Vehicle prompting control device, vehicle prompting control system, and vehicle prompting control method

Abstract

The vehicle prompting control device includes: a requirement determining section (103) that discriminates at least between a driver requirement that is a requirement that is highly likely to be resolved by a driver of a vehicle and an environment requirement that is a requirement that is less likely to be resolved by the driver as automatic driving start requirements that should be satisfied in order to start automatic driving; and a prompting control section (100) that, based on the automatic driving start requirements determined by the requirement determining section (103) being the driver requirement, performs a driver requirement prompt as a requirement prompt before the start of automatic driving, the requirement prompt being information prompting of a requirement needed for the start of automatic driving, the gist of the driver requirement prompt indicating that the start of automatic driving requires the driver requirement.

Description

[0001] Cross-references to related applications

[0002] This application is based on Japanese Patent Application No. 2021-026537, filed in Japan on February 22, 2021, and the contents of the base application are incorporated herein by reference in their entirety. Technical Field

[0003] This invention relates to a vehicle prompt control device, a vehicle prompt control system, and a vehicle prompt control method. Background Technology

[0004] Patent Document 1 discloses a technique that switches from manual to automatic driving at the beginning of an area capable of automatic driving, and switches back to manual driving at the end of the area capable of automatic driving. Patent Document 1 also discloses alternating notifications as information prompts, indicating the start of the handover of driving operations from the automatic driving function to the driver. Furthermore, Patent Document 1 discloses alternating advance notices as information prompts, informing the driver in advance of the handover of driving operations from the automatic driving function to the driver.

[0005] Patent Document 1: International Publication No. 2017 / 154396

[0006] While Patent Document 1 discloses information prompts for switching from autonomous to manual driving, it does not disclose the detailed content of the information prompts for switching from manual to autonomous driving. Several conditions must be met to initiate autonomous driving. If these conditions are not met, autonomous driving cannot commence. These conditions are considered to be categorized into conditions that are highly likely to be resolved by the driver (hereinafter, driver conditions) and conditions that are less likely to be resolved by the driver (hereinafter, environmental conditions). It is believed that the driver's response differs depending on whether the conditions to be met for initiating autonomous driving are driver conditions. Therefore, for a smooth switch from manual to autonomous driving, it is considered necessary to provide information prompts in a manner corresponding to whether the conditions to be met for initiating autonomous driving are driver conditions. Summary of the Invention

[0007] One object of the present invention is to provide a vehicle prompt control device, a vehicle prompt control system, and a vehicle prompt control method that enable a smooth transition from manual driving to automatic driving.

[0008] The aforementioned objectives are achieved by a combination of features described in the independent claims. Furthermore, the subsequent claims specify more advantageous examples. The reference numerals within parentheses in the claims indicate a correspondence between a particular element and the specific unit described in the following embodiments, and do not limit the scope of the invention.

[0009] To achieve the above objectives, the vehicle prompt control device of the present invention can be used in vehicles capable of autonomous driving. The vehicle prompt control device includes: a requirement determination unit that at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that must be met in order to begin autonomous driving; driver requirements are those that are highly likely to be resolved by the vehicle's driver, and environmental requirements are those that are less likely to be resolved by the driver; and a prompt control unit that, based on the autonomous driving start requirements determined by the requirement determination unit as driver requirements, provides a driver requirement prompt before autonomous driving begins as a requirement prompt. The requirement prompt is an information prompt regarding the requirements required to begin autonomous driving, and the main idea of ​​the driver requirement prompt is that driver requirements are required to begin autonomous driving.

[0010] To achieve the above objectives, the vehicle prompt control method of the present invention can be used in vehicles capable of autonomous driving. The vehicle prompt control method is executed by at least one processor and includes: a requirement determination step, which at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that must be met in order to initiate autonomous driving, wherein driver requirements are those that are highly likely to be resolved by the vehicle's driver, and environmental requirements are those that are less likely to be resolved by the driver; and a prompt control step, which, based on the autonomous driving start requirements determined by the requirement determination step as driver requirements, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt, the requirement prompt being an information prompt regarding the requirements required for the start of autonomous driving, the essence of which is that the start of autonomous driving requires driver requirements.

[0011] Based on the above structure, it is possible to distinguish between driver-related requirements (those with a high probability of being resolved by the vehicle's driver) and environmental requirements (those with a low probability of being resolved by the driver). Furthermore, since the requirements for initiating autonomous driving are considered driver-related, driver-related prompts are provided, indicating the main point that these requirements are necessary for the initiation of autonomous driving. Therefore, information prompts corresponding to cases where the requirements for initiating autonomous driving are driver-related can be provided. Moreover, since these driver-related prompts are given before autonomous driving begins, the driver can be prompted to take the necessary actions before autonomous driving commences. As a result, a smooth transition from manual to autonomous driving is possible.

[0012] To achieve the above objectives, the vehicle prompting control system of the present invention can be used in vehicles capable of autonomous driving, and includes: a prompting device for providing information prompts to the driver of the vehicle; and the aforementioned vehicle prompting control device.

[0013] Therefore, because of the aforementioned vehicle prompt control device, the transition from manual driving to automatic driving can be completed smoothly. Attached Figure Description

[0014] Figure 1 This is a diagram showing an example of the general structure of system 1 for vehicles.

[0015] Figure 2 This is a diagram illustrating an example of the schematic structure of HCU10.

[0016] Figure 3 This is a flowchart illustrating an example of the prompt control association processing flow in HCU10.

[0017] Figure 4 This is a flowchart illustrating an example of the reservation processing flow in HCU10.

[0018] Figure 5 This is a flowchart illustrating an example of the non-scheduled processing flow in HCU10.

[0019] Figure 6 This is a diagram illustrating an example of the schematic structure of HCU10a.

[0020] Figure 7 This is a flowchart illustrating an example of the non-scheduled processing flow in HCU10a. Detailed Implementation

[0021] Several embodiments of the invention will be described with reference to the accompanying drawings. Furthermore, for ease of explanation, parts having the same function as those shown in the figures used in the preceding description are labeled with the same reference numerals across the various embodiments, and their descriptions are sometimes omitted. For parts labeled with the same reference numerals, reference can be made to the descriptions in other embodiments.

[0022] (Implementation Method 1)

[0023] <Brief Structure of System 1 for Vehicles>

[0024] Hereinafter, Embodiment 1 of the present invention will be described with reference to the accompanying drawings. Figure 1 The vehicle system 1 shown can be used in vehicles capable of autonomous driving (hereinafter, autonomous vehicles). Figure 1As shown, the vehicle system 1 includes: an HCU (Human Machine Interface Control Unit) 10, a communication module 20, a locator 30, a map database (hereinafter, map DB) 40, a vehicle status sensor 50, a surrounding monitoring sensor 60, a vehicle control ECU 70, an automatic driving ECU 80, a prompting device 90, a DSM (Driver Status Monitor) 93, and a user input device 94. This vehicle system 1 is equivalent to a vehicle prompting control system. For example, the HCU 10, communication module 20, locator 30, map DB 40, vehicle status sensor 50, surrounding monitoring sensor 60, vehicle control ECU 70, and automatic driving ECU 80 utilize an in-vehicle LAN (see reference). Figure 1 The LAN connection structure is sufficient. The vehicles using System 1 are not necessarily limited to automobiles; the following explanation uses the case of automobiles as an example.

[0025] The degree of automation of an autonomous vehicle (hereinafter, the level of automation) may vary, for example, as defined by SAE, and may have multiple levels. Automation levels are classified, for example, from LV0 to LV5.

[0026] LV0 is the level where the system does not intervene and the driver performs all driving tasks. Driving tasks can also be described as dynamic driving tasks. These tasks include, for example, steering, acceleration / deceleration, and surrounding monitoring. LV0 is equivalent to manual driving. LV1 is the level where the system assists with either steering or acceleration / deceleration. LV1 is equivalent to driver assistance. LV2 is the level where the system assists with both steering and acceleration / deceleration. LV2 is equivalent to partial driver automation. LV1 and LV2 are also part of automatic driving.

[0027] For example, in Level 1 to 2 autonomous driving, the monitoring obligation (hereinafter referred to as the monitoring obligation) related to safe driving is under the driver's control. As a monitoring obligation, there is peripheral monitoring based on visual observation. Level 1 to 2 autonomous driving can also be described as autonomous driving that does not allow a second task. A second task refers to actions other than driving permitted by the driver, and is a pre-defined, specific action. A second task can also be described as a secondary activity, a movable activity, etc. The second task is set so as not to interfere with the driver's response to takeover requests from the autonomous driving system. As an example, assume that watching or listening to content such as moving images, operating a smartphone, reading, eating, etc., are second tasks.

[0028] Level 3 (LV3) autonomous driving is a level where the system can perform all driving tasks under defined conditions, with the driver taking over driving operations in emergencies. In LV3 autonomous driving, the driver is required to respond quickly to a request for a driving handover from the system. This handover can also be interpreted as a transfer of monitoring duties from the vehicle-side system to the driver. LV3 is equivalent to conditional driving automation. As LV3, there is a region-limited LV3, which is restricted to a defined area. This defined area can be a dedicated road or highway. For example, the defined area could also be a defined lane. There is also a congestion-limited LV3, which is restricted to congestion situations, for example, on dedicated roads or highways.

[0029] Level 4 autonomous driving is a level where the system can perform all driving tasks except in certain situations such as roads it cannot handle or extreme environments. Level 4 is equivalent to so-called high-level driving automation. Level 5 autonomous driving is a level where the system can perform all driving tasks in all environments. Level 5 is equivalent to so-called full-level driving automation.

[0030] For example, Level 3 to 5 autonomous driving is defined as autonomous driving where the driver has no duty of supervision. That is, it is equivalent to autonomous driving without a duty of supervision. Level 3 to 5 autonomous driving can also be described as autonomous driving that allows a second task. Level 4 and above of Level 3 to 5 autonomous driving are defined as autonomous driving that allows the driver to sleep (hereinafter, autonomous driving capable of sleep). Level 3 of Level 3 to 5 autonomous driving is defined as autonomous driving that does not allow the driver to sleep (hereinafter, autonomous driving that cannot sleep).

[0031] The autonomous vehicle in this embodiment can switch automation levels. Alternatively, it may be configured to switch between only a subset of automation levels from LV0 to LV5. In this embodiment, the example will be described where the autonomous vehicle can switch between LV3 autonomous driving, LV2 or lower autonomous driving, and LV0 manual driving.

[0032] The communication module 20 transmits and receives information wirelessly with a central hub outside the vehicle. This enables wide-area communication. The communication module 20 uses wide-area communication to receive traffic congestion information and other data about the vehicle's surroundings from the central hub. The communication module 20 can also transmit and receive information wirelessly with other vehicles. This enables vehicle-to-vehicle communication. The communication module 20 can also transmit and receive information wirelessly with roadside communication units located on the roadside. This enables road-to-road communication. In the case of road-to-road communication, the communication module 20 can also receive information about surrounding vehicles transmitted from vehicles around the vehicle via the roadside communication units. Furthermore, the communication module 20 can also receive information about surrounding vehicles transmitted from vehicles around the vehicle via wide-area communication from the central hub.

[0033] The locator 30 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from multiple positioning satellites. The inertial sensor includes, for example, a gyroscope sensor and an accelerometer sensor. The locator 30 sequentially measures the vehicle position (hereinafter, vehicle position) of the vehicle equipped with the locator 30 by combining the positioning signals received by the GNSS receiver and the measurement results from the inertial sensor. The vehicle position is represented, for example, by latitude and longitude coordinates. Alternatively, the vehicle position measurement can also utilize the travel distance calculated based on signals sequentially output from a vehicle speed sensor mounted on the vehicle.

[0034] Map DB40 is a non-volatile memory that stores high-precision map data. High-precision map data refers to map data with higher accuracy than the map data used for route guidance in navigation functions. Map DB40 can also store map data used for route guidance. This high-precision map data includes, for example, information that can be used for autonomous driving, such as the three-dimensional shape of roads, the number of lanes, and information indicating the permitted directions of travel for each lane. Additionally, the high-precision map data may include information about nodes indicating the positions of both ends of road markings, such as lane markings. Furthermore, the locator 30 can also be structured to use the three-dimensional shape information of the road without using a GNSS receiver. For example, the locator 30 can also be structured to determine the vehicle's position using the three-dimensional shape information of the road, detection results from LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) point groups that detect feature points of road shapes and structures, or detection results from surrounding surveillance sensors 60 such as surrounding surveillance cameras. The three-dimensional shape information of a road can also be generated by REM (Road Experience Management) based on captured images.

[0035] Furthermore, the communication module 20 can also receive map data distributed from an external server using wide area communication and store it in the map DB40. In this case, the following structure can also be adopted: the map DB40 is set as a volatile memory, and the communication module 20 sequentially obtains map data of the area corresponding to the vehicle's position.

[0036] The vehicle status sensor 50 is a sensor group used to detect various states of the vehicle. The vehicle status sensor 50 includes a vehicle speed sensor for detecting vehicle speed, a steering operation sensor for detecting steering angle, a balance sensor for detecting the remaining amount of driving energy, an automatic mode switch for detecting the on / off state of the windshield wipers, and a headlight switch for detecting the on / off state of the automatic headlight function. The vehicle status sensor 50 outputs the detected sensing information to the vehicle's LAN. Alternatively, the sensing information detected by the vehicle status sensor 50 can be output to the vehicle's LAN via the vehicle's ECU.

[0037] The surrounding environment monitoring sensor 60 monitors the vehicle's surroundings. For example, it detects obstacles such as pedestrians, other vehicles, and stationary objects like fallen debris. It also detects road markings such as lane markings. The surrounding environment monitoring sensor 60 can be, for example, a surrounding camera capturing images of a defined area around the vehicle, or a millimeter-wave radar, sonar, or LIDAR sensor transmitting detection waves to that area. The surrounding camera sequentially outputs the captured images as sensing information to the autonomous driving ECU 80. The sonar, millimeter-wave radar, or LIDAR sensor outputs the scan results based on the received signals obtained when reflecting waves from obstacles as sensing information to the autonomous driving ECU 80. The sensing information detected by the surrounding environment monitoring sensor 60 is then output to the vehicle's LAN via the autonomous driving ECU 80.

[0038] The vehicle control ECU 70 is an electronic control device that performs driving control of the vehicle. Driving control includes acceleration / deceleration control and / or steering control. The vehicle control ECU 70 includes a steering operation ECU for steering operation control, a power unit control ECU for acceleration / deceleration control, and a brake ECU, among others. The vehicle control ECU 70 performs driving control by outputting control signals to various driving control devices installed in the vehicle, such as the electronically controlled throttle, brake actuators, and EPS (Electric Power Steering) motor.

[0039] The autonomous driving ECU 80, for example, includes a processor, memory, I / O, and a bus connecting them. It performs autonomous driving-related processing by executing control programs stored in the memory. The memory referred to here is a non-transitory tangible storage medium that stores programs and data that can be read by a computer. Furthermore, non-transitory tangible storage media are implemented using semiconductor memory or disks, etc.

[0040] The autonomous driving ECU 80 includes a first autonomous driving ECU 81 and a second autonomous driving ECU 82. It will be described below as follows: the first autonomous driving ECU 81 and the second autonomous driving ECU 82 each have a processor, memory, I / O, and a bus connecting them. Alternatively, a hypothetical structure can be adopted where a shared processor performs the functions of both the first autonomous driving ECU 81 and the second autonomous driving ECU 82.

[0041] The first autonomous driving ECU 81 performs the functions of autonomous driving below LV2 as described above. In other words, the first autonomous driving ECU 81 can implement autonomous driving with a monitoring obligation. For example, the first autonomous driving ECU 81 can perform at least one of the longitudinal control and lateral control of the vehicle. Longitudinal control refers to the direction consistent with the front-to-back direction of the vehicle. Lateral control refers to the direction consistent with the width direction of the vehicle. As longitudinal control, the first autonomous driving ECU 81 performs acceleration and deceleration control of the vehicle. As lateral control, the first autonomous driving ECU 81 performs steering operation control of the vehicle. As a functional module, the first autonomous driving ECU 81 includes a first environment recognition unit, an ACC control unit, an LTA control unit, and an LCA control unit, etc.

[0042] The first environment recognition unit identifies the driving environment surrounding the vehicle based on sensing information obtained from the surrounding monitoring sensor 60. As an example, the first environment recognition unit identifies the detailed position of the vehicle within the driving lane (hereinafter, the lane) based on information such as the left and right dividing lines of the driving lane. In addition, the first environment recognition unit identifies the position and speed of obstacles such as vehicles around the vehicle. The first environment recognition unit identifies the position and speed of obstacles such as vehicles in the lane. Furthermore, the first environment recognition unit identifies the position and speed of obstacles such as vehicles in surrounding lanes. Surrounding lanes may be, for example, adjacent lanes to the lane. Alternatively, surrounding lanes may be lanes other than the lane within the road section where the vehicle is located. Furthermore, the first environment recognition unit may have the same structure as the second environment recognition unit described later.

[0043] The ACC control unit performs ACC (Adaptive Cruise Control) control to achieve constant speed driving of the vehicle at a target speed or to follow a vehicle traveling in front. The ACC control unit uses the positions and speeds of surrounding vehicles identified by the first environmental recognition unit to perform ACC control. The ACC control unit performs ACC control by utilizing the vehicle control ECU 70 for acceleration and deceleration control.

[0044] The LTA control unit performs LTA (Lane Tracing Assist) control to maintain the vehicle's lane-keeping. The LTA control unit uses the detailed position of the vehicle in the lane identified by the first environmental recognition unit to perform LTA control. The LTA control unit performs LTA control by utilizing the vehicle control ECU 70 for steering operation control. Furthermore, ACC control is an example of longitudinal control. LTA control is an example of lateral control.

[0045] The LCA control unit performs LCA (Lane Change Assist) control, which automatically changes the vehicle from its current lane to an adjacent lane. The LCA control unit uses the positions and speeds of vehicles surrounding the vehicle, as identified by the first environmental recognition unit, to perform LCA control. For example, LCA control is performed when the speed of the vehicle in front of the vehicle is below a specified value and there are no surrounding vehicles approaching from the side or rear of the vehicle. For example, the LCA control unit can perform LCA control by utilizing the vehicle control ECU 70 for acceleration / deceleration control and steering operation control.

[0046] The first autonomous driving ECU 81 achieves LV2 autonomous driving by executing both ACC control and LTA control. Regarding LCA control, it only needs to be able to execute during the execution of ACC control and LTA control. The first autonomous driving ECU 81 can also achieve LV1 autonomous driving by executing either ACC control or LTA control.

[0047] On the other hand, the second autonomous driving ECU 82 undertakes the aforementioned LV3 and above autonomous driving functions. In other words, the second autonomous driving ECU 82 is capable of autonomous driving without supervision. As a functional module, the second autonomous driving ECU 82 includes a second environment recognition unit, an action judgment unit, and a trajectory generation unit, etc.

[0048] The second environmental recognition unit identifies the driving environment surrounding the vehicle based on sensing information obtained from the surrounding monitoring sensor 60, the vehicle's position obtained from the locator 30, map data obtained from the map DB 40, and information about other vehicles obtained from the communication module 20. As an example, the second environmental recognition unit uses this information to generate a hypothetical space that reproduces the actual driving environment.

[0049] The second environmental identification unit determines the manual driving area (hereinafter, MD area) within the vehicle's driving area. The second environmental identification unit also determines the automatic driving area (hereinafter, AD area) within the vehicle's driving area. Furthermore, the second environmental identification unit determines the ST (Standard) and non-ST (Standard) sections within the AD area (described later).

[0050] MD (Driver Controller) zones are areas where autonomous driving is prohibited. In other words, an MD zone is defined as an area where the driver is responsible for all longitudinal and lateral control of the vehicle, as well as monitoring of the surrounding environment. For example, an MD zone can be a regular road.

[0051] AD zones are areas where autonomous driving is permitted. In other words, an AD zone is defined as an area where the vehicle can replace one or more of the following: longitudinal control, lateral control, and surrounding monitoring. For example, an AD zone can be a highway or a dedicated road for motor vehicles. Congestion-limited Level 3 autonomous driving can, for example, be configured to be permitted only during congestion in AD zones.

[0052] The AD region is divided into ST (Stationary) and non-ST (Non-Stationary) zones. ST zones are those where LV3 (Level 3) autonomous driving is permitted. LV3 autonomous driving can also be configured to be permitted only in specific lanes (hereinafter, ST lanes) within the ST zone. Non-ST zones are those where LV2 or lower autonomous driving is possible. In this embodiment, non-ST zones allowing LV1 and LV2 autonomous driving are not separated. ST zones can be, for example, driving zones that maintain high-precision map data. Non-ST zones are simply zones within the AD region that do not correspond to ST zones.

[0053] The Action Determination Unit determines the vehicle's planned actions (hereinafter, future actions) based on the driving environment recognition results from the Second Environment Recognition Unit. The Action Determination Unit determines the future actions for driving the vehicle via automated driving. The Action Determination Unit simply determines the type of action the vehicle should take to reach its destination as the future action. Examples of such types include, for instance, moving forward, turning right, turning left, and lane changing.

[0054] The trajectory generation unit generates a driving trajectory for the vehicle within the area where autonomous driving can be performed, based on the driving environment recognition results in the second environment recognition unit and the future actions determined by the action judgment unit. The driving trajectory includes, for example, the target position of the vehicle corresponding to the movement and the target speed at each target position. The trajectory generation unit sequentially provides the generated driving trajectory to the vehicle control ECU 70 as control commands to be followed by the vehicle in autonomous driving.

[0055] In addition, the autonomous driving ECU 80 includes a requirement determination unit that determines whether autonomous driving can be performed. The requirement determination unit may be separately provided in the first autonomous driving ECU 81 and the second autonomous driving ECU 82, or it may be a shared unit.

[0056] The requirement determination unit determines whether an autonomous driving situation is feasible. The requirement determination unit determines whether an autonomous driving situation is feasible based on the automation level. The requirement determination unit determines whether an autonomous driving situation is feasible based on whether the requirements that must be met to start autonomous driving (hereinafter, autonomous driving start requirements) are met. Hereinafter, the autonomous driving start requirements will be referred to as AD start requirements. In this embodiment, the following requirements are listed as examples of AD start requirements.

[0057] As a first requirement, the driving range is listed as the range where autonomous driving is permitted. This first requirement is called the range requirement. As an example, the case where the vehicle's driving range is in the AD area is considered a range requirement for performing autonomous driving with congestion limitation LV3 and below. The case where the vehicle's driving range is in the ST area within the AD area is considered a range requirement for performing autonomous driving with area limitation LV3. The requirement determination unit can determine whether the range requirement is met, for example, based on the vehicle's position measured by the locator 30 and the map data from the map DB40.

[0058] As a second requirement, structures that separate lanes in a reciprocating direction (hereinafter, "separation structures") are listed. Examples of separation structures include median strips and pillars. This second requirement is referred to as the separation structure requirement. The separation structure requirement can be a Level 3 autonomous driving requirement. Furthermore, the separation structure requirement can also be a requirement for performing Level 4 or higher autonomous driving, or a requirement for performing Level 2 autonomous driving. The separation structure requirement is used as an autonomous driving requirement because the accuracy of driving environment recognition decreases if separation structures are not present. The requirement determination unit can determine whether the separation structure requirement is met, for example, by image recognition of images captured by surrounding surveillance cameras.

[0059] As a third requirement, the vehicle speed is listed as being below a certain speed threshold. This third requirement is referred to as the vehicle speed requirement. The vehicle speed requirement can be a Level 3 autonomous driving requirement. Furthermore, the vehicle speed requirement can also be a requirement for performing Level 4 or higher autonomous driving, or a requirement for performing Level 2 or lower autonomous driving. The vehicle speed requirement is used as an autonomous driving requirement because if the vehicle speed is too high, surrounding monitoring may become insufficient using only the vehicle-side system. The vehicle speed requirement can also be configured according to the level of automation. Additionally, the vehicle speed requirement can be the same across multiple levels of automation. For example, the speed threshold for performing Level 3 autonomous driving can be configured to be lower than the speed threshold for performing Level 2 or lower autonomous driving. The requirement determination unit determines whether the vehicle speed requirement is met based on, for example, the sensing result of the vehicle speed sensor in the vehicle state sensor 50.

[0060] As a fourth requirement, the vehicle's driving route is defined as having at least a specified number of lanes. For example, this can be defined as having multiple lanes on one side. This fourth requirement is called the lane number requirement. The lane number requirement can be a requirement for Level 3 autonomous driving. Furthermore, the lane number requirement can also be a requirement for autonomous driving at levels below Level 2. For example, a lane number requirement for levels below Level 2 can be one or more lanes on one side. The lane number requirement is used as an autonomous driving requirement because the accuracy of recognizing the driving environment sometimes decreases if multiple lanes on one side are not present. The requirement determination unit determines whether the lane number requirement is met by image recognition, for example, of images captured by the aforementioned surrounding surveillance cameras.

[0061] As the fifth requirement, it is assumed that the distance between the vehicle and the vehicle in front is appropriate. This fifth requirement is called the vehicle distance requirement. The vehicle distance requirement can be a requirement for Level 3 autonomous driving. Alternatively, the vehicle distance requirement can also be a requirement for autonomous driving at Level 2 or lower. The vehicle distance requirement is used as an autonomous driving requirement because if the distance to surrounding vehicles is too short, it can be difficult to handle close proximity avoidance issues using only the vehicle-side system. The requirement determination unit determines whether the vehicle distance requirement is met based on sensing information from, for example, the surrounding monitoring sensor 60.

[0062] As the sixth requirement, the area surrounding the vehicle is considered congested. This sixth requirement is called the congestion requirement. The congestion requirement can be a requirement for Level 3 autonomous driving under congestion restrictions. Alternatively, it can be a requirement for performing Level 2 autonomous driving. The congestion requirement is chosen as an autonomous driving requirement because, in congested conditions, both the vehicle and surrounding vehicles are traveling at low speeds, making it easier to handle approach avoidance issues using only the vehicle-side system. The requirement determination unit determines whether the congestion requirement is met based on, for example, the number and speed of surrounding vehicles detected by the surrounding monitoring sensor 60.

[0063] As the seventh requirement, it can be set as the range maintained by the high-precision map. This seventh requirement is called the high-precision map requirement. The high-precision map requirement can be set as a requirement for LV3 autonomous driving. The requirement judgment unit determines whether the high-precision map requirement is met based on, for example, the vehicle's position measured by the locator 30 and the high-precision map data from the map DB40.

[0064] As the eighth requirement, the driver's state must be appropriate. This eighth requirement is called the driver state requirement. As an example, the state in which the driver fulfills his monitoring duties can be considered a requirement for performing LV3 autonomous driving. The state in which the driver fulfills his monitoring duties refers to being awake, having his face turned forward, and maintaining proper posture, etc. The requirement determination unit determines whether the driver state requirement is met based on the detection results in DSM93, which will be described later.

[0065] As the ninth requirement, holding the steering wheel is sufficient. This ninth requirement is called the holding requirement. The holding requirement can be set as an autonomous driving requirement for levels 2 and below. The requirement judgment unit determines whether the holding requirement is met based on the detection results from the sensors that detect steering wheel holding.

[0066] As the tenth requirement, it is sufficient to assume that the vehicle's driving lane is suitable for autonomous driving. This tenth requirement is referred to as the driving lane requirement. As an example, the situation of lane congestion can also be used as the driving lane requirement for congestion limitation LV3. Alternatively, the situation of the vehicle's driving lane being the aforementioned ST lane can also be used as the driving lane requirement for area limitation LV3. The requirement determination unit determines whether the driving lane requirement is met based on, for example, the vehicle's position measured by the locator 30 and the high-precision map data of the map DB40.

[0067] As the eleventh requirement, the windshield wipers and headlights of this vehicle are set to automatic mode. This eleventh requirement is called the automatic mode requirement. The automatic mode requirement is set to be a requirement that enables LV3 autonomous driving. The requirement determination unit determines whether the automatic mode requirement is met based on the signals from the automatic mode switch of the windshield wipers and the headlight switch.

[0068] As the twelfth requirement, the remaining energy source of the vehicle is set to be above a specified value. This specified value can be arbitrarily set. This twelfth requirement is referred to as the energy requirement. Examples of remaining energy source capacity include fuel reserve and charging reserve. The energy requirement is set to be sufficient to enable LV3 autonomous driving. The requirement determination unit determines whether the energy requirement is met based on the detection results of the aforementioned reserve sensor.

[0069] As the thirteenth requirement, the weather need only be considered as not being severe weather. This thirteenth requirement is called the weather requirement. Examples of severe weather include heavy rain, dense fog, and blizzards. The weather requirement can be set as a requirement for enabling autonomous driving at LV3 or lower. The weather requirement can also be a requirement for enabling autonomous driving at LV4 or lower. The requirement determination unit determines whether the weather requirement is met by image recognition of the images captured by the aforementioned surrounding surveillance cameras.

[0070] As the fourteenth requirement, it can be set that the surrounding monitoring sensor 60 cannot detect (i.e., the sensor is missing). This fourteenth requirement is called the recognition requirement. The recognition requirement can be set as a requirement for performing LV1 or higher autonomous driving. The requirement determination unit can determine whether the recognition requirement is met based on the sensing information from the surrounding monitoring sensor 60.

[0071] As the fifteenth requirement, it is sufficient to set an appropriate level of automation. This fifteenth requirement is referred to as the level requirement. As an example, in a scenario where it is impossible to switch to LV3 autonomous driving without switching to LV2, the current automation level of LV2 is a level requirement for LV3 autonomous driving. The requirement determination unit determines whether the level requirement is met based on the automation level of the autonomous driving system implemented by the autonomous driving ECU 80.

[0072] In this embodiment, the above-described requirements are used as examples, but the implementation is not limited to these. Autonomous driving requirements may also be a subset of the above-described requirements. Furthermore, the implementation may also include requirements other than those described above.

[0073] Autonomous driving requirements can be categorized into driver requirements and environmental requirements. In other words, autonomous driving requirements can be defined as the AD (Autonomous Driving) initiation requirements that must be met to begin autonomous driving. Driver requirements are those that are highly likely to be resolved by the vehicle's driver. Environmental requirements are those that are less likely to be resolved by the vehicle's driver. The likelihood of a driver resolving a requirement is determined by, for example, the ratio of factors that the driver can resolve to factors that the driver cannot resolve. As an example, vehicle speed, inter-vehicle distance, driver status, control, driving lane, autonomous mode, energy, and level requirements are classified as driver requirements. On the other hand, section requirements, separation structure requirements, number of lanes requirements, congestion requirements, high-precision map requirements, weather requirements, and recognition requirements are classified as environmental requirements. Furthermore, this classification can be appropriately modified.

[0074] The autonomous driving system, comprising the aforementioned autonomous driving ECU 80, is capable of performing autonomous driving at levels LV2 and below, as well as LV3 and above, in this vehicle. Furthermore, the autonomous driving ECU 80 switches the vehicle's level of automation as needed. For example, when the vehicle moves from the MD region to a non-ST region within the AD region, it can switch from manual driving to autonomous driving at level 2 or below. When the vehicle moves from the MD region to the ST region within the AD region, it can switch from manual driving to autonomous driving at level 3. When the vehicle moves from a non-ST region within the AD region to the ST region, it can switch from autonomous driving at level 2 or below to autonomous driving at level 3. When the vehicle moves from the ST region within the AD region to a non-ST region, it can switch from autonomous driving at level 3 to autonomous driving at level 2 or below. When the vehicle moves from the ST region within the AD region to the MD region, it can switch from autonomous driving at level 3 to manual driving. When the vehicle moves from a non-ST region within the AD region to the MD region, it can switch from autonomous driving at level 2 or below to manual driving.

[0075] The autonomous driving ECU 80 can be configured to switch to an increased level of automation upon the driver's request or consent. Conversely, the autonomous driving ECU 80 can also be configured to switch to a decreased level of automation, for example, upon the driver responding to a request from the vehicle-side system. The process of switching to a decreased level of automation will be omitted hereafter. If the user input device 94, described later, includes a switch for switching the level of automation, operation of this switch is equivalent to a driver's request. Driver consent will be explained later.

[0076] A notification device 90 is installed in the vehicle to provide information notifications to the driver. The notification device 90 provides information notifications according to the instructions of the HCU 10. The notification device 90 only needs to provide information notifications to the driver. The notification device 90 can also provide information notifications to passengers other than the driver. The notification device 90 includes a display 91 and an audio output device 92.

[0077] The display 91 provides information prompts by displaying information. Examples of displays 91 include a Multi-Information Display (MID), a Center Information Display (CID), and a Head-Up Display (HUD). A Multi-Information Display (MID) is a display device located in front of the driver's seat within the vehicle interior. For example, a Multi-Information Display (MID) can be located on the instrument panel. A Center Information Display (CID) is a display device located in the center of the vehicle's dashboard. A Head-Up Display (HUD) is located in the dashboard, for example, within the vehicle interior. The HUD projects a display image formed by a projector onto a predetermined projection area in the windshield, which serves as the projection component. The light reflecting off the windshield and onto the interior is perceived by the driver, who is seated in the driver's seat. Thus, the driver can visually confirm the virtual image of the display image projected in front of the windshield, overlapping with a portion of the foreground. The HUD can also employ a structure that replaces the windshield, projecting the display image onto a combination unit located in front of the driver's seat. The sound output device 92 provides information prompts by outputting sound. Examples of sound output devices 92 include speakers.

[0078] The DSM93 consists of a near-infrared light source, a near-infrared camera, and a control unit that controls them. The DSM934 is positioned on, for example, the upper surface of the dashboard, with the near-infrared camera facing the driver's side of the vehicle. The DSM93 uses the near-infrared camera to capture images of the driver illuminated by the near-infrared light source. The shooting range is set to include at least the driver's head. The control unit performs image analysis on the images captured by the near-infrared camera. Based on the driver's feature data extracted from the image analysis, the control unit detects the driver's alertness, facial orientation, and postural distortion. For alertness detection, it is sufficient to distinguish between a fully awake state and a sleep state.

[0079] User input device 94 accepts input from the user. User input device 94 can be any operating device that accepts operational input from the user. As an operating device, it can be a mechanical switch or a touch switch integrated with the display 91. Furthermore, if user input device 94 is a device that accepts input from the user, it is not limited to an operating device that accepts operational input. For example, it could also be a voice input device that accepts commands from the user's voice.

[0080] The HCU10 is primarily configured as a computer, including a processor, volatile memory, non-volatile memory, I / O, and a bus connecting them. The HCU10 is connected to the prompting device 90, the DSM 93, the user input device 94, and the in-vehicle LAN. The HCU10 controls the information prompts in the prompting device 90 by executing a control program stored in the non-volatile memory. This HCU10 is equivalent to a vehicle prompting control device. In this embodiment, the HCU10 is described as an example of a vehicle capable of at least automated driving without supervision. Furthermore, the structure of the HCU10 related to the control of information prompts in the prompting device 90 is described in detail below.

[0081] <Brief Structure of HCU10>

[0082] Next, use Figure 2 A general description of the structure of HCU10 is provided. Regarding the control of information prompts in the prompting device 90, such as... Figure 2As shown, the HCU10, as a functional module, includes a prompt control unit 100, a level determination unit 101, a prediction unit 102, a requirement determination unit 103, a reservation confirmation unit 104, a transfer confirmation unit 105, and a cancellation confirmation unit 106. Furthermore, the processing of each functional module of the HCU10 by a computer is equivalent to executing a vehicle prompt control method. In addition, some or all of the functions performed by the HCU10 can also be configured in hardware using one or more ICs. Furthermore, some or all of the functional modules of the HCU10 can also be implemented through the combination of processor execution of software and hardware components.

[0083] The level determination unit 101 determines the automation level of the vehicle at the current moment. The level determination unit 101 determines the automation level of the vehicle at the current moment by monitoring the automatic driving ECU 80.

[0084] The prediction unit 102 predicts the conditions under which autonomous driving is possible. Here, "capable of autonomous driving" refers to reaching an area where autonomous driving is permitted (hereinafter, the autonomous driving permitted area). For example, for autonomous driving at area restriction LV3, the ST section can be set as the autonomous driving permitted area. In this case, the prediction unit 102 can, in other words, predict the conditions under which the section requirement in the environmental conditions is met. For autonomous driving at congestion restriction LV3, the congested section can be set as the autonomous driving permitted area. In this case, the prediction unit 102 can, in other words, predict the conditions under which the congestion requirement in the environmental conditions is met. For autonomous driving at LV1 and LV2, the AD section can be set as the autonomous driving permitted area. In this case, the prediction unit 102 can, in other words, predict the conditions under which the section requirement in the environmental conditions is met.

[0085] Regarding reaching the autonomous driving permitted area, prediction can be made based on the condition that the distance to the autonomous driving permitted area is less than or equal to a set distance. If a predicted path for the vehicle exists, prediction can be made based on the condition that the distance to the autonomous driving permitted area along that predicted path is less than or equal to a set distance. The predicted path can be, for example, a path found by the navigation function. If no predicted path for the vehicle exists, prediction can be made on a road with no branches leading to the autonomous driving permitted area, based on the condition that the distance to the autonomous driving permitted area is less than or equal to a set distance. The set distance can be arbitrarily set. In other words, the prediction unit 102 can predict the condition that at least a portion of the prescribed environmental conditions are met. Examples of prescribed conditions include the aforementioned section condition and congestion condition.

[0086] The requirement determination unit 103 determines the AD start requirements that must be met to initiate autonomous driving. That is, it determines the AD start requirements that are not met at the current time. The requirement determination unit 103 determines the AD start requirements that are not met at the current time based on the information used in the requirement judgment unit of the autonomous driving ECU 80. The requirement determination unit 103 at least distinguishes between driver requirements and environmental requirements as AD start requirements. That is, it separately determines the driver requirements and environmental requirements that are not met at the current time. The processing in the requirement determination unit 103 is equivalent to a requirement determination process. The requirement determination unit 103 takes the level of autonomous driving predicted by the prediction unit 102 as the target. The requirement determination unit 103 determines whether all AD start requirements are met. The requirement determination unit 103 determines whether all driver requirements are met. The requirement determination unit 103 determines whether all environmental requirements are met.

[0087] The reservation confirmation unit 104 confirms whether a reservation is required, based on the driver's response to the reservation prompt (described later). For example, if the user input device 94 receives input indicating that a reservation is required, it confirms that a reservation is needed. Conversely, if the user input device 94 receives input indicating that a reservation is not needed, it confirms that a reservation is not needed. Furthermore, if the user input device 94 does not receive input indicating that a reservation is required within a certain timeframe, it confirms that a reservation is not needed. The confirmation by the reservation confirmation unit 104 that a reservation is required for the transition to autonomous driving is equivalent to the driver's consent as described above.

[0088] The transfer confirmation unit 105 confirms whether a transfer is needed, based on the driver's response to the transfer prompt (described later). For example, if the user input device 94 receives input indicating that a transfer is needed, it confirms that a transfer is needed. Conversely, if the user input device 94 receives input indicating that a transfer is not needed, it confirms that a transfer is not needed. Furthermore, if the user input device 94 does not receive input indicating that a transfer is needed within a certain time period, it confirms that a transfer is not needed. The fact that the transfer confirmation unit 105 confirms the need for a transfer to automatic driving is equivalent to the driver's consent described above.

[0089] The cancellation confirmation unit 106 confirms whether cancellation is required, based on the driver's response to the question regarding whether cancellation is required (described later). For example, if the user input device 94 receives input indicating that cancellation is required, cancellation is confirmed. Conversely, if the user input device 94 receives input indicating that cancellation is not required, cancellation is confirmed. Furthermore, if the user input device 94 does not receive input indicating that cancellation is required within a certain timeframe, cancellation is confirmed. The cancellation confirmation unit 106 confirming that cancellation is not required is equivalent to the driver's consent as described above.

[0090] The prompt control unit 100 controls the information prompts in the prompt device 90. Hereinafter, the prompt control unit 100 will describe the information prompts via a display on the monitor 91 as an example. Alternatively, a structure can be used where information prompts are provided via sound output from the sound output device 92.

[0091] Based on the case where the AD start requirement determined by the requirement determination unit 103 is a driver requirement, the prompt control unit 100 provides a driver requirement prompt before starting autonomous driving, indicating that the driver requirement is required to start autonomous driving. This serves as an information prompt (hereinafter, requirement prompt) for the requirements required to start autonomous driving. In other words, before starting autonomous driving, a driver requirement prompt is provided for driver requirements that are not met for the autonomous driving system being switched to. The driver requirement prompt can simply be an information prompt indicating that the driver requirement is not met. For example, a list of unmet driver requirements can be displayed using text or icons. The driver requirement prompt can also be an information prompt urging the unmet driver requirement to be met. For example, along with a list of unmet driver requirements, text explaining that autonomous driving can be performed if the requirement is met can be displayed. Alternatively, along with a list of unmet driver requirements, text explaining that autonomous driving cannot be performed if the requirement is not met can be displayed. The processing in the prompt control unit 100 is equivalent to a prompt control process.

[0092] The prompt control unit 100 can be structured such that, when the requirement determination unit 103 determines that an environmental requirement is a requirement for AD start, it does not provide a prompt indicating that the start of autonomous driving requires an environmental requirement. That is, even if an environmental requirement is determined to be unmet for the autonomous driving system to be switched, it does not provide a prompt indicating that the start of autonomous driving requires that environmental requirement. Alternatively, the prompt control unit 100 can be structured such that, when the AD start requirement determined by the requirement determination unit 103 is a driver requirement, it provides a driver requirement prompt; conversely, when the AD start requirement determined by the requirement determination unit 103 is only an environmental requirement, it does not provide a prompt indicating that the start of autonomous driving requires that environmental requirement. For environmental requirements that the driver cannot resolve, even if a prompt indicating that the environmental requirement is required is provided, the driver is likely to experience inconvenience. In contrast, by not providing such a prompt, situations that would cause inconvenience to the driver are less likely to occur.

[0093] When the prediction unit 102 predicts that the aforementioned environmental requirements are met, the preferred prompting control unit 100 provides a driver requirement prompt before these requirements are met, based on the AD start requirement determined by the requirement determination unit 103 being a driver requirement. That is, when the preferred prompting control unit 100 predicts that autonomous driving is possible, it provides a driver requirement prompt before all environmental requirements are met. This allows for a sufficient margin to prompt the driver to meet the driver requirements before reaching the autonomous driving permitted area.

[0094] When the prediction unit 102 predicts that the above-mentioned conditions are met, the prompt control unit 100 will prompt the driver to inquire whether a reservation for switching to autonomous driving is required (hereinafter, "reservation prompt"). Here, the timing of the reservation prompt will be explained when the autonomous driving to be switched to is Level 3 autonomous driving.

[0095] For example, the prompt control unit 100 can be structured so that it does not provide a reservation prompt until the vehicle reaches the AD zone. This is to prevent useless reservation prompts on ordinary roads where the AD start requirements for LV3 autonomous driving are not easily met. The prompt control unit 100 can also be structured to provide a reservation prompt near the service area when the energy requirements are determined by the requirement determination unit 103. That is, it can provide a reservation prompt near the service area when the vehicle's driving energy source is insufficient. This allows for a prompt indicating that the energy requirements are not met near the service area, giving the vehicle an opportunity to replenish its driving energy source.

[0096] The preferred prompt control unit 100 adjusts the timing of whether a reservation prompt is needed based on the prediction by the prediction unit 102, determining whether the automated driving meeting the aforementioned requirements is area-limited LV3 automated driving (hereinafter, area-limited automated driving) or congestion-limited LV3 automated driving (hereinafter, congestion-limited automated driving). Thus, the timing for whether a reservation prompt is needed can be adjusted based on the timing of the most likely scenario for either area-limited or congestion-limited automated driving. When area-limited automated driving is used, the prompt is made at a location near a predetermined distance within the ST section. For example, the predetermined distance could be 2 km. When congestion-limited automated driving is used, the prompt is made at a location near a predetermined distance within a congested section determined by congestion information. For example, the predetermined distance could be 2 km. When congestion-limited automated driving is used, the prompt is made when the vehicle reaches the AD section and its speed is below a predetermined value. For example, the predetermined value could be 40 km / h.

[0097] Furthermore, when the autonomous driving system being switched to is at level 2 or lower, the following can be performed. For example, after the prediction unit 102 predicts that the aforementioned predefined requirements are met, it can prompt the control unit 100 whether a reservation is needed. Alternatively, after the prediction unit 102 predicts a predetermined time after the aforementioned predefined requirements are met, it can prompt the control unit 100 whether a reservation is needed. The predetermined time can be, for example, estimated to be shorter than the time until reaching the autonomous driving permitted area.

[0098] The preferred prompt control unit 100 provides a driver requirement prompt when the reservation confirmation unit 104 confirms a reservation for transitioning to autonomous driving, and when the AD start requirement determined by the requirement determination unit 103 is a driver requirement. Therefore, for drivers who wish to transition to autonomous driving in advance, the driver requirements that the driver must meet to enable autonomous driving can be indicated before the vehicle reaches the autonomous driving distance area. This allows for a smoother transition to autonomous driving.

[0099] The preferred prompt control unit 100, based on the driver requirements determined by the requirement determination unit 103, changes at least one of the following: the timing of prompting the driver requirements, and the order in which the driver requirements are prompted for each type of driver requirement if multiple types of driver requirements are determined. Depending on the type of driver requirement, the time required to fulfill the requirement may vary. In contrast, according to the above structure, driver requirement prompts can be performed at a timing corresponding to the time required to fulfill the driver requirements. As a result, the driver's actions to fulfill the driver requirements can be performed smoothly.

[0100] For example, when the prompting control unit 100 determines multiple types of driver requirements, it can prompt each driver requirement in order of increasing difficulty in fulfilling the requirements. This is because the more difficult a requirement is to fulfill, the longer it takes to fulfill it, so it is preferable to prompt earlier. As an example, when the requirement determination unit 103 determines the driving lane requirement, energy requirement, and automatic mode requirement, it can prompt each driver requirement in the order of energy requirement, driving lane requirement, and automatic mode requirement.

[0101] Furthermore, the prompt control unit 100 can provide driver requirement prompts at a timing corresponding to the time required to satisfy the requirements. This is because the longer the time required to satisfy the requirements, the earlier the prompt is preferred. As an example, in the case of energy requirements, the driver requirement prompt can be provided at a timing before reaching a service area closer to the ST section. When the automatic driving mode to be switched to is area-limited automatic driving and the driving lane requirement is determined by the requirement determination unit 103, the driver requirement prompt can be provided when approaching a predetermined distance from the ST section. The predetermined distance can be, for example, 2 km. In the case of automatic mode requirements, vehicle speed requirements, inter-vehicle distance requirements, driver status requirements, and control requirements—requirements that the driver can respond to quickly—the driver requirement prompt can be provided just before reaching the automatic driving permitted area. In the case of level requirements, the lower the current level of automation relative to the required level of automation, the earlier the driver requirement prompt can be provided.

[0102] Furthermore, driver requirement prompts for each driver requirement can be implemented by displaying unmet driver requirements in a list and then emphasizing them at the corresponding time intervals for each driver requirement. Alternatively, a structure can be adopted in which unmet driver requirements are not displayed in the list, but only the corresponding driver requirement is displayed at the corresponding time interval.

[0103] The prompt control unit 100 can prompt the driver whether a transition to autonomous driving is needed (hereinafter, "transfer prompt"). Whether a transition is needed can be interpreted as whether a transition is desired. If the reservation confirmation unit 104 confirms a transfer to autonomous driving, the prompt control unit 100 can refrain from prompting the driver whether a transition is needed. This is to reduce the inconvenience to the driver caused by repeatedly confirming the desire to transition to autonomous driving. Alternatively, the prompt control unit 100 can also employ a structure that prompts the driver whether a transition is needed without prompting for a reservation.

[0104] The preferred prompt control unit 100 prompts the driver requirement when the AD start requirement determined by the requirement determination unit 103 is only the driver requirement or the driver requirement among the environmental requirements, and the transfer confirmation unit 105 confirms that a transfer to autonomous driving is required. This allows for prompting the driver requirement when the driver wishes to transfer to autonomous driving. Furthermore, if the AD start requirement includes the environmental requirements, the driver requirement prompt is not prompted, thus saving the waste of prompting the driver requirement when the problem cannot be solved simply by meeting the driver requirement.

[0105] The prompt control unit 100 can be configured to not prompt for a transfer even if the AD start requirements are met and the transfer to autonomous driving is initiated, provided that the reservation confirmation unit 104 has confirmed a transfer request. This avoids the inconvenience of prompting for a transfer even after the driver has been confirmed to have a transfer request. Conversely, the prompt control unit 100 can be configured to prompt for a transfer only if the reservation confirmation unit 104 has confirmed that a transfer to autonomous driving is not required, provided all AD start requirements are met. This allows for confirmation of a transfer request to the driver before the transfer to autonomous driving is initiated, even if the reservation confirmation fails to confirm the transfer request in the initial prompt.

[0106] The preferred prompt control unit 100 adjusts the timing of driver requirement prompts based on whether the reservation confirmation unit 104 confirms a required transition to autonomous driving or a reservation that does not require a transition to autonomous driving. This allows driver requirement prompts to be performed at a time when the driver's desire to transition to autonomous driving can be confirmed. Therefore, the waste of performing driver requirement prompts at times when the driver does not need them can be prevented. For example, if the reservation confirmation unit 104 confirms a required transition to autonomous driving, the driver requirement prompt is performed after the transition reservation is confirmed. As an example, as described above, the driver requirement prompt can be performed at a time corresponding to the driver requirement that should be met. On the other hand, if the reservation confirmation unit 104 confirms a reservation that does not require a transition to autonomous driving, the driver requirement prompt can be performed at the same time as the transition requirement prompt.

[0107] The prompt control unit 100 simply asks the driver whether they wish to cancel the transition to autonomous driving (hereinafter, "cancellation prompt"). The prompt control unit 100 only prompts the driver if the reservation confirmation unit 104 has confirmed the need for a transition to autonomous driving. This is to provide an opportunity for the driver to confirm the reservation.

[0108] The preferred prompt control unit 100 provides a driver requirement prompt when the AD start requirement determined by the requirement determination unit 103 is only the driver requirement or the driver requirement among the environmental requirements. On the other hand, it does not provide a driver requirement prompt when the AD start requirement determined by the requirement determination unit 103 includes the environmental requirements. Therefore, when the problem cannot be solved simply by meeting the driver requirement, the waste of providing a driver requirement prompt can be avoided.

[0109] If the requirement determination unit 103 does not determine the driver requirement as an AD start requirement, the preferred prompt control unit 100 changes the way information is prompted based on whether environmental requirements have been determined. For example, it can change whether information is prompted or not. As an example, it can be performed as follows: If a reservation requiring transfer is confirmed, and both the driver requirement and environmental requirements are met, a prompt asking whether cancellation is required can be made. On the other hand, if all driver requirements are met but environmental requirements are not met, a prompt asking whether cancellation is required can be made. Furthermore, if a reservation not requiring transfer is confirmed, and both the driver requirement and environmental requirements are met, a prompt asking whether transfer is required can be made. On the other hand, if all driver requirements are met but environmental requirements are not met, a prompt asking whether transfer is required can be made.

[0110] The preferred prompt control unit 100 also provides information prompts indicating the current status of the stage up to the point where autonomous driving is possible. For example, it can provide information prompts indicating the current status of the stage up to the point where autonomous driving, which is the target of switching, is possible. As an example, it can be done as follows.

[0111] When the reservation confirmation unit 100 confirms the need for a transfer to autonomous driving, it displays an icon (hereinafter, reservation icon) on the display 91 indicating that the transfer to autonomous driving is in progress. Alternatively, when the reservation confirmation unit 100 confirms the need for a transfer to autonomous driving and all AD start requirements are met, it displays an icon (hereinafter, reservation preparation completed icon) on the display 91 indicating that the preparation for the transfer to autonomous driving is complete. The reservation icon is configured to be continuously displayed until the reservation preparation complete icon is displayed. Alternatively, in a configuration where the reservation preparation complete icon is not displayed, the reservation icon may be continuously displayed until the cancellation confirmation unit 106 confirms whether cancellation is required. On the other hand, when the reservation confirmation unit 100 confirms the need for a transfer to autonomous driving but the AD start requirements are not met, it displays an icon (hereinafter, reservation preparation incomplete icon) on the display 91 indicating that the preparation for the transfer to autonomous driving is not complete. The reservation preparation incomplete icon may be displayed instead of the reservation icon, or it may be displayed together with the reservation icon.

[0112] Additionally, the prompt control unit 100 may display text such as "Autopilot not allowed" or "LVX not allowed" on the display 91 until all the AD start requirements for the autopilot to be switched are met. For LVX, the "X" must match the automation level of the autopilot to be switched.

[0113] The prompt control unit 100 changes the way it displays information based on whether the reservation confirmation unit 104 has confirmed the need for a transfer to autonomous driving. As an example, it can be done as follows.

[0114] If the prompt control unit 100 confirms a reservation for a transfer to autonomous driving and all AD start requirements are met, it may not issue a prompt asking if a transfer is needed. In this case, the transfer to the target autonomous driving mode is initiated without confirmation. However, it is preferable to cancel the transfer to autonomous driving by issuing a prompt asking if cancellation is needed. On the other hand, if a reservation for a transfer to autonomous driving is confirmed, a prompt asking if a transfer is needed is issued to confirm whether a transfer is needed. Furthermore, if only the driver requirement among the AD start requirements is not met, a prompt is issued to prompt the driver to fulfill the unmet driver requirement.

[0115] When the prediction unit 102 predicts that autonomous driving is possible, the prompt control unit 100 may provide a notification indicating the possibility of autonomous driving (hereinafter, a possibility prompt). For example, when switching the target's autonomous driving to area-limited autonomous driving, the display 91 may show text such as "An area where autonomous driving is possible exists." When switching the target's autonomous driving to congestion-limited autonomous driving, the display 91 may show text such as "Autonomous driving in congestion is possible here."

[0116] The prompt control unit 100 may also provide a prompt indicating that automatic driving of the target object can be switched if the driver requirements are met, when the requirement determination unit 103 only determines the driver requirements and environmental requirements (hereinafter, driver requirement waiting prompt). As an example, the display 91 may show text such as "Automatic driving is possible if the requirements are met." The driver requirement waiting prompt does not include prompts indicating that the driver requirements are not met.

[0117] When the control unit 100 switches to the automatic driving mode of the target device, it can display a prompt indicating that the switch is in progress (hereinafter, a switch prompt). For example, the display 91 can show text such as "Switching to automatic driving mode".

[0118] <HCU10 prompt control association processing>

[0119] Here, using Figures 3-5 The flowchart below illustrates an example of the process in HCU10 related to information prompt control for the transition to autonomous driving (hereinafter, prompt control associated processing). Here, an example is given for the case where the autonomous driving mode being switched to LV3. This process begins, for example, when a switch (hereinafter, power switch) for starting the vehicle's internal combustion engine or electric generator is turned on. Figure 3 The flowchart structure is sufficient.

[0120] First, in step S1, if the prediction unit 102 predicts that autonomous driving (hereinafter, AD possibility) is possible ("Yes" in S1), the process proceeds to step S5. On the other hand, if AD possibility is not predicted ("No" in S1), the process proceeds to step S3. In step S3, if the timing for the end of the prompt control association process is "Yes" in S3, the prompt control association process ends. On the other hand, if the timing is not the end of the prompt control association process ("No" in S3), the process returns to S1 and repeats. An example of the end time for the prompt control association process is the power switch being turned off.

[0121] In step S5, the prompting control unit 100 provides a possibility prompt, and the process proceeds to step S7. In step S7, the prompting control unit 100 provides a prompt regarding whether a reservation is required, and the process proceeds to step S9. In step S9, if the reservation confirmation unit 104 confirms that a reservation is required ("Yes" in S9), the process proceeds to step S11. On the other hand, if the reservation confirmation unit 104 confirms that a reservation is not required ("No" in S9), the process proceeds to step S13.

[0122] In step S11, the reservation process is performed, and the process proceeds to step S15. Here, using... Figure 4 The flowchart illustrates an example of the appointment processing procedure.

[0123] First, in step S111, if the requirement determination unit 103 determines that all driver requirements are met ("Yes" in S111), the process proceeds to step S113. On the other hand, if the requirement determination unit 103 determines that the driver requirements are not met ("No" in S111), the process proceeds to step S112.

[0124] In step S112, the prompting control unit 100 provides driver requirement prompts and returns to step S111 to repeat the process. Furthermore, in S112, if multiple types of unmet driver requirements exist, as described above, driver requirement prompts can be provided according to the driver requirements at timed intervals corresponding to each driver requirement. In this case, each time the number of met driver requirements increases, the number of driver requirements displayed in the driver requirement prompts decreases.

[0125] In step S113, if the requirement determination unit 103 determines that all AD start requirements are met ("Yes" in S113), the process proceeds to step S120. On the other hand, if the requirement determination unit 103 determines that AD start requirements are not met ("No" in S113), the process proceeds to step S114.

[0126] In step S114, if the requirement determination unit 103 determines only the driver requirement from the driver requirement and the environmental requirement (which is "Yes" in S114), the process proceeds to step S115. On the other hand, if the requirement determination unit 103 also determines the environmental requirement (which is "No" in S114), the process returns to S113 and repeats.

[0127] In step S115, the prompting control unit 100 prompts the driver requirements, and the process proceeds to step S116. In step S116, if the requirement determination unit 103 determines that all driver requirements are met ("Yes" in S116), the process proceeds to step S120. On the other hand, if the requirement determination unit 103 determines that the driver requirements are not met ("No" in S116), the process proceeds to step S117.

[0128] In step S117, the prompting control unit 100 prompts whether cancellation is needed, and proceeds to step S118. In step S118, if the cancellation confirmation unit 106 confirms that cancellation is needed ("Yes" in S118), it proceeds to step S119. On the other hand, if the cancellation confirmation unit 106 confirms that cancellation is not needed ("No" in S118), it returns to S115 and repeats the process. In step S119, the HCU 10 determines the automation level for maintaining the current status of the vehicle and proceeds to step S15.

[0129] In step S120, the prompting control unit 100 prompts whether cancellation is required, and the process proceeds to step S121. In step S121, if the cancellation confirmation unit 106 confirms that cancellation is required ("Yes" in S121), the process proceeds to step S119. On the other hand, if the cancellation confirmation unit 106 confirms that cancellation is not required ("No" in S121), the process proceeds to step S122. In step S122, the HCU 10 determines that the vehicle is transitioning to LV3 automatic driving, and the process proceeds to step S15. Thus, even if the driver has pre-booked a transition to automatic driving, the desire to transition can be confirmed before the transition to the desired automatic driving mode.

[0130] Furthermore, in S120, the prompt control unit 100 may also employ a structure that provides a transfer prompt indicating the automatic driving mode to be transferred to the target mode. Alternatively, the prompt control unit 100 may employ a structure that replaces the prompt asking whether cancellation is required with a prompt indicating the automatic driving mode to be transferred to the target mode. In this case, the automatic driving mode to the target mode is transferred without confirming whether cancellation is required.

[0131] return Figure 3 In step S13, non-scheduled processing is performed, and the process proceeds to step S15. Here, using... Figure 5 The flowchart illustrates an example of the process for handling non-appointment situations.

[0132] In step S131, if the requirement determination unit 103 determines that all AD start requirements are met ("Yes" in S131), the process proceeds to step S132. On the other hand, if the requirement determination unit 103 determines that AD start requirements are not met ("No" in S131), the process proceeds to step S135.

[0133] In step S132, the prompting control unit 100 prompts whether a transfer is needed, and the process proceeds to step S133. In step S133, if the transfer confirmation unit 105 confirms that a transfer is needed (i.e., a transfer is desired) ("Yes" in S133), the process proceeds to step S134. On the other hand, if the transfer confirmation unit 105 confirms that a transfer is not needed ("No" in S133), the process proceeds to step S139.

[0134] In step S134, HCU10 determines that the vehicle is transitioning to LV3 automatic driving. In S134, the prompting control unit 100 provides a transition prompt indicating a transition to the automatic driving mode for which switching is required, and proceeds to step S15.

[0135] In step S135, if the requirement determination unit 103 determines only the driver requirement (either the driver requirement or the environmental requirement) (which is "Yes" in S135), the process proceeds to step S136. Conversely, if the requirement determination unit 103 also determines the environmental requirement (which is "No" in S135), the process returns to S131 and repeats. In step S136, the prompting control unit 100 provides a prompt indicating that if the driver requirement is met, automatic driving of the target vehicle can be switched, and the process proceeds to step S137.

[0136] In step S137, the prompting control unit 100 prompts whether a transfer is needed, and the process proceeds to step S138. In step S138, if the transfer confirmation unit 105 confirms that a transfer is needed (i.e., a transfer is desired) ("Yes" in S138), the process proceeds to step S140. On the other hand, if the transfer confirmation unit 105 confirms that a transfer is not needed ("No" in S138), the process proceeds to step S139. In step S139, the HCU 10 determines the automation level for maintaining the current status of the vehicle, and the process proceeds to step S15.

[0137] exist Figure 5 In the example, no driver requirements are prompted before the desire to switch to autonomous driving is confirmed. This avoids the inconvenience of prompting the driver about the requirements they must meet to initiate autonomous driving, even if the driver does not wish to switch.

[0138] In step S140, the prompting control unit 100 prompts the driver's requirements, and the process proceeds to step S141. In step S141, if the requirement determination unit 103 determines that all AD start requirements are met ("Yes" in S141), the process proceeds to step S134. On the other hand, if the requirement determination unit 103 determines that AD start requirements are not met ("No" in S141), the process proceeds to step S142.

[0139] In step S142, if the requirement determination unit 103 determines only the driver requirement from the driver requirement and the environmental requirement (which is "Yes" in S142), the process returns to S140 and repeats. On the other hand, if the requirement determination unit 103 also determines the environmental requirement (which is "No" in S142), the process of S142 is repeated.

[0140] return Figure 3 In step S15, if HCU10 determines that the vehicle has switched to LV3 autonomous driving ("Yes" in S15), the prompt control association process ends. On the other hand, if HCU10 determines that the vehicle maintains the current level of automation ("No" in S15), the process returns to S1 and repeats.

[0141] <Summary of Implementation Method 1>

[0142] According to the structure of Embodiment 1, since the requirement for starting autonomous driving is a driver requirement, a driver requirement prompt can be provided, indicating that the driver requirement is required for starting autonomous driving. Therefore, information prompts corresponding to the case where the requirement for starting autonomous driving is a driver requirement can be provided. Furthermore, the driver requirement prompt is performed before starting autonomous driving; therefore, based on this prompt, the driver can be prompted to take the necessary actions before autonomous driving begins. As a result, a smooth transition from manual driving to autonomous driving is possible.

[0143] In Implementation 1, the example given was the case where the autopilot of the target was switched to LV3, but it is not necessarily limited to this. It can also be applied when the autopilot of the target is switched to an autopilot other than LV3.

[0144] (Implementation Method 2)

[0145] In Embodiment 1, a structure is shown in which a transfer request is given before the driver's request is given to confirm the driver's wish to transfer during non-appointment processing, but it is not limited to this. For example, the structure of Embodiment 2 below may also be used. Hereinafter, an example of Embodiment 2 will be described using the accompanying drawings. The vehicle system 1 of Embodiment 2 is the same as the vehicle system 1 of Embodiment 1, except that HCU10a is included instead of HCU10.

[0146] Next, use Figure 6 A general description of the structure of HCU10a is provided. For example... Figure 6 As shown, regarding the control of information prompts in the prompting device 90, the HCU 10a, as a functional module, includes a prompting control unit 100a, a level determination unit 101, a prediction unit 102, a requirement determination unit 103, a reservation confirmation unit 104, a transfer confirmation unit 105, and a cancellation confirmation unit 106. The HCU 10a is identical to the HCU 10 of Embodiment 1, except that it replaces the prompting control unit 100. This HCU 10a also corresponds to a vehicle prompting control device. Furthermore, executing the processing of each functional module of the HCU 10a via a computer is equivalent to executing a vehicle prompting control method.

[0147] The prompt control unit 100a is the same as the prompt control unit 100 in Embodiment 1, except for some aspects that differ from the processing related to non-appointment processing. When the AD start requirement determined by the requirement determination unit 103 is only the driver requirement and the driver requirement among the environmental requirements, the prompt control unit 100a also provides a driver requirement prompt when prompting whether a transfer is needed. Details will be explained below. Hereinafter, using... Figure 7 The flowchart illustrates an example of the non-appointment processing flow in HCU10a.

[0148] The processing of S131 to S136 is the same as the non-appointment processing in Embodiment 1. The difference is that the processing of step S137a is performed immediately after the processing of step S136. In step S137a, the prompt control unit 100 prompts the driver requirements together with the prompt of whether transfer is required, and then proceeds to S138. Here, the driver requirements prompt can be, for example, by listing the unmet driver requirements. The processing of S138 to S142 is the same as the non-appointment processing in Embodiment 1. In the driver requirements prompt, as a display method other than the list display, it can also be performed as follows. For example, the following structure can be adopted, which displays the driver requirement that takes the most time to meet, and each time the driver requirement is met, the displayed driver requirements are replaced sequentially from the driver requirement that takes the most time. Alternatively, the following structure can be adopted, which, when displaying a list, displays the driver requirements that take the most time to meet among the multiple unmet driver requirements, and each time the driver requirement is met, switches to other unmet driver requirements for display. Driver requirement prompts may not be displayed as text, but as icons or sound prompts.

[0149] Based on the above structure, after confirming the quantity of driver requirements that must be met, it can be determined whether the driver should switch to autonomous driving. Furthermore, in Figure 7 In the flowchart, processes such as S136 can also be omitted. Figure 6 The flowchart is the same.

[0150] (Implementation Method 3)

[0151] The above embodiments illustrate a structure capable of pre-scheduling the transition to autonomous driving, but are not limited to this. A structure that does not pre-scheduling the transition to autonomous driving is also possible. In this case, [the following is omitted]. Figure 3 The flowchart can be structured by processing steps S7, S9, and S11, followed by step S13 immediately after step S5. Alternatively, the following structure can be used: reservations can be made when switching the target's autonomous driving mode to area-limited autonomous driving, but not when switching to congestion-limited autonomous driving. This is because, for congestion-limited autonomous driving, it is difficult to predict at what time the environmental requirements will be met.

[0152] Alternatively, in a configuration where the automation level can only transition from LV2 to LV3, if the vehicle's automation level is LV1 or lower, the control units 100 and 100a can be prompted to confirm whether a reservation is needed and perform corresponding processing. This is to allow the driver sufficient leeway to fulfill their requirements.

[0153] (Implementation Method 4)

[0154] In addition, when prompting the control units 100 and 100a whether a transfer is needed, they can also indicate the expected duration of the automatic driving mode of the target vehicle. Furthermore, a structure can be provided to indicate the expected duration and distance of the automatic driving mode of the target vehicle. When the automatic driving mode of the target vehicle is area-limited automatic driving, the expected duration and expected distance can be calculated based on the length of the ST interval. For example, if it is the expected duration, it can be calculated based on the length of the ST interval and the average speed of the vehicle. When the automatic driving mode of the target vehicle is congestion-limited automatic driving, the expected duration and expected distance can be calculated based on the length of the congestion interval that can be determined based on congestion information.

[0155] Furthermore, when a destination is set for route guidance, the estimated arrival time to the destination can be provided along with a prompt regarding whether a transfer is required, provided that the autonomous driving system is using the switching target. The estimated arrival time can be calculated using the estimated duration mentioned above. The travel time outside the area targeted by autonomous driving can be calculated based on the road distance and the vehicle's average speed. When providing the estimated duration, estimated distance, and estimated arrival time, it is preferable to provide a comparative comparison of the values ​​provided when using autonomous driving with the switching target and when not using autonomous driving with the switching target. This allows the driver to compare the provided values ​​and determine whether to use autonomous driving.

[0156] (Implementation Method 5)

[0157] Furthermore, it is preferable that the control units 100 and 100a, when enabling LV3 autonomous driving, distinguish between area-restricted autonomous driving and congestion-restricted autonomous driving, indicating which method is being used. This allows the driver to understand the conditions under which LV3 autonomous driving can be performed. For example, in the case of area-restricted autonomous driving, a possibility indication such as "Autonomous driving is possible from XX to XX" can be provided. In the case of congestion-restricted autonomous driving, a possibility indication such as "Autonomous driving is possible in congested conditions" can be provided.

[0158] (Implementation Method 6)

[0159] In the above embodiment, an autonomous driving ECU 80 with a requirement determination unit is shown, but it is not necessarily limited to this. For example, the requirement determination unit 103 may also be a structure that performs the function of the requirement determination unit.

[0160] Furthermore, the present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also included within the technical scope of the present invention. Additionally, the control unit and method described in the present invention can also be implemented by a dedicated computer, which is configured as a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and method described in the present invention can also be implemented by dedicated hardware logic circuits. Alternatively, the apparatus and method described in the present invention can also be implemented by one or more dedicated computers, which are configured as a combination of a processor executing a computer program and one or more hardware logic circuits. Furthermore, the computer program can also be stored as instructions executed by a computer on a non-transferable tangible recording medium that can be read by a computer.

Claims

1. A vehicle prompting control device, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control device includes: The requirement determination unit at least distinguishes between driver requirements and environmental requirements as the autonomous driving start requirements that should be met in order to start autonomous driving without supervision. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, and the environmental requirements are those that are less likely to be resolved by the driver. The high or low probability of being resolved by the driver of the vehicle is distinguished based on the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The autonomous driving without supervision is autonomous driving in which the driver has no supervision obligation. as well as The prompt control unit, based on the requirement for starting autonomous driving determined by the requirement determination unit as the driver requirement, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. The requirement prompt is an information prompt regarding the requirements required for starting autonomous driving, and the main idea of ​​the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement.

2. The vehicle prompting control device according to claim 1, wherein, The vehicle-mounted prompting control device includes a prediction unit that predicts whether at least a portion of the specified environmental requirements will be met. When the prediction unit predicts that the specified requirements are met, the prompting control unit, before the specified requirements are met, provides a prompt for the driver requirements based on the driver requirements determined by the requirement determination unit.

3. The vehicle prompting control device according to claim 2, wherein, When the prediction unit determines that the specified requirements are met, the prompt control unit further prompts the driver whether a reservation is needed. This prompt asks the driver whether a reservation for a transfer to the autonomous driving system is required. The vehicle prompt control device includes a reservation confirmation unit, which confirms whether a reservation is needed, as the driver's response to the reservation prompt. If the reservation confirmation unit confirms that a transfer to the autonomous driving system is required, and if the requirement for starting autonomous driving is determined by the requirement determination unit to be the driver requirement, the prompt control unit will prompt the driver requirement.

4. The vehicle prompting control device according to claim 3, wherein, The vehicle prompt control device can be used in vehicles capable of area-limited autonomous driving and congestion-limited autonomous driving as unsupervised autonomous driving. Unsupervised autonomous driving refers to autonomous driving where the driver has no supervisory obligation. Area-limited autonomous driving refers to allowing unsupervised autonomous driving within a limited area, and congestion-limited autonomous driving refers to allowing unsupervised autonomous driving only during congested periods. The prompt control unit adjusts the timing of the prompt regarding whether a reservation is required based on the prediction by the prediction unit, which determines whether the autonomous driving meets the specified requirements is area-restricted autonomous driving or congestion-restricted autonomous driving.

5. The vehicle prompting control device according to claim 2, wherein, The prompting control unit changes at least one of the following based on the driver requirements determined by the requirement determination unit: the timing of prompting the driver requirements, and the order in which the driver requirements are prompted for each type of driver requirement when multiple types of driver requirements are determined.

6. The vehicle prompting control device according to claim 1, wherein, The prompting control unit prompts the driver requirement when the autonomous driving start requirement determined by the requirement determination unit is only the driver requirement and the driver requirement among the environmental requirements. On the other hand, it does not prompt the driver requirement when the autonomous driving start requirement determined by the requirement determination unit includes the environmental requirements.

7. The vehicle prompting control device according to claim 6, wherein, The prompt control unit also provides a prompt asking the driver whether a transfer to autonomous driving is needed. The vehicle prompt control device includes a transfer confirmation unit, which confirms whether a transfer is needed, as the driver's response to the transfer prompt. If the automatic driving start requirement determined by the requirement determination unit is only the driver requirement and the driver requirement among the environmental requirements, the prompt control unit also prompts the driver requirement when prompting whether a transfer is needed.

8. The vehicle prompting control device according to claim 6, wherein, The prompt control unit also provides a prompt asking the driver whether a transfer to autonomous driving is needed. The vehicle prompt control device includes a transfer confirmation unit, which confirms whether a transfer is needed, as the driver's response to the transfer prompt. If the automatic driving start requirement determined by the requirement determination unit is only the driver requirement and the driver requirement in the environmental requirements, and if the transfer confirmation unit confirms that a transfer to the automatic driving is required, the prompt control unit prompts the driver requirement.

9. The vehicle prompting control device according to any one of claims 1 to 8, wherein, The vehicle-mounted prompting control device includes a prediction unit that predicts whether at least a portion of the specified environmental requirements will be met. When the prediction unit determines that the specified requirements are met, the prompt control unit further prompts the driver whether a reservation is needed. This prompt asks the driver if they need to schedule a transfer to the autonomous driving system. The prompt control unit can also prompt the driver whether a transfer to the autonomous driving system is required. The vehicle prompting control device includes: The appointment confirmation department confirms whether an appointment is required, based on the driver's response to the prompt. The transfer confirmation unit confirms whether a transfer is necessary, based on the driver's response to the transfer prompt. If the reservation confirmation unit confirms that a transfer to the autonomous driving system is required, the prompt control unit will not prompt whether a transfer is required, even if all the requirements for starting the autonomous driving system are met and the transfer to the autonomous driving system is initiated. On the other hand, if the reservation confirmation unit confirms that a transfer to the autonomous driving system is not required, the prompt will prompt whether a transfer is required, even if all the requirements for starting the autonomous driving system are met.

10. The vehicle prompting control device according to any one of claims 1 to 8, wherein, The vehicle-mounted prompting control device includes a prediction unit that predicts whether at least a portion of the specified environmental requirements will be met. When the prediction unit determines that the specified requirements are met, the prompt control unit further prompts the driver whether a reservation is needed. This prompt asks the driver whether a reservation for a transfer to the autonomous driving system is required. The vehicle prompt control device includes a reservation confirmation unit, which confirms whether a reservation is needed, as the driver's response to the reservation prompt. The prompt control unit adjusts the timing of the driver requirement prompts based on whether the appointment confirmation unit has confirmed whether a transfer to autonomous driving is required or not.

11. The vehicle prompting control device according to any one of claims 1 to 8, wherein, If the requirement determination unit does not determine the driver requirement as the automatic driving start requirement, the prompt control unit changes the way it prompts information based on whether the environmental requirement has been determined.

12. The vehicle prompting control device according to any one of claims 1 to 8, wherein, The prompting control unit also provides information prompts indicating the current status of the stage up to the point where autonomous driving can be performed.

13. The vehicle prompting control device according to any one of claims 1 to 8, wherein, The vehicle prompting control device can be used in vehicles capable of autonomous driving without a monitoring obligation, whereby the driver has no monitoring obligation.

14. A vehicle prompting control system, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control system includes: The prompting device provides information to the driver of the vehicle; and The vehicle prompting control device according to any one of claims 1 to 13.

15. A vehicle prompting control device, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control device includes: The requirement determination unit at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that should be met in order to start the autonomous driving. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, and the environmental requirements are those that are less likely to be resolved by the driver. The distinction between high and low likelihood of being resolved by the driver is based on the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The prompt control unit, based on the requirement for starting autonomous driving determined by the requirement determination unit as the driver requirement, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement; and The prediction unit predicts the conditions under which at least some of the specified environmental requirements are met. When the prediction unit predicts that the specified requirements are met, the prompting control unit, before the specified requirements are met, provides a prompt for the driver requirements based on the driver requirements determined by the requirement determination unit.

16. A vehicle prompting control device, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control device includes: The requirement determination unit at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that should be met in order to start the autonomous driving. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, and the environmental requirements are those that are less likely to be resolved by the driver. The distinction between high and low likelihood of being resolved by the driver is based on the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. as well as The prompt control unit, based on the requirement for starting autonomous driving determined by the requirement determination unit as the driver requirement, provides a driver requirement prompt before the start of autonomous driving. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement. The prompting control unit prompts the driver requirement when the autonomous driving start requirement determined by the requirement determination unit is only the driver requirement and the driver requirement among the environmental requirements. On the other hand, it does not prompt the driver requirement when the autonomous driving start requirement determined by the requirement determination unit includes the environmental requirements.

17. A vehicle prompting control device, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control device includes: The requirement determination unit at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that should be met in order to start the autonomous driving. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, and the environmental requirements are those that are less likely to be resolved by the driver. The distinction between high and low likelihood of being resolved by the driver is based on the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The prompt control unit, based on the requirement for starting autonomous driving determined by the requirement determination unit as the driver requirement, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement; and The prediction unit predicts the conditions under which at least some of the specified environmental requirements are met. When the prediction unit determines that the specified requirements are met, the prompt control unit further prompts the driver whether a reservation is needed. This prompt asks the driver if they need to schedule a transfer to the autonomous driving system. The prompt control unit can also prompt the driver whether a transfer to the autonomous driving system is required. The vehicle prompting control device includes: The appointment confirmation department confirms whether an appointment is required, based on the driver's response to the prompt. The transfer confirmation unit confirms whether a transfer is necessary, based on the driver's response to the transfer prompt. If the reservation confirmation unit confirms that a transfer to the autonomous driving system is required, the prompt control unit will not prompt whether a transfer is required, even if all the requirements for starting the autonomous driving system are met and the transfer to the autonomous driving system is initiated. On the other hand, if the reservation confirmation unit confirms that a transfer to the autonomous driving system is not required, the prompt will prompt whether a transfer is required, even if all the requirements for starting the autonomous driving system are met.

18. A vehicle prompting control device, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control device includes: The requirement determination unit at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that should be met in order to start the autonomous driving. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, and the environmental requirements are those that are less likely to be resolved by the driver. The distinction between high and low likelihood of being resolved by the driver is based on the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The prompt control unit, based on the requirement for starting autonomous driving determined by the requirement determination unit as the driver requirement, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement; and The prediction unit predicts the conditions under which at least some of the specified environmental requirements are met. When the prediction unit determines that the specified requirements are met, the prompt control unit further prompts the driver whether a reservation is needed. This prompt asks the driver whether a reservation for a transfer to the autonomous driving system is required. The vehicle prompt control device includes a reservation confirmation unit, which confirms whether a reservation is needed, as the driver's response to the reservation prompt. The prompt control unit adjusts the timing of the driver requirement prompts based on whether the appointment confirmation unit has confirmed whether a transfer to autonomous driving is required or not.

19. A vehicle prompting control device, which can be used in vehicles capable of autonomous driving, wherein, The vehicle's prompt control device includes: The requirement determination unit at least distinguishes between driver requirements and environmental requirements as autonomous driving start requirements that should be met in order to start the autonomous driving. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, and the environmental requirements are those that are less likely to be resolved by the driver. The distinction between high and low likelihood of being resolved by the driver is based on the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. as well as The prompt control unit, based on the requirement for starting autonomous driving determined by the requirement determination unit as the driver requirement, provides a driver requirement prompt before the start of autonomous driving. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement. If the requirement determination unit does not determine the driver requirement as the automatic driving start requirement, the prompt control unit changes the way it prompts information based on whether the environmental requirement has been determined.

20. A vehicle prompting control method, which can be used in vehicles capable of autonomous driving, wherein, The vehicle prompting control method is executed by at least one processor and includes: The requirement determination process at least distinguishes between driver requirements and environmental requirements as the initiation requirements for autonomous driving that must be met in order to commence unsupervised autonomous driving. Driver requirements are those with a high probability of being resolved by the driver of the vehicle, while environmental requirements are those with a low probability of being resolved by the driver. The probability of being resolved by the driver is determined by the ratio of factors that the driver can resolve to factors that the driver cannot resolve. Unsupervised autonomous driving refers to autonomous driving where the driver has no supervisory obligation. The prompt control process, based on the driver requirement determined by the requirement determination process, provides a driver requirement prompt before the start of the autonomous driving process. The driver requirement prompt is an information prompt for the requirements required to start the autonomous driving process, and the main idea of ​​the driver requirement prompt is to indicate that the start of the autonomous driving process requires the driver requirement.

21. A vehicle prompting control method, which can be used in vehicles capable of autonomous driving, wherein, The vehicle prompting control method is executed by at least one processor and includes: The requirement determination process involves at least distinguishing between driver requirements and environmental requirements as the autonomous driving start requirements that must be met in order to begin the autonomous driving process. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, while the environmental requirements are those that are less likely to be resolved by the driver. The degree of likelihood of being resolved by the driver is determined by the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The prompt control process, based on the driver requirement determined by the requirement determination process, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement; and The prediction process involves predicting the conditions under which at least some of the specified environmental requirements are met. In the prompting control process, if the prediction process predicts that the specified requirements are met, before the specified requirements are met, the driver requirement prompt is given based on the driver requirement determined by the requirement determination process as the automatic driving start requirement.

22. A vehicle prompting control method, which can be used in vehicles capable of autonomous driving, wherein, The vehicle prompting control method is executed by at least one processor and includes: The requirement determination process at least distinguishes between driver requirements and environmental requirements as the initiation requirements for autonomous driving that must be met to begin the autonomous driving process. Driver requirements are those with a high probability of being resolved by the driver of the vehicle, while environmental requirements are those with a low probability of being resolved by the driver. The probability of being resolved by the driver is determined by the ratio of factors that the driver can resolve to factors that the driver cannot resolve. The prompt control process, based on the driver requirements determined by the requirement determination process, provides a driver requirement prompt before the start of autonomous driving. This prompt indicates that the driver requirements are necessary for the start of autonomous driving. In the prompt control process, if the automatic driving start requirement determined by the requirement determination process is only the driver requirement and the driver requirement in the environmental requirements, the driver requirement prompt is made. On the other hand, if the automatic driving start requirement determined by the requirement determination process includes the environmental requirements, the driver requirement prompt is not made.

23. A vehicle prompting control method, which can be used in vehicles capable of autonomous driving, wherein, The vehicle prompting control method is executed by at least one processor and includes: The requirement determination process involves at least distinguishing between driver requirements and environmental requirements as the autonomous driving start requirements that must be met in order to begin the autonomous driving process. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, while the environmental requirements are those that are less likely to be resolved by the driver. The degree of likelihood of being resolved by the driver is determined by the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The prompt control process, based on the driver requirement determined by the requirement determination process, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement; and The prediction process involves predicting the conditions under which at least some of the specified environmental requirements are met. In the prompt control process, if the prediction process predicts that the specified requirements are met, a prompt regarding whether a reservation is needed is also made. This prompt asks the driver whether a reservation for a transfer to the autonomous driving system is required. Furthermore, in the prompt control process, a prompt regarding whether a transfer is needed can also be made, again asking the driver whether a transfer to the autonomous driving system is required. The vehicle prompt control method includes: Whether an appointment confirmation process is required, confirming whether an appointment is needed as the driver's response to the prompt; and The process of confirming whether a transfer is required involves confirming whether the driver's response to the prompt regarding whether a transfer is needed is sufficient. In the prompt control process, if the appointment confirmation process confirms that a transfer to the autonomous driving system is required, the prompt will not be made even if all the requirements for starting the autonomous driving system are met and the system is transferred to the autonomous driving system. On the other hand, if the appointment confirmation process confirms that a transfer to the autonomous driving system is not required, the prompt will be made if all the requirements for starting the autonomous driving system are met.

24. A vehicle prompting control method, which can be used in vehicles capable of autonomous driving, wherein, The vehicle prompting control method is executed by at least one processor and includes: The requirement determination process involves at least distinguishing between driver requirements and environmental requirements as the autonomous driving start requirements that must be met in order to begin the autonomous driving process. The driver requirements are those that are highly likely to be resolved by the driver of the vehicle, while the environmental requirements are those that are less likely to be resolved by the driver. The degree of likelihood of being resolved by the driver is determined by the proportion of factors that the driver can resolve versus factors that the driver cannot resolve. The prompt control process, based on the driver requirement determined by the requirement determination process, provides a driver requirement prompt before the start of autonomous driving as a requirement prompt. This requirement prompt is an information prompt regarding the requirements needed to start autonomous driving, and the main point of the driver requirement prompt is to indicate that the start of autonomous driving requires the driver requirement; and The prediction process involves predicting the conditions under which at least some of the specified environmental requirements are met. In the prompting control process, if the prediction process predicts that the specified requirements are met, a prompt is also made asking the driver whether a reservation is needed. This prompt inquires whether the driver needs to schedule a transfer to the automated driving mode. The vehicle prompt control method includes a confirmation process for whether a reservation is needed. This confirmation process confirms whether a reservation is needed, serving as the driver's response to the prompt. In the prompt control process, the timing of the driver requirement prompt is changed based on whether the appointment confirmation process confirms whether a transfer to autonomous driving is required or not.

25. A vehicle prompting control method, which can be used in vehicles capable of autonomous driving, wherein, The vehicle prompting control method is executed by at least one processor and includes: The requirement determination process at least distinguishes between driver requirements and environmental requirements as the initiation requirements for autonomous driving that must be met to begin the autonomous driving process. Driver requirements are those with a high probability of being resolved by the driver of the vehicle, while environmental requirements are those with a low probability of being resolved by the driver. The probability of being resolved by the driver is determined by the ratio of factors that the driver can resolve to factors that the driver cannot resolve. The prompt control process, based on the driver requirements determined by the requirement determination process, provides a driver requirement prompt before the start of autonomous driving. This prompt indicates that the driver requirements are necessary for the start of autonomous driving. In the prompting control process, if the driver requirement is not determined as the automatic driving start requirement in the requirement determination process, the way the information is prompted changes depending on whether the environmental requirement is determined.

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