 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.
[0061] 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 performs additional command 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.
[0062] Detection unit 40 periodically detects the own vehicle
position information, the own vehicle traveling road information,
and the own 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 corresponding 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). 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. 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.
[0063] 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.
[0064] 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.
[0065] Sensor information that is input from detection unit 40 to
automatic driving controller 20 is updated at any time (S3).
Generation unit 12 of HMI controller 10 generates a schematic
diagram including the own vehicle, another vehicle, and the own
vehicle peripheral situation, based on the own vehicle position
information, the own vehicle traveling road information, and the
own vehicle peripheral information including another vehicle which
travels around the periphery of the own 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), a 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.
[0066] In a case where the control command determined in step S9 is
not a cancel command (N in S10), 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 (Yin 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.
[0067] 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 own vehicle position information, the own vehicle
traveling road information, and the own vehicle peripheral
information from detection unit 40. Since the own 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 own vehicle and another vehicle. In a
case where it is determined that the control command is executable
by automatic driving controller 20 (Y in S17), 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), generation unit 12
displays a control disable error on display unit 31 (S112).
[0068] 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 own 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.
[0069] Hereinafter, in this embodiment, as a control command, an
example in which a control command for instructing passing is
issued will be described. A user inputs a gesture operation for
instructing passing to input unit 32. A specific example of the
gesture operation will be described later.
[0070] FIG. 5 is a flowchart illustrating an example of
determination processing in a case where a gesture operation for
instructing passing is input in step S9 of FIG. 3. Determination
unit 11 of HMI controller 10 determines whether or not an own
vehicle mark is present at a contact start position (S9a). In a
case where the own 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 passing instruction (S9b). In a case where the own vehicle
mark is present at the contact start position (Y in S9a),
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.
[0071] 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), 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).
[0072] In a case where the type of the touch event is a contact end
(contact end in S9e), determination unit 11 determines whether or
not a contact end position is in front of an another vehicle mark
(S9g). In a case where the contact end position is not in front of
an another vehicle mark (N in S9g), determination unit 11
determines that the gesture operation is a control command of
another instruction other than a passing instruction (S9h). In a
case where the contact end position is in front of an another
vehicle mark (Y in S9g), determination unit 11 determines whether
or not the another vehicle mark is positioned on the same lane as
the lane on which the own vehicle mark is positioned (S9i). In a
case where the another vehicle mark is not positioned on the same
lane as the lane on which the own vehicle mark is positioned (N in
S9i), determination unit 11 determines whether or not the traveling
direction of the own vehicle is the same traveling direction as the
traveling direction of the another vehicle (S9j). In a case where
the traveling direction of the own vehicle is the same traveling
direction as the traveling direction of the another vehicle (Y in
S9j), determination unit 11 determines that the gesture operation
is a traffic lane change instruction command for instructing the
traffic lane change to the lane on which the another vehicle mark
is positioned (S9k). In a case where the traveling direction of the
own vehicle is not the same traveling direction as the traveling
direction of the another vehicle (N in S9j), generation unit 12
displays an error message on display unit 31 (S91).
[0073] In step S9i, in a case where the another vehicle mark is
positioned on the same lane as the lane on which the own vehicle
mark is positioned (Y in S9i), determination unit 11 determines
whether or not the trajectory of the contact point passed through
the left side or the right side of the another vehicle mark (S9m).
In a case where the trajectory of the contact point passed through
the left side of the another vehicle mark (left in S9m),
determination unit 11 determines whether or not at least one
further another vehicle mark is present between the own vehicle
mark and the another vehicle mark (S9n). In a case where further
another vehicle mark is not present between the own vehicle mark
and the another vehicle mark (N in S9n), determination unit 11
determines that the gesture operation is a passing instruction
command for instructing the own vehicle to pass another vehicle
from the left side (S9o). In a case where at least one further
another vehicle mark is present between the own vehicle mark and
the another vehicle mark (Y in S9n), determination unit 11
determines that the gesture operation is a passing instruction
command for instructing the own vehicle to pass a plurality of
other vehicles from the left side (S9p).
[0074] In step S9m, in a case where the trajectory of the contact
point passed through the right side of the another vehicle mark
(right in S9m), determination unit 11 determines whether or not at
least one further another vehicle mark is present between the own
vehicle mark and the another vehicle mark (S9q). In a case where
further another vehicle mark is not present between the own vehicle
mark and the another vehicle mark (N in S9q), determination unit 11
determines that the gesture operation is a passing instruction
command for instructing the own vehicle to pass another vehicle
from the right side (S9r). In a case where at least one further
another vehicle mark is present between the own vehicle mark and
the another vehicle mark (Y in S9q), determination unit 11
determines that the gesture operation is a passing instruction
command for instructing the own vehicle to pass a plurality of
other vehicles from the right side (S9s).
[0075] Hereinafter, a specific example of the gesture operation
that is used at the time of passing 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.
[0076] FIG. 6 is a flowchart illustrating a first processing
example of issuing a passing instruction command by a gesture
operation. Determination unit 11 of HMI controller 10 receives a
touch event "DOWN" from the touch panel (S30). 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. Determination unit 11 determines whether or not a coordinate
detected by the touch event "DOWN" is in a display area of an own
vehicle icon (S31). In a case where the coordinate detected by the
touch event "DOWN" is outside the display area of the own vehicle
icon (N in S31), it is determined that the gesture operation is not
a passing instruction, and the process ends.
[0077] In a case where the coordinate detected by the touch event
"DOWN" is in the display area of the own vehicle icon (Y in S31),
determination unit 11 receives a touch event "MOVE" from the touch
panel (S32). 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 (S33). 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.
[0078] Determination unit 11 determines whether or not a coordinate
detected by the touch event "UP" is in a region in front of an
another vehicle icon (S34). In a case where the coordinate detected
by the touch event "UP" is in the region in front of an another
vehicle icon (Y in S34), instruction unit 13 issues a passing
instruction command for instructing the own vehicle to pass the
another vehicle corresponding to the another vehicle icon, to
automatic driving controller 20 (S35). In a case where the
coordinate detected by the touch event "UP" is not in the region in
front of an another vehicle icon (N in S34), it is determined that
the gesture operation is not a passing instruction, and the process
ends.
[0079] 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, an own vehicle icon V1 and an
another vehicle icon V2 are displayed on the same lane. As display
forms of an own vehicle, another 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 own vehicle is not
limited to an icon, and the own vehicle may be displayed as a
simpler mark or character, or may be displayed as a real
photographed image. In other words, there is no problem as long as
the own vehicle is displayed on a screen as an object in any
display form. The same is true for the display of another
vehicle.
[0080] In a case where a driver wants the own vehicle to pass
another vehicle, as illustrated in (a) of FIG. 7, a driver drags
the own vehicle icon V1, and as illustrated in (b) and (c) of FIG.
7, drops the own vehicle icon V1 onto the lane in front of the
another vehicle icon V2. Accordingly, a passing instruction command
is issued.
[0081] FIG. 8 is a flowchart illustrating a second processing
example of issuing a passing instruction command by a gesture
operation. The second processing example is an example in which an
another vehicle icon is dragged and dropped. Determination unit 11
of HMI controller 10 receives a touch event "DOWN" from the touch
panel (S30). Determination unit 11 determines whether or not a
coordinate detected by the touch event "DOWN" is in a display area
of an another vehicle (preceding vehicle) icon (S36). In a case
where the coordinate detected by the touch event "DOWN" is outside
the display area of an another vehicle (preceding vehicle) icon (N
in S36), it is determined that the gesture operation is not a
passing instruction, and the process ends.
[0082] In a case where the coordinate detected by the touch event
"DOWN" is in the display area of an another vehicle (preceding
vehicle) icon (Y in S36), determination unit 11 receives a touch
event "MOVE" from the touch panel (S32). Then, determination unit
11 receives a touch event "UP" from the touch panel (S33).
Determination unit 11 determines whether or not a coordinate
detected by the touch event "UP" is in a region behind the own
vehicle icon (S37). In a case where the coordinate detected by the
touch event "UP" is in the region behind the own vehicle icon (Y in
S37), instruction unit 13 issues a passing instruction command for
instructing the own vehicle to pass the another vehicle
corresponding to the another vehicle (preceding vehicle) icon, to
automatic driving controller 20 (S35). In a case where the
coordinate detected by the touch event "UP" is not in the region
behind the own vehicle icon (N in S37), it is determined that the
gesture operation is not a passing instruction, and the process
ends.
[0083] 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 wants the own vehicle to pass another vehicle, as
illustrated in (a) of FIG. 9, a driver drags the another vehicle
icon V2, and as illustrated in (b) and (c) of FIG. 9, drops the
another vehicle icon V2 onto the lane behind the own vehicle icon
V1. Accordingly, a passing instruction command is issued.
[0084] FIG. 10 is a flowchart illustrating a third processing
example of issuing a passing instruction command by a gesture
operation. The third processing example is an example in which an
own vehicle icon and an another vehicle icon are interchanged
(rotated by a gesture). Determination unit 11 of HMI controller 10
receives a two-point touch event "DOWN" from the touch panel (S38).
Determination unit 11 determines whether or not a coordinate of one
point detected by the touch event "DOWN" is in a display area of
the own vehicle icon (S39). In a case where the coordinate of one
point detected by the touch event "DOWN" is outside the display
area of the own vehicle icon (N in S39), it is determined that the
gesture operation is not a passing instruction, and the process
ends.
[0085] In a case where the coordinate of one point detected by the
touch event "DOWN" is in the display area of the own vehicle icon
(Y in S39), determination unit 11 determines whether or not a
coordinate of the other point detected by the touch event "DOWN" is
in a display area of the another vehicle (preceding vehicle) icon
(S310). In a case where the coordinate of the other point detected
by the touch event "DOWN" is outside the display area of the
another vehicle (preceding vehicle) icon (N in S310), it is
determined that the gesture operation is not a passing instruction,
and the process ends.
[0086] In a case where the coordinate of the other point detected
by the touch event "DOWN" is in the display area of the another
vehicle (preceding vehicle) icon (Y in S310), determination unit 11
receives a touch event "MOVE" from the touch panel (S311). Then,
determination unit 11 receives a two-point touch event "UP" from
the touch panel (S312). Determination unit 11 determines whether or
not a coordinate detected by the touch event "UP" on the own
vehicle icon is in a region in front of a coordinate detected by
the touch event "UP" on the another vehicle icon (S313). In a case
where the own vehicle icon is in front of the another vehicle icon
(Y in S313), instruction unit 13 issues a passing instruction
command for instructing the own vehicle to pass the another vehicle
corresponding to the another vehicle (preceding vehicle) icon, to
automatic driving controller 20 (S314). In a case where the own
vehicle icon is not in front of the another vehicle icon (N in
S313), it is determined that the gesture operation is not a passing
instruction, and the process ends.
[0087] FIG. 11 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 10. In a case where a
driver wants the own vehicle to pass another vehicle, as
illustrated in (a) of FIG. 11, a driver touches the own vehicle
icon V1 and the another vehicle icon V2 with two fingers, and as
illustrated in (b) and (c) of FIG. 11, interchanges the order of
the own vehicle icon V1 and the another vehicle icon V2, and drops
the own vehicle icon V1 and the another vehicle icon V2.
Accordingly, a passing instruction command is issued.
[0088] FIG. 12 is a flowchart illustrating a fourth processing
example of issuing a passing instruction command by a gesture
operation. The fourth processing example is an example in which an
own vehicle icon is touched and then the scale of the schematic
diagram is changed. Determination unit 11 of HMI controller 10
receives a touch event "DOWN" from the touch panel (S30).
Determination unit 11 determines whether or not a coordinate
detected by the touch event "DOWN" is in a display area of the own
vehicle icon (S31). In a case where the coordinate detected by the
touch event "DOWN" is outside the display area of the own vehicle
icon (N in S31), it is determined that the gesture operation is not
a passing instruction, and the process ends.
[0089] In a case where the coordinate detected by the touch event
"DOWN" is in the display area of the own vehicle icon (Y in S31),
determination unit 11 determines whether or not an another vehicle
(preceding vehicle) icon is included in the schematic diagram of
the screen displayed on the touch panel (S315). In a case where an
another vehicle (preceding vehicle) icon is not included in the
schematic diagram of the screen (N in S315), generation unit 12
changes (reduces) the scale of the schematic diagram such that an
another vehicle (preceding vehicle) icon is included in the
schematic diagram (S316). In a case where an another vehicle
(preceding vehicle) icon is included in the schematic diagram of
the screen (Y in S315), the process of step S316 is skipped.
Determination unit 11 receives a touch event "MOVE" from the touch
panel (S32). Processes from step S33 to step S35 of FIG. 12 are the
same as those of the flowchart of FIG. 6.
[0090] FIG. 13 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 12. As illustrated in
(a) of FIG. 13, when a driver touches an own vehicle icon V1, in a
case where an another vehicle icon is not present in the schematic
diagram displayed on the screen, as illustrated in (b) of FIG. 13,
the driver reduces the scale of the schematic diagram until an
another vehicle icon V2 is included in the schematic diagram. As
illustrated in (c) and (d) of FIG. 13, a driver drops the own
vehicle icon V1 onto a position in front of the another vehicle
icon V2 that is shown to be displayed. Accordingly, a passing
instruction command is issued. Accordingly, it is possible to
easily find another vehicle, and more quickly issue a passing
instruction command.
[0091] FIG. 14 is a flowchart illustrating a fifth processing
example of issuing a passing instruction command by a gesture
operation. The fifth processing example is an example in which an
own vehicle passes a plurality of other vehicles. Processes from
step S30 to step S33 are the same as those of the flowchart of FIG.
6.
[0092] Determination unit 11 determines whether or not the
coordinate detected by the touch event "UP" is in a region in front
of a plurality of other vehicle icons (S317). In a case where the
coordinate detected by the touch event "UP" is in the region in
front of the plurality of other vehicle icons (Y in S317),
instruction unit 13 issues a sequential passing instruction command
for instructing the own vehicle to sequentially pass a plurality of
other vehicles corresponding to the plurality of other vehicle
icons, to automatic driving controller 20 (S318). In a case where
the coordinate detected by the touch event "UP" is not in the
region in front of the plurality of other vehicle icons (N in
S317), it is determined that the gesture operation is not a
sequential passing instruction command, and the process ends.
[0093] FIG. 15 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 14. In a case where a
driver wants the own vehicle to pass two preceding other vehicles
at a time, as illustrated in (a) of FIG. 15, the driver drags an
own vehicle icon V1, and as illustrated in (b) and (c) of FIG. 15,
drops the own vehicle icon V1 onto a position in front of two other
vehicle icons V2a and V2b. Accordingly, a sequential passing
instruction command is issued.
[0094] FIG. 16 is a flowchart illustrating a sixth processing
example of issuing a passing instruction command by a gesture
operation. The sixth processing example is an example in which a
passing course is designated at the time of passing another
vehicle. Processes from step S30 to step S34 are the same as those
of the flowchart of FIG. 6.
[0095] Determination unit 11 determines whether an intersection
point between the trajectory of the touch event "MOVE" and a
horizontal line passing through the another vehicle icon is
positioned at the right side or the left side of the coordinate of
the another vehicle icon (S319). In a case where the intersection
point is positioned at the right side of the coordinate of the
another vehicle icon (right in S319), instruction unit 13 issues a
passing instruction command for instructing the own vehicle to pass
the another vehicle corresponding to the another vehicle icon from
the right side, to automatic driving controller 20 (S320). In a
case where the intersection point is positioned at the left side of
the coordinate of the another vehicle icon (left in S319),
instruction unit 13 issues a passing instruction command for
instructing the own vehicle to pass the another vehicle
corresponding to the another vehicle icon from the left side, to
automatic driving controller 20 (S321).
[0096] FIG. 17 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 16. When a driver
wants the own vehicle to pass a preceding vehicle from the right
side, as illustrated in (a) of FIG. 17, the driver drags an own
vehicle icon V1, as illustrated in (b) of FIG. 17, moves the own
vehicle icon V1 so as to turn around the right side of the another
vehicle icon V2, and as illustrated in (c) of FIG. 17, drops the
own vehicle icon V1 onto a position in front of the another vehicle
icon V2. Accordingly, a passing instruction command for instructing
passing from the right side is issued.
[0097] On the other hand, when a driver wants the own vehicle to
pass a preceding vehicle from the left side, as illustrated in (d)
of FIG. 17, the driver drags an own vehicle icon V1, as illustrated
in (e) of FIG. 17, moves the own vehicle icon V1 so as to turn
around the left side of the another vehicle icon V2, and as
illustrated in (f) of FIG. 17, drops the own vehicle icon V1 onto a
position in front of the another vehicle icon V2. Accordingly, a
passing instruction command for instructing passing from the left
side is issued.
[0098] Instead of the instruction of a user for a specific control
method related to passing, for example, a user only instructs
passing by moving an own vehicle mark to a position in front of a
preceding vehicle (another vehicle) mark, and a specific control
method related to a command may be changed according to the context
by a vehicle. For example, generally, in the Japanese traffic
rules, although it is allowed to pass another vehicle from a
right-side traffic lane, in a case where there is no other vehicle
traveling on a left-side traffic lane, the own vehicle may pass
another vehicle from a left-side traffic lane. In addition, passing
may be performed on a route that matches a taste of a driver with
reference to personal preference data. In the specific control
method related to a command, for example, determination unit 11 of
HMI controller 10 may determine the specific control method in
consideration of a course, an execution timing, a speed, and the
like, and transmit a command including the specific control method
to automatic driving controller 20, or automatic driving controller
20 may determine the specific control method after the command is
received. Further, the specific control method may be selected by a
driver by displaying a selection of the specific control method
that is determined by HMI controller 10 or automatic driving
controller 20 on display unit 31, or by visually/tactually
notifying a driver of the specific control method using a
notification unit including a speaker or vibration means that is
not illustrated.
[0099] FIG. 18 is a flowchart illustrating a seventh processing
example of issuing a traffic lane change instruction command by a
gesture operation. The seventh processing example is an example of
displaying a trajectory of the own vehicle icon in the schematic
diagram. Determination unit 11 of HMI controller 10 receives a
touch event "DOWN" from the touch panel (S30). Determination unit
11 determines whether or not a coordinate detected by the touch
event "DOWN" is in a display area of the own vehicle icon (S31). In
a case where the coordinate detected by the touch event "DOWN" is
outside the display area of the own vehicle icon (N in S31), it is
determined that the gesture operation is not a passing instruction,
and the process ends.
[0100] In a case where the coordinate detected by the touch event
"DOWN" is in the display area of the own vehicle icon (Y in S31),
determination unit 11 receives a touch event "MOVE"/"UP" from the
touch panel (S322). Determination unit 11 determines the type of
the touch event (S323). In a case where the type of the touch event
is "MOVE" (MOVE in S323), determination unit 11 determines whether
or not a coordinate detected by the touch event "MOVE" is in a
region in front of an another vehicle (preceding vehicle) icon
(S324). In a case where the coordinate detected by the touch event
"MOVE" is in the region in front of an another vehicle (preceding
vehicle) icon (Y in S324), generation unit 12 generates a predicted
route of the own vehicle when passing is performed, and displays
the predicted route of the own vehicle on the touch panel (S325).
In a case where the coordinate detected by the touch event "MOVE"
is not in the region in front of an another vehicle (preceding
vehicle) icon (N in S324), the process of step S325 is skipped.
Next, the process transitions to step S322. Since the present
flowchart is focused on the display of the predicted route, in step
S323, subsequent processing in a case where the type of the touch
event is "UP" (UP in S323) is omitted.
[0101] FIG. 19 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 18. In a case where a
driver wants the own vehicle to pass another vehicle, as
illustrated in (a) of FIG. 19, when the driver drops the own
vehicle icon V1, and as illustrated in (b) of FIG. 19, drags the
own vehicle icon V1 onto a position in front of the another vehicle
icon V2, a predicted route T1 through which the own vehicle passes
at the time of passing another vehicle is displayed.
[0102] FIG. 20 is a flowchart illustrating an eighth processing
example of issuing a passing instruction command by a gesture
operation. The eighth processing example is an example of
requesting a confirm operation. Processes from step S30 to step S34
are the same as those of the flowchart of FIG. 6.
[0103] In a case where the coordinate detected by the touch event
"UP" is in the region in front of an another vehicle (preceding
vehicle) icon (Y in S34), when determination unit 11 receives an
input of a confirm gesture (Y in S326), instruction unit 13 issues
a passing instruction command for instructing the own vehicle to
pass the another vehicle corresponding to the another vehicle icon,
to automatic driving controller 20 (S35). During a period for which
a confirm gesture is not input (N in S326), the issue of the
command is suspended. Accordingly, further, it is possible to
prevent erroneous operations.
[0104] FIG. 21 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 20. In a case where a
driver wants the own vehicle to pass a preceding vehicle, as
illustrated in (a) of FIG. 21, the driver drags the own vehicle
icon V1, and as illustrated in (b) of FIG. 21, moves the own
vehicle icon V1 to a position in front of the another vehicle icon
V2. When the own vehicle icon V1 is moved, a confirm button C1 is
displayed. As illustrated in (c) of FIG. 21, after the own vehicle
icon V1 is dropped onto the position in front of the another
vehicle icon V2, when the confirm button C1 is pressed, a passing
instruction command is issued.
[0105] FIG. 22 is a flowchart illustrating a ninth processing
example of issuing a passing instruction command by a gesture
operation. The ninth processing example is an example in a case
where display during control is added. During control indicates
during a period for which a passing instruction command is issued
and then the passing of the own vehicle is completed. Processes
from step S30 to step S35 are the same as those of the flowchart of
FIG. 6.
[0106] After instruction unit 13 issues a passing instruction
command to automatic driving controller 20 (S35), generation unit
12 generates the own vehicle icon at the coordinate before the
movement of the own vehicle and the coordinate after the movement
of the own vehicle, generates a predicted trajectory of the own
vehicle, and displays the predicted trajectory of the own vehicle
on the touch panel (S327).
[0107] FIG. 23 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 22. In a case where a
driver wants the own vehicle to pass a preceding vehicle, as
illustrated in (a) and (d) of FIG. 23, the driver drags the own
vehicle icon V1, and as illustrated in (b) and (e) of FIG. 23,
drops the own vehicle icon V1 onto a position in front of the
another vehicle icon V2. Accordingly, a passing instruction command
is issued. During the execution of the passing instruction command,
as illustrated in (c) and (f) of FIG. 23, the own vehicle icon V1a
is displayed at the original position before starting of the
passing, and the own vehicle icon V1b is displayed at the target
position after the completion of the passing. As illustrated in (f)
of FIG. 23, a predicted trajectory T1 of the own vehicle may be
displayed.
[0108] FIG. 24 is a flowchart illustrating a processing example of
issuing a cancel command after a passing instruction command is
issued by a gesture operation. After a passing instruction command
is issued to automatic driving controller 20, determination unit 11
of HMI controller 10 receives a touch event "DOWN" from the touch
panel (S328). Then, determination unit 11 of HMI controller 10
receives a touch event "MOVE" from the touch panel (S329). Then,
determination unit 11 of HMI controller 10 receives a touch event
"UP" from the touch panel (S330). Determination unit 11 determines
whether or not there is an intersection point between the movement
trajectory of the touch event and the trajectory of the passing
(S331). In a case where there is an intersection point (Y in S331),
instruction unit 13 issues a command for canceling the passing
instruction command that is issued earlier, to automatic driving
controller 20 (S332). In a case where there is no intersection
point (N in S331), a cancel command is not issued.
[0109] FIG. 25 is a diagram illustrating an example of a gesture
operation according to the flowchart of FIG. 24. In (a) of FIG. 25,
an example in which, when a swipe S1 of the predicted trajectory T1
is performed so as to traverse the predicted trajectory T1, a
cancel command for canceling the passing instruction command is
issued, is illustrated. In (b) of FIG. 25, an example in which,
when a swipe S2 of the own vehicle icon V1b after the movement is
performed so as to traverse the own vehicle icon V1b, a cancel
command for canceling the passing instruction command is issued, is
illustrated. In (c) of FIG. 25, an example in which, when a flick
F1 of the own vehicle icon V1b after the movement is performed
starting from the own vehicle icon V1b, a cancel command for
canceling the passing instruction command is issued, is
illustrated. In (d) of FIG. 25, an example in which, when a flick
F2 of the predicted trajectory T1 is performed starting from the
predicted trajectory T1, a cancel command for canceling the passing
instruction command is issued, is illustrated.
[0110] FIG. 26 is a diagram illustrating another example of a
gesture operation according to the flowchart of FIG. 24. As
illustrated in (a) of FIG. 26, when a driver drags the own vehicle
icon V1b after the movement, and as illustrated in (b) of FIG. 26,
drops the own vehicle icon V1c onto the position of the own vehicle
icon before the movement, a cancel command for canceling the
passing instruction command is issued.
[0111] During a period for which the own vehicle icon is dragged
and dropped, generation unit 12 may hold the original image (own
vehicle icon before movement) in the schematic diagram, and delete
the original image when the own vehicle icon is dropped. During the
period for which the own vehicle icon is dragged and dropped,
generation unit 12 may draw a trajectory of the dragged own vehicle
icon using a dotted line in the schematic diagram. During the
period for which the own vehicle icon is dragged and dropped,
generation unit 12 may invert the color of the road, and return the
color of the road to the original color thereof when the own
vehicle icon is dropped.
[0112] During the period for which the own vehicle icon is dragged
and dropped, when there is a drop disable area (an opposite traffic
lane or the like) or when an operation (passing or the like) is
disabled, generation unit 12 may change (invert, thin, or the like)
the color of the own vehicle icon. When the own vehicle icon is
dropped, the own vehicle icon may return to the original position
thereof, and an error message such as "operation disabled" may be
displayed. Examples of a case where an operation is disabled
includes the approach of a following vehicle, a passing prohibited
area, exceeding of a limiting speed, or the like.
[0113] During the period for which the own vehicle icon is dragged
and dropped, when an operation is disabled, generation unit 12 may
change (invert, thin, or the like) a color of a background such as
a road or the like. When an operation is enabled, the color of the
background is returned to the original color thereof. During the
period for which the own vehicle icon is dragged and dropped,
generation unit 12 changes (inverts, thins, or the like) a color of
the drop disable area. During the period for which the own vehicle
icon is dragged and dropped, when there is a drop disable area or
when an operation is disabled, generation unit 12 may perform
notification using an error sound or a vibration.
[0114] When the drag of the own vehicle icon is started, in a case
where the start of an operation is disabled, generation unit 12 may
change the color of the own vehicle icon. The drag operation
(movement of the own vehicle icon) may be disabled. An error
message such as "operation disabled" may be displayed. When the
drag of the own vehicle icon is started, in a case where the start
of an operation is disabled, generation unit 12 may change the
color of the background such as a road or the like. When an
operation is enabled, the color of the background is returned to
the original color thereof. When the drag of the own vehicle icon
is started, in a case where the start of an operation is disabled,
generation unit 12 performs notification using an error sound or a
vibration in a state where the drag operation (movement of the own
vehicle icon) is disabled.
[0115] FIG. 27 is a diagram illustrating a first display example of
an own vehicle icon being controlled while the own vehicle icon is
dropped and the own vehicle completes passing. In a case where a
driver wants the own vehicle to pass a preceding vehicle, as
illustrated in (a) of FIG. 27, the driver drags the own vehicle
icon V1, and as illustrated in (b) of FIG. 27, drops the own
vehicle icon V1 onto a position in front of the another vehicle
icon V2. During a period for which the own vehicle icon V1 is
dropped in front of the another vehicle icon V2 and the own vehicle
completes passing, as illustrated in (c) of FIG. 27, a state (a
current position) of the own vehicle is displayed as a ghost icon
V1g. A trajectory T1 being moved is also displayed. When passing is
completed, as illustrated in (d) of FIG. 27, the ghost icon V1g and
the trajectory T1 of the own vehicle are deleted.
[0116] FIG. 28 is a diagram illustrating a second display example
of an own vehicle icon being controlled while the own vehicle icon
is dropped and the own vehicle completes passing. In a case where a
driver wants the own vehicle to pass a preceding vehicle, as
illustrated in (a) of FIG. 28, the driver drags the own vehicle
icon V1, and as illustrated in (b) of FIG. 28, drops the own
vehicle icon V1 onto a position in front of the another vehicle
icon V2. During the period for which the own vehicle icon V1 is
dropped in front of the another vehicle icon V2 and the own vehicle
completes passing, as illustrated in (c) of FIG. 28, a display
state of the own vehicle icon V1 at the destination of movement is
changed. In (c) of FIG. 28, an example in which the own vehicle
icon V1 is flashed is illustrated, but a color change, a size
change, a position change, or the like may be performed. When
passing is completed, as illustrated in (d) of FIG. 28, the display
state of the own vehicle icon V1 is returned to the original
display state thereof.
[0117] FIG. 29 is a diagram illustrating a third display example of
an own vehicle icon being controlled while the own vehicle icon is
dropped and the own vehicle completes passing. In a case where a
driver wants the own vehicle to pass a preceding vehicle, as
illustrated in (a) of FIG. 29, the driver drags the own vehicle
icon V1, and as illustrated in (b) of FIG. 29, drops the own
vehicle icon V1 onto a position in front of the another vehicle
icon V2. During the period for which the own vehicle icon V1 is
dropped in front of the another vehicle icon V2 and the own vehicle
completes passing, a next instruction is queued as an additional
operation (control to be performed after completion of a current
control is reserved). In (c) and (d) of FIG. 29, an example in
which traffic lane change is additionally instructed during passing
control is illustrated. In this case, although passing control is
as follows: traffic lane change to a passing lane.fwdarw.passing
another vehicle.fwdarw.traffic lane change to the original traffic
lane.fwdarw.traffic lane change to a passing lane, the last two
control processes are cancelled out, and thus the passing control
is as follows: traffic lane change to a passing lane.fwdarw.passing
another vehicle.
[0118] FIG. 30 is a diagram illustrating a fourth display example
of an own vehicle icon being controlled while the own vehicle icon
is dropped and the own vehicle completes passing. In a case where a
driver wants the own vehicle to pass a preceding vehicle, as
illustrated in (a) of FIG. 30, the driver drags the own vehicle
icon V1, and as illustrated in (b) of FIG. 30, drops the own
vehicle icon V1 onto a position in front of the another vehicle
icon V2. During the period for which the own vehicle icon V1 is
dropped in front of the another vehicle icon V2 and the own vehicle
completes passing, as illustrated in (c) and (d) of FIG. 30, in a
case where the own vehicle icon V1 is dragged again and dropped the
original position thereof, the following processing is performed.
When the own vehicle icon V1 is dropped onto the original position
thereof, in a case where traffic lane change to a passing lane is
being performed or traffic lane change to a passing lane is
completed, a command that instructs traffic lane change to the
original traffic lane is transmitted. When the own vehicle icon V1
is dropped onto the original position thereof, in a case where the
own vehicle is passing the another vehicle, in a case where the own
vehicle passed the another vehicle, or in a case where the own
vehicle is in traffic lane change to the original traffic lane, an
error message (for example, "Since control is in progress, the
operation cannot be performed.", "Please wait for a while.", or the
like) is displayed. During dragging of an own vehicle icon, at the
time of dropping of an own vehicle icon, or during a period for
which an own vehicle icon is dropped and the own vehicle completes
passing, a predicted trajectory is received from automatic driving
controller 20, and the predicted trajectory may be drawn on display
unit 31. In a case where passing is disabled temporarily because
the own vehicle is waiting for the light to change or in a traffic
lane change disable section, generation unit 12 performs a display
such as "trying" until passing control is established, and may draw
a predicted trajectory at a timing at which processing becomes
executable. During dragging of an own vehicle icon, or during the
period for which an own vehicle icon is dropped and the own vehicle
completes passing, generation unit 12 may display an estimated
required-time or a remaining required-time until the own vehicle
icon is dropped and the own vehicle reaches the destination
position. In a case where passing control is disabled temporarily,
the control may be set in advance to be continued until the control
is enabled or suspended and stopped. Since dragging is started
accidentally or a cancel operation after dragging is required in
some cases, a cancel drop region may be provided. After dragging of
an own vehicle icon, when a driver drops the own vehicle icon onto
a cancel drop region, issuing of a command can be cancelled. After
passing control, in a case where there is further another vehicle
in front of the own vehicle, a mode for controlling repetition of
passing may be provided.
[0119] As described above, according to the present embodiment, it
is possible to transfer the contents of various operations to
automatic driving controller 20 by moving an icon displayed on the
touch panel by a gesture operation. 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 passing by displaying a schematic
diagram including a lane, an own vehicle icon, and an another
vehicle icon and changing the positional relationship between the
own vehicle icon and the another 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. In order to issue a command for instructing passing or
overtaking, other than the above operation, an operation for
changing the relative positions of the own vehicle icon and the
another vehicle may be used. 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 gesture or 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 voice
guidance may be provided by display unit.
[0120] As above, the present disclosure 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
disclosure.
[0121] 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 central processing unit (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.
[0122] The embodiments may be specified by the following items.
[0123] [Item 1]
[0124] A driving support device (10) includes: an image output unit
(14a) that outputs, to a display unit (31), an image containing an
own vehicle object representing an own vehicle and an another
vehicle object representing another vehicle in front of the own
vehicle object; an operation signal input unit (14b) that receives
an operation of a user for changing the positional relationship
between the own vehicle object and the another vehicle object in
the image displayed on the display unit (31); and a command output
unit (14c) that outputs, to an automatic driving control unit (20)
that controls automatic driving, a command for instructing the own
vehicle to pass the another vehicle when the positional
relationship between the own vehicle object and the another vehicle
object is changed such that the own vehicle object is positioned in
front of the another vehicle object.
[0125] In this case, a user can intuitively and conveniently
perform an operation for instructing passing.
[0126] [Item 2]
[0127] In the driving support device (10) of Item 1, when the
operation signal input unit (14b) receives an operation of the user
that is described as follows, the command output unit (14c)
outputs, to the automatic driving control unit (20), a command for
instructing the own vehicle to pass the another vehicle. The
operation of the user is an operation of the user for moving the
own vehicle object in the image displayed on the display unit (31)
to a position in front of the another vehicle object, an operation
of the user for moving the another vehicle object to a position
behind the own vehicle object, or an operation of the user for
interchanging the own vehicle object and the another vehicle
object.
[0128] In this case, a user can intuitively and conveniently
perform an operation for instructing passing.
[0129] [Item 3]
[0130] In the driving support device (10) of Item 1, the image
output unit (14a) outputs an image containing the own vehicle
object and a plurality of other vehicle objects representing a
plurality of other vehicles in front of the own vehicle object.
When the operation signal input unit (14b) receives an operation of
the user for changing the positional relationships between the own
vehicle object and the plurality of other vehicle objects in the
image displayed on the display unit (31) such that the own vehicle
object is positioned in front of the plurality of other vehicle
objects, the command output unit (14c) outputs, to the automatic
driving control unit (20), a command for instructing the own
vehicle to pass the plurality of other vehicles.
[0131] In this case, it is possible to intuitively and conveniently
perform an operation for instructing the own vehicle to pass the
plurality of other vehicles at a time.
[0132] [Item 4]
[0133] A driving support system (10, 30) according to Item 4
includes: a display device (30) that displays an image; and a
driving support device (10) that outputs an image to the display
device (30). The driving support device (10) includes: an image
output unit (14a) that outputs, to the display device (30), an
image containing an own vehicle object representing an own vehicle
and an another vehicle object representing another vehicle in front
of the own vehicle object; an operation signal input unit (14b)
that receives an operation of a user for changing the positional
relationship between the own vehicle object and the another vehicle
object in the image displayed on the display device (30); and a
command output unit (14c) that outputs, to an automatic driving
control unit (20) that controls automatic driving, a command for
instructing the own vehicle to pass the another vehicle when the
positional relationship between the own vehicle object and the
another vehicle object is changed such that the own vehicle object
is positioned in front of the another vehicle object.
[0134] In this case, a user can intuitively and conveniently
perform an operation for instructing passing.
[0135] [Item 5]
[0136] A driving support method of Item 5 includes: a step of
outputting, to a display unit (31), an image containing an own
vehicle object representing an own vehicle and an another vehicle
object representing another vehicle in front of the own vehicle
object; a step of receiving an operation of a user for changing the
positional relationship between the own vehicle object and the
another vehicle object in the image displayed on the display unit
(31); and a step of outputting, to an automatic driving control
unit (20) that controls automatic driving, a command for
instructing the own vehicle to pass the another vehicle when the
positional relationship between the own vehicle object and the
another vehicle object is changed such that the own vehicle object
is positioned in front of the another vehicle object.
[0137] In this case, a user can intuitively and conveniently
perform an operation for instructing passing.
[0138] [Item 6]
[0139] A driving support program of Item 6 that causes a computer
to execute: processing to output, to a display unit (31), an image
containing an own vehicle object representing an own vehicle and an
another vehicle object representing another vehicle in front of the
own vehicle object; processing to receive an operation of a user
for changing the positional relationship between the own vehicle
object and the another vehicle object in the image displayed on the
display unit (31); and processing to output, to an automatic
driving control unit (20) that controls automatic driving, a
command for instructing the own vehicle to pass the another vehicle
when the positional relationship between the own vehicle object and
the another vehicle object is changed such that the own vehicle
object is positioned in front of the another vehicle object.
[0140] In this case, a user can intuitively and conveniently
perform an operation for instructing passing.
[0141] [Item 7]
[0142] An automatic drive vehicle (1) of Item 7 includes: an image
output unit (14a) that outputs, to a display unit (31), an image
containing an own vehicle object representing an own vehicle and an
another vehicle object representing another vehicle in front of the
own vehicle object; an operation signal input unit (14b) that
receives an operation of a user for changing the positional
relationship between the own vehicle object and the another vehicle
object in the image displayed on the display unit (31); a command
output unit (14c) that outputs a command for instructing the own
vehicle to pass the another vehicle when the positional
relationship between the own vehicle object and the another vehicle
object is changed such that the own vehicle object is positioned in
front of the another vehicle object; and an automatic driving
control unit (20) that executes the output command.
[0143] In this case, a user can intuitively and conveniently
perform an operation for instructing passing.
[0144] The present disclosure can be used in a vehicle equipped
with automatic driving mode.
* * * * *