Reporting method, reporting apparatus, and storage medium

Abstract

The present disclosure provides a reporting method, a reporting device, and a storage medium. A potential collision risk between a potential traffic participant predicted to exist on the traveling direction side of a vehicle and the vehicle is foreseen. In response to the potential collision risk being foreseen, a first report to the surroundings that the vehicle is traveling is made using an external reporter mounted on the vehicle (10). Note that, in a case where an apparent collision risk between an apparent traffic participant confirmed in the traveling direction of the vehicle and the vehicle is sensed, a second report to the surroundings that a collision avoidance action of the vehicle is made using the external reporter. However, the first report is prioritized over the second report during a period in which the potential collision risk persists.

Description

Technical Field

[0001] This disclosure relates to a reporting method, reporting device, and storage medium for reporting the vehicle's operational status to the outside using a reporting device mounted on the vehicle. Background Technology

[0002] UK Patent Application Publication No. 2531084 discloses a reporting unit for reporting from an autonomous vehicle to pedestrians. The proposed reporting unit includes colors, text messages, and sounds, and is described as a communication unit for pedestrians.

[0003] As a document indicating the level of technical expertise in or related technical fields at the time of application, in addition to UK Patent Application Publication No. 2531084, Japanese Patent Application Publication No. 2020-107163 is also cited.

[0004] Accidents are prone to occur at intersections with poor visibility or at non-priority intersections. At least a portion of these accidents involve collisions with potential road users who are not visible to the vehicle. Potential road users become visible road users once they are detected by the vehicle. However, for a moving vehicle, avoiding a collision with a suddenly appearing road user is not always easy. Summary of the Invention

[0005] This disclosure provides a technique that helps reduce collisions between vehicles and potential road users who are not visible to the vehicle.

[0006] This disclosure provides a reporting method. The reporting method includes: anticipating a potential collision risk between a potential road user and the vehicle, predicted to exist on the side of the vehicle's direction of travel; and, in response to anticipating the potential collision risk, making a first report using an external reporting device mounted on the vehicle. The first report is a report notifying those around the vehicle that it is in motion. By making the first report, potential road users, if they are actually present, are aware of the presence of the in motion vehicle.

[0007] Alternatively, the reporting method disclosed herein may include: sensing and confirming a apparent collision risk between a present road user and the vehicle on the side of the vehicle's direction of travel; and, in response to sensing the apparent collision risk, making a second report using an external reporter. The second report is a report notifying those around of the vehicle's collision avoidance actions. By making a second report, misunderstandings in communication between the present road user and the vehicle can be avoided.

[0008] Alternatively, the reporting method disclosed herein may also include prioritizing a first report over a second report during the duration of the potential collision risk. By prioritizing the first report, the avoidance of potential collision risks that could lead to a more serious collision is given priority.

[0009] Alternatively, anticipating potential collision risks can include: sensing areas with a high probability of the presence of traffic participants in the vehicle's direction of travel, or sensing areas that are blind spots relative to the vehicle. These areas have a higher probability of containing potential traffic participants compared to other areas. Therefore, the presence of these areas can also be used as a premise for anticipating potential collision risks.

[0010] Alternatively, predicting potential collision risks can include calculating the probability of the presence of potential traffic participants based on environmental information. Furthermore, predicting potential collision risks can also include calculating the probability of a collision between a potential traffic participant and a vehicle, assuming the presence of a potential traffic participant, based on environmental information. The probability of the presence of potential traffic participants is influenced by the environment. Furthermore, the probability of a collision between a potential traffic participant and a vehicle is also influenced by the environment. Therefore, by considering these probabilities, the accuracy of predicting potential collision risks can be improved.

[0011] Alternatively, if the vehicle is driven by a driver, anticipating potential collision risks includes sensing the driver's inability to cope with potential collision risks. In other words, if the driver is capable of coping even if a potential collision risk exists, then the driver is entrusted with coping.

[0012] Furthermore, this disclosure provides a reporting device. The reporting device of this disclosure includes: an external reporter for outputting to a location outside the vehicle; and a control device. The control device is configured to perform the following steps: anticipating a potential collision risk between a potential traffic participant and the vehicle, predicted to exist on the side of the vehicle's direction of travel; and, in response to the prediction of the potential collision risk, making a first report using the external reporter.

[0013] Furthermore, this disclosure provides a storage medium. The storage medium of this disclosure stores commands executable by one or more processors mounted in a vehicle, and the commands cause one or more processors mounted in the vehicle to perform the following functions: anticipating a potential collision risk between a potential traffic participant and the vehicle, predicted to exist on the side of the vehicle's direction of travel; and, in response to anticipating the potential collision risk, making a first report using an external reporting device mounted in the vehicle.

[0014] According to the technology disclosed herein, potential road users can be aware of the presence of a moving vehicle by issuing a first report in response to the anticipated potential collision risk. This reduces the likelihood of collisions between potential road users and vehicles. Attached Figure Description

[0015] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0016] Figure 1 This is a diagram illustrating an example of mounting external sensors on a vehicle to which the reporting device according to an embodiment of the present disclosure is applied.

[0017] Figure 2 is a diagram showing an example of a display panel mounted on a vehicle to which the reporting device according to an embodiment of the present disclosure is applied.

[0018] Figure 3 This is a diagram illustrating a system configuration example of a reporting device according to an embodiment of this disclosure.

[0019] Figure 4 This diagram illustrates an overview of the reporting method performed by the reporting device according to an embodiment of the present disclosure.

[0020] Figure 5 This diagram illustrates an overview of the reporting method performed by the reporting device according to an embodiment of the present disclosure.

[0021] Figure 6 This diagram illustrates an overview of the reporting method performed by the reporting device according to an embodiment of the present disclosure.

[0022] Figure 7 This diagram illustrates an overview of the reporting method performed by the reporting device according to an embodiment of the present disclosure.

[0023] Figure 8 This is a flowchart illustrating the logic of the reporting procedure for autonomous driving in an embodiment of this disclosure.

[0024] Figure 9 This is a flowchart illustrating the logic of the reporting procedure for manual driving in an embodiment of this disclosure.

[0025] Figure 10 This is a flowchart representing the logic of the explicit collision risk assessment and handling routines included in the reporting procedure.

[0026] Figure 11 This is a flowchart illustrating the logic of the potential collision risk assessment and handling routines included in the reporting procedure.

[0027] Figure 12 This is a flowchart illustrating the logic of the driver status risk assessment and processing routines included in the reporting procedure. Detailed Implementation

[0028] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. However, in the embodiments shown below, numerical values ​​such as the number, quantity, quantity, and range of each element are mentioned. Except where specifically stated or clearly specific in principle, the present invention is not limited to the mentioned numerical values. Furthermore, except where specifically stated or clearly specific in principle, the structures described in the embodiments shown below are not necessarily essential to the present invention.

[0029] 1. Composition of the reporting device

[0030] First, the configuration of the reporting device in this embodiment will be described. The reporting device in this embodiment is applied to an autonomous vehicle capable of driving itself.

[0031] Figure 1 This diagram illustrates an example of the mounting of external sensors on an autonomous vehicle 10 that utilizes the reporting device of this embodiment. Figure 1 The autonomous vehicle 10 shown is a bus-type vehicle used in dedicated bus services and on-demand transportation. Hereinafter, the autonomous vehicle 10 will be referred to simply as vehicle 10. External sensors mounted on vehicle 10 typically include cameras, laser imaging detection and ranging (LIDAR) devices, and radar. Figure 1 The solid line represents an example of the sensing range of a camera, the dashed line represents an example of the sensing range of a LiDAR, and the dotted line represents an example of the sensing range of a radar.

[0032] exist Figure 1 In the example shown, a camera 20 is installed as an in-vehicle camera to capture images of the front. Furthermore, as an in-vehicle LiDAR, it includes a front LiDAR 22F for sensing the front, a left front LiDAR 22FL for sensing the left front, a right front LiDAR 22FR for sensing the right front, a rear LiDAR 22R for sensing the rear, a left rear LiDAR 22RL for sensing the left rear, and a right rear LiDAR 22RR for sensing the right rear. Additionally, as an in-vehicle radar, it includes a left front radar 24FL for sensing the left front, a right front radar 24FR for sensing the right front, a left rear radar 24RL for sensing the left rear, and a right rear radar 24RR for sensing the right rear.

[0033] The autonomous driving system of vehicle 10 uses the aforementioned external sensors to identify the surrounding environment and enables vehicle 10 to drive autonomously based on the identification results. Specifically, the autonomous driving system estimates its own position by comparing information from LIDAR with map information. Furthermore, the autonomous driving system tracks dynamic obstacles based on radar and LIDAR information and performs lane determination based on the fusion of their information. At this time, LIDAR is used for basic recognition of three-dimensional objects, and radar is used to determine the distance to moving objects. Furthermore, based on its own position estimation results, lane determination results, map information including the driving route, traffic light information identified by the camera, and the target route determined by the navigation system, a driving plan is created to enable vehicle 10 to drive safely while complying with traffic rules.

[0034] The autonomous driving system generates a target trajectory based on the driving plan. The target trajectory is the final driving path that vehicle 10 will take, determined after considering collisions with obstacles in front of vehicle 10 sensed by external sensors. The target trajectory includes a set of target positions of vehicle 10 within the road it travels on and a target speed at each target position. In order for vehicle 10 to follow the target trajectory, the autonomous driving system calculates the deviation between vehicle 10 and the target trajectory (lateral deviation, yaw angle deviation, speed deviation, etc.), and controls the steering, braking, or driving of vehicle 10 in a way that reduces this deviation.

[0035] The reporting device of this embodiment uses the various external sensors used in the autonomous driving system as an information acquisition device to obtain information related to the surrounding conditions of the vehicle 10. Among the external sensors used as information acquisition devices, LIDAR is mainly used for sensing three-dimensional objects around the vehicle 10. However, cameras and radars can be used as sensing units instead of LIDARs, or cameras, radars, and LIDARs can be used together as sensing units.

[0036] The reporting device of this embodiment includes an external reporting device for reporting to the outside of the vehicle 10. In this embodiment, the external reporting device is configured as a display panel that displays visual information. FIG2 is a diagram showing an example of the display panel being mounted on the vehicle 10.

[0037] Figure 2A The image schematically depicts the appearance of vehicle 10 as viewed from the right front. (See image for reference.) Figure 2AAs shown, a front display panel 30F is mounted on the front surface 12F of the vehicle 10. The front display panel 30F is a display panel that extends between the headlights and is wide in the width direction of the vehicle 10. In addition, a right lateral display panel 30SR is mounted on the right side surface 12SR of the vehicle 10. The right lateral display panel 30SR is a display panel that extends from the right front wheel 14FR to the right rear wheel 14RR and is wide in the front-rear direction of the vehicle 10.

[0038] Figure 2B The image schematically depicts the appearance of vehicle 10 as viewed from the left rear. (See image for reference.) Figure 2B As shown, a rear display panel 30R is fitted on the rear surface 12R of the vehicle 10. The rear display panel 30R is a display panel that extends between the taillights and is wide in the width direction of the vehicle 10. Furthermore, a left transverse display panel 30SL is fitted on the left side 12SL of the vehicle 10. The left transverse display panel 30SL is a display panel that extends from the left front wheel 14FL to the left rear wheel 14RL and is wide in the front-rear direction of the vehicle 10. The left transverse display panel 30SL is divided into multiple sections at the passenger door 16.

[0039] As described above, the four display panels 30F, 30R, 30SR, and 30SL constituting the external reporting device are mounted facing different directions. Therefore, traffic participants around the vehicle 10 can see at least one of the display panels 30F, 30R, 30SR, and 30SL from any direction. The aforementioned display panels 30F, 30R, 30SR, and 30SL are, for example, liquid crystal display panels, organic EL (electroluminescent) display panels, LED (light-emitting diode) display panels, or other display panels capable of changing the displayed content.

[0040] Figure 3 This diagram illustrates the system configuration of the reporting device according to an embodiment of the present disclosure. The reporting device includes a control unit 100. Information obtained from various external sensors mounted on the vehicle 10, namely cameras 20, LIDAR 22F, 22FL, 22FR, 22R, 22RL, 22RR, and radars 24FL, 24FR, 24RL, 24RR, is transmitted to the control unit 100. Each external sensor is connected to the control unit 100 via an in-vehicle network. Furthermore, each display panel 30F, 30R, 30SR, and 30SL mounted on the vehicle 10 is also connected to the control unit 100 via the in-vehicle network. The display content of each display panel 30F, 30R, 30SR, and 30SL is individually controlled by control signals transmitted from the control unit 100.

[0041] The control device 100 is connected to devices such as a data communication module 42, a navigation system 44, and an automatic / manual switching switch 46. The data communication module 42 is connected to a server via a communication network, obtaining map information required for autonomous driving from road feature maps, tracking maps, traffic rule maps, and driving route maps on the server and providing it to the control device 100. The navigation system 44 generates a route plan based on the navigation map and provides it to the control device 100. The automatic / manual switching switch 46 switches between automatic and manual driving. Switching can be made either upon request from the automatic driving system or by the driver's own judgment.

[0042] The control unit 100 is an on-board computer equipped with a processor 102 and a memory 104. The control unit 100 can be a single Electronic Control Unit (ECU) or an assembly of multiple ECUs. Furthermore, the control unit 100 can be an ECU shared with the ECUs constituting the autonomous driving system, or it can be a separate ECU. The memory 104 stores various programs 106 executable by the processor 102 and associated data. The memory 104 referred to here includes not only memory in the narrow sense, such as Random Access Memory (RAM), but also data storage devices such as HDDs (Hard Disk Drives), DVDs (Digital Optical Discs), and SSDs (Solid State Drives) flash memory.

[0043] The program 106 stored in memory 104 includes a reporting program 110. The reporting program 110 is a program that causes the control device 100 to execute a report using the vehicle-mounted reporting devices, i.e., display panels 30F, 30R, 30SR, and 30SL. The reporting program 110 includes a report determination routine 112, a visible collision risk determination routine 114, a potential collision risk determination routine 116, and a driver state risk estimation routine 118. The reporting program 110, including these routines 112, 114, 116, and 118, is executed by the processor 102, thereby the reporting method of this embodiment is executed by the reporting device.

[0044] 2. Overview of Reporting Methods

[0045] Next, use Figures 4 to 7 A summary of the reporting method performed by the reporting device of this embodiment will be described. It should be noted that, in Figures 4 to 7 In the examples shown, vehicle 10 is configured to drive autonomously via an automatic driving system.

[0046] exist Figure 4In the example shown, there is an intersection 54 ahead of the road on which vehicle 10 is traveling. The poor visibility of the side roads connecting to intersection 54 creates a blind spot relative to vehicle 10. Even if pedestrians, bicycles, or other road users are present in this blind spot, vehicle 10's external sensors will not be able to detect them. If an undetected road user suddenly appears as vehicle 10 passes through intersection 54, vehicle 10 may be unable to avoid a collision with that road user.

[0047] Therefore, according to the reporting method of this embodiment, when there is an intersection 54 in front of the vehicle 10, the control device 100 determines that there is a potential traffic participant 52 at the intersection 54. Then, the control device 100 determines the potential collision risk between the potential traffic participant 52 and the vehicle 10. The potential collision risk is a potential collision risk, and the potential traffic participant 52 is not a traffic participant actually present in front of the vehicle 10. Therefore, it is impossible to take collision avoidance action by the collision avoidance system installed on the vehicle 10. Therefore, when the potential collision risk is anticipated, the control device 100 makes a first report to avoid the potential collision risk. The first report is a report to notify the surroundings that the vehicle 10 is moving. Specifically, "Pass" or "Start" is prominently displayed on the display panel. By making such a display, when the potential traffic participant 52 notices the presence of the vehicle 10, the potential traffic participant 52 can quickly recognize that the vehicle 10 is moving, that is, it would be dangerous if he / she did not stop.

[0048] exist Figure 5 In the example shown, a pedestrian is walking in front of the road in which vehicle 10 is traveling. The pedestrian is a visible traffic participant 50, confirmed by external sensors of vehicle 10. When the presence of visible traffic participant 50 is confirmed, a visible collision risk between visible traffic participant 50 and vehicle 10 is determined. Visible collision risk is a collision risk that has already materialized, therefore, for vehicle 10, evasive action is required. Therefore, upon sensing a visible collision risk, the collision avoidance system takes collision avoidance action against visible traffic participant 50. Specifically, vehicle 10 decelerates from in front of visible traffic participant 50, slows down or stops near visible traffic participant 50, and if there is no possibility of collision, vehicle 10 starts moving again.

[0049] According to the reporting method of this embodiment, the control device 100 performs a second report in parallel with the collision avoidance action performed by the collision avoidance system to avoid apparent collision risks. The second report is a report notifying the surrounding area of ​​the collision avoidance action of vehicle 10. Specifically, during the deceleration of vehicle 10, "Decelerate" is displayed on the display panel; during the slowing down of vehicle 10, "Slow Down" is displayed on the display panel; during the stopping of vehicle 10, "Stop" is displayed on the display panel; and when vehicle 10 is about to depart, "Depart" is displayed on the display panel starting a few seconds before departure. By displaying the information in this way, misunderstandings in communication between apparent traffic participants 50 and vehicle 10 are avoided.

[0050] exist Figure 6 In the example shown, there is an intersection 54 ahead of the road on which vehicle 10 is traveling, where a potential traffic participant 52 is hidden. Furthermore, a visible traffic participant 50 is sensed further ahead of the intersection 54. In this case, a potential collision risk between the potential traffic participant 52 and vehicle 10 is anticipated, and subsequently, a visible collision risk between the visible traffic participant 50 and vehicle 10 is also sensed.

[0051] According to the reporting method of this embodiment, during the period when the potential collision risk persists, the first report is given priority over the second report. Figure 6 In the example shown, even if the display panel shows "Decelerate" only to indicate a visible collision risk, it will also display "Proceed" or "Start" if a potential collision risk exists. Then, at the point when vehicle 10 enters intersection 54 and the potential collision risk disappears, the display panel switches from "Proceed" or "Start" to "Decelerate". By prioritizing the first report, the avoidance of potential collision risks that could lead to a more serious collision is given priority.

[0052] exist Figure 7 In the example shown, a visible traffic participant 50 is sensed ahead of the road on which vehicle 10 is traveling. Furthermore, an intersection 54 exists further ahead of the visible traffic participant 50, where a potential traffic participant 52 is hidden. In this case, a visible collision risk between the visible traffic participant 50 and vehicle 10 is sensed, and then a potential collision risk between the potential traffic participant 52 and vehicle 10 is anticipated.

[0053] According to the reporting method of this embodiment, even when a second report is being made due to a sensed apparent collision risk, a first report will be made prior to the second report if a potential collision risk is foreseen. Figure 7In the example shown, during the period when only an apparent collision risk is sensed, the display panel shows "Decelerate". However, when a potential collision risk is anticipated, the display panel switches from "Decelerate" to "Pass" or "Start". By prioritizing the first report in this way, the avoidance of potential collision risks that could lead to a more serious collision is prioritized.

[0054] As described above, according to the reporting method of this embodiment, when a potential collision risk is anticipated, a first report is made to notify the surrounding area that vehicle 10 is in motion. Figure 4 , Figure 6 as well as Figure 7 In the example shown, "Pass" or "Start" is displayed on the display panel as the first report. When the potential road user 52 sees this display, they can instantly recognize the presence of the moving vehicle 10. This reduces the likelihood of collisions between the potential road user 52 and vehicle 10, which are not visible to vehicle 10. Furthermore, during the duration of the potential collision risk, the first report takes precedence over the second report, thus prioritizing the avoidance of potential collision risks that could lead to more serious accidents.

[0055] 3. Detailed information on reporting methods

[0056] The reporting method of this embodiment is implemented by the control device 100 by the processor 102 executing the reporting program 110. Hereinafter, the logic of the reporting program 110 used to implement the reporting method of this embodiment will be described.

[0057] Figure 8 and Figure 9 This is a flowchart illustrating the logic of reporting procedure 110. Among them, Figure 8 The logic used for autonomous driving is shown. Figure 9 The logic for manual driving is shown. The logic for selecting autonomous driving is shown when vehicle 10 is driven automatically by the autonomous driving system, and the logic for selecting manual driving is shown when vehicle 10 is driven manually by the driver. The logic for autonomous driving and the logic for manual driving are mostly shared, with only some differences.

[0058] First, use Figure 8 The logic used in autonomous driving is explained. According to... Figure 8 As shown in the flowchart, firstly, a visible collision risk assessment is performed in step S01. The visible collision risk assessment is performed by the visible collision risk assessment routine 114, which is a subroutine of the reporting procedure 110.

[0059] Figure 10This is a flowchart illustrating the logic of the apparent collision risk determination routine 114. According to this flowchart, firstly, in step S21, it is determined whether the external sensors of the vehicle 10 have identified a traffic participant. If no traffic participant has been identified, it is determined that there is no apparent collision risk and the apparent collision risk determination routine 114 ends.

[0060] If a traffic participant is identified, step S22 determines whether the deceleration is below a predetermined value. The predetermined value is the maximum deceleration at which vehicle 10 is determined to be in a deceleration process achieved by braking. A deceleration below the predetermined value indicates that vehicle 10 is in a deceleration process achieved by braking. If there is a risk of collision with the identified traffic participant, collision avoidance action is taken through the collision avoidance system. Therefore, if vehicle 10 does not decelerate, it is determined that there is no apparent collision risk and the apparent collision risk determination routine 114 ends.

[0061] While vehicle 10 is decelerating, a probability calculation of the explicit collision risk is performed in step S23. Specifically, the actions of the identified traffic participants at the next predetermined time are predicted. The actions of the traffic participants at the next predetermined time can be considered to follow a Gaussian distribution that includes the influence of past movement history. Then, the probability of the traffic participant appearing in front of vehicle 10 is calculated based on the predicted actions at the next predetermined time.

[0062] Back to Figure 8 The flowchart of the reporting procedure 110 will continue to be explained. In step S02, it is determined whether to apply emergency braking to the traffic participant identified in step S01. Specifically, the arrival time (TTR) and collision time (TTC) are compared. The arrival time (TTR) is the time until the traffic participant identified in step S01 arrives at vehicle 10, and the collision time (TTC) is the time until vehicle 10 collides with the traffic participant. The result of the comparison is as follows: if TTR is greater than TTC, it is determined that emergency braking will not be initiated; if TTR is less than TTC, it is determined that emergency braking will be initiated. If no traffic participant was identified in step S01, it is determined that emergency braking will not be initiated.

[0063] If it is determined that emergency braking is to be initiated, the process in step S08 is executed. In step S08, a "pass" display is executed. A "pass" display means displaying "pass" or "start" on the display panel. If the determination in step S02 is negative, emergency braking is performed to avoid collision using the collision avoidance system. However, if the display panel is set to "decelerate" or "stop," it may reassure traffic participants and delay their avoidance actions. Therefore, by displaying "pass" or "start" on the display panel, it is expected that the presence of the approaching vehicle 10 can be notified to traffic participants, urging them to take avoidance actions.

[0064] If it is determined in step S02 that emergency braking will not be initiated, proceed to step S03. In step S03, it is determined whether there is a visible collision risk. The presence or absence of a visible collision risk is determined based on the probability calculation of the visible collision risk performed in step S01. If the probability value of the visible collision risk is above a predetermined value, it is determined that a visible collision risk exists. If it is determined that there is no visible collision risk, the procedure ends without a report from the display panel.

[0065] If a visible collision risk is determined in step S03, a potential collision risk assessment is performed in step S04. This assessment is conducted by a potential collision risk assessment routine 116, which is a subroutine of the reporting procedure 110. The probability value of the potential collision risk is calculated in the potential collision risk assessment routine 116.

[0066] Figure 11 This is a flowchart illustrating the logic of the potential collision risk determination routine 116. According to this flowchart, firstly, in step S31, areas with a high probability of the presence of traffic participants in the direction of travel of vehicle 10 are sensed, or areas that are blind spots relative to vehicle 10 are sensed. Besides... Figure 4 In addition to intersections like the one shown, areas with pedestrian crossings, traffic lights, and narrow roads are also included in the sensing scope. Compared to other areas, these areas have a higher probability of having potential road users. Therefore, the basic probability value of potential collision risk is calculated based on the presence of these areas.

[0067] Next, in step S32, the probability of the presence of potential traffic participants is calculated based on the environmental information of vehicle 10. The probability of the presence of potential traffic participants is influenced by the environment. Examples of environments with a high probability of the presence of potential traffic participants include schools, train stations, and residences. The weighted value to be multiplied by the base probability value is determined based on the presence or absence of schools, etc. Furthermore, the closer to schools, etc., the larger the weighted value is set.

[0068] Next, in step S33, the probability of a collision between a potential traffic participant and the vehicle is calculated based on the environmental information of vehicle 10, assuming the presence of a potential traffic participant. The probability of a collision between a potential traffic participant and the vehicle is also affected by the environment. Examples of environments that increase the probability of a collision include obstructions at intersections. The weighted value to be multiplied by the base probability value is determined based on the presence or absence of obstructions. Furthermore, if the height of an obstruction is above a predetermined value, the weighted value is set to be large.

[0069] Then, in step S34, based on the calculation results of steps S31 to S33, the probability of a potential traffic participant, invisible to vehicle 10, appearing in front of vehicle 10 is calculated. Specifically, the probability value of the potential collision risk is calculated by multiplying the weighted value calculated in steps S32 and S33 by the base value calculated in step S31.

[0070] Back to Figure 8 The flowchart of reporting procedure 110 will continue to be explained. In step S05, it is determined whether a potential collision risk exists. The presence or absence of a potential collision risk is determined based on the result of the probability calculation of the potential collision risk performed in step S04. If the probability value of the potential collision risk is above a predetermined value, it is determined that a potential collision risk exists.

[0071] If no potential collision risk is determined, the process in step S06 is executed. In step S06, the usual reporting process for dealing with apparent collision risks is performed. The usual reporting process is performed by the report determination routine 112, which is a subroutine of the reporting procedure 110. In the reporting process performed by the report determination routine 112, the display on the display panel is changed from "decelerate" to "slow down" or "stop" based on the distance between the vehicle 10 and the apparent traffic participants, and then the display is changed to "departure" (see reference). Figure 5 ).

[0072] If a potential collision risk is determined to exist, step S07 is executed. In step S07, a "Pass" or "Start" indication is displayed on the display panel. By displaying "Pass" or "Start" on the display panel, when a potential traffic participant 52 notices the presence of vehicle 10, the potential traffic participant 52 can quickly recognize that vehicle 10 is moving, meaning that it would be dangerous if they did not stop.

[0073] Next, use Figure 9 The logic for manual driving is explained. The difference between the logic for manual driving and the logic for autonomous driving lies in the addition of steps S10 and S11. According to... Figure 9As shown in the flowchart, if a potential collision risk is determined in step S05, the processing in step S07 is not executed directly. Instead, driver state risk estimation processing is performed in step S10. The driver state risk estimation processing is performed by driver state risk estimation routine 118, which is a subroutine of reporting procedure 110.

[0074] Figure 12 This is a flowchart illustrating the logic of the driver state risk estimation routine 118. According to this flowchart, in step S41, the driver's drowsiness is determined based on eyelid movements and gaze. Furthermore, in step S42, the driver's actions with the accelerator pedal, brake pedal, and steering wheel are determined; and in step S43, the driver's face orientation is determined. Then, in step S44, a probability calculation of the driver state risk is performed based on the determination results of steps S41 to S43. Driver state risk refers to the driver's inability to cope with potential collision risks.

[0075] Back to Figure 9 The flowchart of reporting procedure 110 will continue to be explained. In step S11, it is determined whether a driver state risk exists. The presence or absence of a driver state risk is determined based on the result of the probability calculation of the driver state risk performed in step S10. If the probability value of the driver state risk is above a predetermined value, then it is determined that a driver state risk exists.

[0076] If the risk of a collision is determined to be undetectable by the driver, the process in step S06 is executed. That is, even if a potential collision risk is determined in step S05, if the driver is in a state capable of handling the potential collision risk, the usual reporting process is performed. In other words, during manual driving, if the driver can handle the potential collision risk even if it exists, the driver is entrusted with handling it.

[0077] Furthermore, if a driver's condition is deemed to pose a risk, step S07 is executed. That is, if a potential collision risk is determined in step S05 and the driver is in a state where they are unable to cope with the potential collision risk, a "pass" or "start" indication is displayed on the display panel. During manual driving, situations where the driver is unable to cope are included and anticipated as potential collision risks, and a first report is only issued when the driver is unable to cope.

[0078] The above-mentioned reporting procedure 110 is executed by the processor 102 according to a predetermined execution cycle, thereby the reporting method of this embodiment is executed by the control device 100 constituting the reporting device. By executing the reporting method of this embodiment, a first report is made in response to the anticipation of a potential collision risk. As a result, potential road users can be aware of the presence of a moving vehicle, which reduces collision accidents between potential road users and vehicles that are not visible to the vehicle.

[0079] 4. Other

[0080] The reporting device described above is applied to bus-type autonomous vehicles. However, autonomous vehicles using the reporting device of this disclosure can be, for example, privately owned vehicles, carpooling vehicles with multiple passengers, or public transportation vehicles such as buses and taxis. Furthermore, the reporting device of this disclosure can also be applied to remotely driven vehicles operated remotely by a remote operator.

[0081] Furthermore, while the reporting device described in the above embodiment includes a display panel, a sound output device with one or more speakers can also be used as a reporting device. That is, reporting using sound is also possible. For example, a sound output device with multiple directional speakers facing different directions can be provided, and a first report can be made specifically in the direction of potential traffic participants. Reporting using the display panel and reporting using the sound output device can also be performed simultaneously.

[0082] The reporting device described above acquires information related to the vehicle's surrounding conditions via onboard external sensors. However, surrounding condition information can also be acquired through road-to-vehicle communication with infrastructure equipment, vehicle-to-vehicle communication with other vehicles, or pedestrian-to-vehicle communication with pedestrians.

Claims

1. A reporting method, characterized in that, include: Anticipating potential collision risks between the vehicle and potential traffic participants that are predicted to exist on the side of the vehicle's direction of travel; In response to the anticipated potential collision risk, the vehicle uses an external reporting device to issue a first report to the surrounding area notifying them that the vehicle is in motion; The sensor detects a significant risk of collision between a traffic participant and the vehicle on the side of the vehicle's direction of travel. as well as In response to sensing the apparent collision risk, the external reporter is used to issue a second report to notify the surrounding area of ​​the vehicle's collision avoidance action, wherein the external reporter includes at least one display panel mounted on at least one surface of the vehicle. The reporting method also includes: During the duration of the potential collision risk, the first report shall take precedence over the second report. When the first report takes priority, "Pass" or "Start" is displayed on at least one display panel; when the first report does not take priority, the second report is made, and "Decelerate" or "Slow Down" is switched to be displayed on at least one display panel.

2. The reporting method according to claim 1, characterized in that, Anticipating potential collision risks includes: sensing areas with a high probability of the presence of traffic participants in the direction of travel of the vehicle, or sensing areas that are blind spots relative to the vehicle.

3. The reporting method according to claim 2, characterized in that, Anticipating the potential collision risk includes calculating the likelihood of the presence of the potential traffic participants based on environmental information.

4. The reporting method according to claim 2 or 3, characterized in that, Anticipating the potential collision risk includes: calculating, based on environmental information, the likelihood of a collision between the potential traffic participant and the vehicle, assuming the presence of the potential traffic participant.

5. The reporting method according to any one of claims 1 to 3, characterized in that, The vehicle in question is a vehicle driven by a driver. Furthermore, anticipating the potential collision risk includes sensing the driver's inability to cope with the potential collision risk.

6. A reporting device, characterized in that, include: External reporting device, outputting information to sources outside the vehicle; and control devices, The reporting device also includes: external sensors to detect the surrounding conditions of the vehicle. The external sensor detects visible traffic participants present on the side of the vehicle's direction of travel. The control device is configured to perform the following steps: Anticipating potential collision risks between the vehicle and potential traffic participants that are predicted to exist on the side of the vehicle's direction of travel; In response to the anticipated potential collision risk, the external reporting device is used to make an initial report to notify the surrounding area that the vehicle is in motion; Sensing the apparent collision risk between the vehicle and the visible traffic participants; In response to sensing the apparent collision risk, the external reporter is used to make a second report to notify the surrounding area of ​​the vehicle's collision avoidance action, wherein the external reporter includes at least one display panel mounted on at least one surface of the vehicle; and During the duration of the potential collision risk, the first report shall take precedence over the second report. When the first report takes priority, "Pass" or "Start" is displayed on at least one display panel; when the first report does not take priority, the second report is made, and "Decelerate" or "Slow Down" is switched to be displayed on at least one display panel.

7. The reporting device according to claim 6, characterized in that, The control device is configured to anticipate the potential collision risk by sensing areas where the probability of the presence of traffic participants in the direction of travel of the vehicle is high, or by sensing areas that are blind spots relative to the vehicle.

8. The reporting device according to claim 6, characterized in that, The control device is configured to predict the potential collision risk by calculating the likelihood of the presence of the potential traffic participants based on environmental information.

9. The reporting device according to claim 6 or 7, characterized in that, The control device is configured to predict the potential collision risk by calculating the probability of a collision between the potential traffic participant and the vehicle, given the presence of the potential traffic participant, based on environmental information.

10. A storage medium storing commands, said commands being executable by one or more processors mounted in a vehicle, and said commands causing one or more processors mounted in the vehicle to perform the following functions: Anticipating potential collision risks between the vehicle and potential traffic participants that are predicted to exist on the side of the vehicle's direction of travel; In response to the anticipated potential collision risk, the vehicle uses an external reporting device to issue a first report to the surrounding area notifying them that the vehicle is in motion; The sensor detects a significant risk of collision between a traffic participant and the vehicle on the side of the vehicle's direction of travel. In response to sensing the apparent collision risk, the external reporter is used to make a second report to notify the surrounding area of ​​the vehicle's collision avoidance action, wherein the external reporter includes at least one display panel mounted on at least one surface of the vehicle. as well as During the duration of the potential collision risk, the first report shall take precedence over the second report. When the first report takes priority, "Pass" or "Start" is displayed on at least one display panel; when the first report does not take priority, the second report is made, and "Decelerate" or "Slow Down" is switched to be displayed on at least one display panel.

11. The storage medium according to claim 10, characterized in that, Anticipating potential collision risks includes: sensing areas with a high probability of the presence of traffic participants in the direction of travel of the vehicle, or sensing areas that are blind spots relative to the vehicle.

12. The storage medium according to claim 11, characterized in that, Anticipating the potential collision risk includes calculating the likelihood of the presence of the potential traffic participants based on environmental information.

13. The storage medium according to claim 11 or 12, characterized in that, Anticipating the potential collision risk includes: calculating, based on environmental information, the likelihood of a collision between the potential traffic participant and the vehicle, assuming the presence of the potential traffic participant.

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