Control device, control method, and control program

Abstract

The control device has a processor and controls information presentation in a vehicle capable of automatic driving. The processor is configured to execute acquiring steering angle information relating to a steering angle of a tire of a vehicle during automatic driving based on steering control. The processor is configured to execute presentation of steering association information associated with virtual steering control associated with steering control to a user of the vehicle. The presentation of the steering-related information includes causing a display system to display a steering-related image including at least a steering target, and changing a display mode of the steering-related image in accordance with a control state of the vehicle, the display system displaying speed information and / or entertainment information of the vehicle, the steering-related image including at least the steering target, and the display mode of the steering-related image being changed in accordance with a control state of the vehicle. The steering object is an object of a virtual steering member that is rotationally displayed at a rotation angle related to a steering angle during automatic driving.

Description

[0001] Cross-reference of related applications

[0002] This application is based on Japanese Patent Application No. 2023-140467, filed on August 30, 2023, and is incorporated herein by reference in its entirety. Technical Field

[0003] This disclosure relates to a control technology for controlling the steering components of a vehicle capable of autonomous driving. Background Technology

[0004] Patent Document 1 discloses a steering angle display device for a vehicle. The steering angle display device is disposed on the annular portion of the steering wheel and includes a display section disposed along the annular portion. The steering angle display device includes a control section that, in automatic driving control where the vehicle's steering angle is controlled according to road conditions without rotating the steering wheel, displays a steering angle indication at a position on the display section corresponding to the controlled steering angle.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent No. 6760827.

[0008] The steering angle display device in Patent Document 1 is located on the annular portion of the steering wheel, displaying the steering angle during automatic driving and ending the display when automatic driving is disengaged. However, this steering angle display device could improve convenience in terms of the display position of the steering angle and the display of the steering angle according to the vehicle's control state. Summary of the Invention

[0009] The present disclosure aims to provide a control device that improves convenience. Another object of the present disclosure is to provide a control method that improves convenience. Yet another object of the present disclosure is to provide a control program that improves convenience.

[0010] The following describes the technical means of this disclosure used to solve the problem. Furthermore, the scope of the patent claim and the symbols in parentheses in this section indicate the correspondence with the specific means described in the detailed embodiments below, and do not limit the technical scope of this disclosure.

[0011] The first aspect of this disclosure is a control device having a processor for controlling information prompts in a vehicle capable of autonomous driving, wherein...

[0012] The processor is configured to execute:

[0013] Acquire steering angle information related to the steering angle of the tires (54) in the vehicle's steering-based control during autonomous driving; and

[0014] The vehicle user is prompted with steering association information related to the virtual steering control, which is associated with the steering control.

[0015] The steering-related information includes:

[0016] The display system displays a steering-related image and changes the display mode of the steering-related image according to the vehicle's control status. The display system displays at least one of the vehicle's speed information and entertainment information. The steering-related image contains at least a steering object, which is an object of a virtual steering component. The virtual steering component is displayed by rotating at a rotation angle related to the steering angle in autonomous driving.

[0017] The second aspect of this disclosure is a control method executed by a processor for controlling information prompts for vehicles capable of autonomous driving, characterized by comprising:

[0018] Acquire steering angle information related to the tire steering angle in steering-based control of a vehicle in autonomous driving; and

[0019] The vehicle user is prompted with steering association information related to virtual steering control, which is associated with steering control.

[0020] The steering-related information includes:

[0021] The display system displays a steering-related image and changes the display mode of the steering-related image according to the vehicle's control status. The display system displays at least one of the vehicle's speed information and entertainment information. The steering-related image contains at least a steering object, which is an object of a virtual steering component. The virtual steering component is displayed by rotating at a rotation angle related to the steering angle in autonomous driving.

[0022] The third aspect of this disclosure is a control program stored in a storage medium for controlling information prompts of a vehicle capable of autonomous driving, and includes instructions for causing a processor to execute them, characterized in that...

[0023] The instructions include:

[0024] Acquire steering angle information related to the tire steering angle in steering-based control of a vehicle in autonomous driving; and

[0025] The vehicle user is prompted with steering association information related to the virtual steering control, which is associated with the steering control.

[0026] The steering-related information includes:

[0027] The display system displays a steering-related image and changes the display mode of the steering-related image according to the vehicle's control status. The display system displays at least one of the vehicle's speed information and entertainment information. The steering-related image contains at least a steering object, which is an object of a virtual steering component. The virtual steering component is displayed by rotating at a rotation angle related to the steering angle in autonomous driving.

[0028] According to these first to third methods, a steering-related image of a steering object, which includes at least one of a virtual steering component that is rotated and displayed as a rotation angle related to the steering angle in autonomous driving, is displayed in a manner corresponding to the vehicle's control status on a display system that displays at least one of the vehicle's speed information and entertainment information. Thus, by visually viewing the display system showing at least one of the vehicle's speed information and entertainment information, the user can grasp the vehicle's direction of travel from the steering object displayed in a manner corresponding to the control status. Therefore, convenience is improved. Attached Figure Description

[0029] Figure 1 This is a block diagram showing the overall structure of the first embodiment.

[0030] Figure 2 This is a schematic diagram showing the interior of the vehicle according to the first embodiment.

[0031] Figure 3 This is a block diagram illustrating the functional structure of the control device according to the first embodiment.

[0032] Figure 4 This is a flowchart illustrating the control flow according to the first embodiment.

[0033] Figure 5 This is a diagram illustrating an example of a steering object according to the first embodiment.

[0034] Figure 6 This is a diagram showing the relationship between the rotation angle and the steering angle of the steering object according to the first embodiment.

[0035] Figure 7 This is a diagram illustrating an example of a steering-related image in an emergency stop scenario according to the first embodiment.

[0036] Figure 8 This is a diagram illustrating an example of a steering-related image in an emergency stop scenario according to the first embodiment.

[0037] Figure 9 This is a diagram illustrating an example of a steering-related image in an emergency stop scenario according to the first embodiment.

[0038] Figure 10This is a diagram illustrating an example of a steering-related image in a parking scenario according to the second embodiment.

[0039] Figure 11 This is a diagram illustrating an example of a steering-related image in a parking scenario according to the second embodiment.

[0040] Figure 12 This is a diagram illustrating an example of a steering-related image in a parking scenario according to the third embodiment.

[0041] Figure 13 This is a schematic diagram showing the interior of the vehicle according to the fourth embodiment.

[0042] Figure 14 This is a block diagram illustrating the functional structure of the control device according to the fourth embodiment.

[0043] Figure 15 This is a flowchart illustrating the control flow according to the fourth embodiment. Detailed Implementation

[0044] Hereinafter, several embodiments of the present disclosure will be described based on the accompanying drawings. Furthermore, in each embodiment, repeated descriptions may be omitted by using the same symbols to denote corresponding constituent elements. Additionally, in each embodiment, where only a portion of the configuration is described, the configurations of other previously described embodiments may be applied to the other parts of that configuration. Moreover, the description of each embodiment is not limited to combinations of explicitly stated configurations; even without explicit description, the configurations of multiple embodiments may be partially combined with each other as long as there are no obstacles to the combination.

[0045] (First Implementation)

[0046] Figure 1 The control device 100 of the first embodiment shown controls the moving body of the host. Figure 1 The display system 80 for vehicle 1 is shown. From the perspective centered on vehicle 1, vehicle 1 can also be described as an ego-vehicle. Vehicle 1 is a moving body, such as a car, that is capable of traveling on a road while being ridden by a user as a passenger.

[0047] Vehicle 1 is an autonomous device (autonomous robot) classified according to the degree of user intervention in dynamic driving tasks and equipped with an autonomous driving mode. The autonomous driving mode can be achieved through autonomous driving control where the system performs all dynamic driving tasks, such as conditional driving automation, high-level driving automation, or full driving automation. The autonomous driving mode can also be achieved through advanced driver assistance control, such as driver assistance or partial driving automation, where the user performs some dynamic driving tasks. The autonomous driving mode can also be achieved through any one of these autonomous driving controls and advanced driver assistance controls, a combination of autonomous driving control and advanced driver assistance control, or switching between them. Vehicle 1 can also be referred to as an autonomous vehicle. Vehicle 1 is suitable for systems that provide services, for example, by being dispatched to a user who wishes to ride, and then autonomously driving to the user's destination.

[0048] In autonomous driving mode, a medium- to long-term driving plan that determines the predetermined route from the vehicle's current location to the destination, and a short-term control plan for driving along the medium- to long-term driving plan are generated sequentially in vehicle 1 and at an external center. Driving control according to these plans is executed in vehicle 1, thereby achieving autonomous driving.

[0049] Vehicle 1 is equipped with Figure 1 The sensor system 10, communication system 20, map database 30, drive and braking system 40, steering system 50, operator 60, auditory prompt system 70, and display system 80 are shown. The sensor system 10 acquires sensor information available to the control device 100 regarding the external and internal environments of the vehicle 1. For this purpose, the sensor system 10 is configured to include an external sensor 11 and an internal sensor 12.

[0050] The external sensor 11 acquires external information as sensor information from the external environment surrounding the vehicle 1. The external sensor 11 can be an object detection type that detects objects existing outside the vehicle 1. The object detection type external sensor 11 is at least one of, for example, an external camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, and sonar.

[0051] The interior boundary sensor 12 acquires interior boundary information as sensor information from the interior boundary of the vehicle 1's internal environment. The interior boundary sensor 12 can be a physical quantity detection type that detects specific moving physical quantities within the interior boundary of the vehicle 1. The physical quantity detection type interior boundary sensor 12 can include at least one of, for example, a driving speed sensor, an acceleration sensor, a gyroscope sensor, and a steering angle sensor. Furthermore, in this embodiment, the steering angle refers to the angle of the tire 54 relative to the longitudinal direction of the vehicle 1. The steering angle can also be referred to as the tire angle or tire shear angle.

[0052] The interior boundary sensor 12 can be a user detection type that detects a specific state of a user within the interior boundary of the vehicle 1. The user detection type interior boundary sensor 12 is at least one of, for example, an in-vehicle camera, a seating sensor, an actuator sensor, and an in-vehicle equipment sensor. The seating sensor detects the seating state of the user at each seat within the vehicle. The actuator sensor detects at least one of the user's instruction states as actuators for driving the vehicle 1, such as the operation state of the accelerator pedal, the operation state of the brake pedal, the on / off state of the start switch, and the shift state of the gear shift lever. The in-vehicle equipment sensor detects at least one of the user's instruction states as in-vehicle equipment, such as the operation state of a switch, the operation state of a touch panel, and non-contact identifiable gestures.

[0053] The communication system 20 acquires communication information available to the control device 100 via wireless communication. The communication system 20 can also be a positioning type, receiving positioning signals from GNSS (Global Navigation Satellite System) satellites located outside the vehicle 1. A positioning-type communication system 20 may be, for example, a GNSS receiver. The communication system 20 can also be a V2X type, transmitting and receiving communication signals with a V2X system located outside the vehicle 1. A V2X-type communication system 20 may be, for example, at least one of a DSRC (Dedicated Short Range Communications) communicator and a cellular V2X (C-V2X) communicator. The communication system 20 can also be a terminal communication type, transmitting and receiving communication signals with a terminal located inside the vehicle 1. A terminal communication type communication system 20 may be, for example, at least one of a Bluetooth device, a Wi-Fi device, and an infrared communication device.

[0054] Map database 30 stores map information usable by control device 100. Map database 30 is configured to include at least one non-transitory tangible storage medium, such as semiconductor memory, magnetic media, and optical media. Map database 30 can also be a database of a locator that estimates its own state quantities, including the vehicle 1's own position. Map database 30 can also be a database of a navigation unit that navigates the vehicle 1's travel path. Map database 30 can also be composed of various combinations of these databases.

[0055] Map database 30 acquires and stores the latest map information, for example, through communication with an external center via a V2X-type communication system 20. Here, map information, representing the driving environment of vehicle 1, is digitized into two or three dimensions. In particular, as three-dimensional map data, high-precision map digital data can be used. Map information may include road information, such as the location, shape, and road surface condition of the road itself. Map information may include marking information, such as the location and shape of road-attached signs and zoning lines. Map information may include structural information, such as the location and shape of buildings and traffic signals along the road.

[0056] The drive-braking system 40 is configured to include: a drive system consisting of components for accelerating the vehicle 1, and a braking system consisting of components for decelerating the vehicle 1. The components constituting the drive system include, for example, an accelerator pedal, a drive motor, a drive engine, a starter switch, a transmission, and a shift unit. The components constituting the braking system include, for example, tires 54, a battery, a brake pedal, a friction braking unit, a hydraulic circuit, and a regenerative braking motor.

[0057] Figure 2 The steering system 50 shown consists of components for steering the vehicle 1. The components constituting the steering system 50 include, for example, an electric power steering system, a steering unit, and tires 54. The steering unit, through automatic driving control, steers the tires 54 at successively predetermined steering angles. Furthermore, as... Figure 2 As shown, the steering system 50 of the vehicle 1 in this embodiment does not have a steering wheel, that is, it does not have a steering component connected to the electric power steering device via a steering shaft.

[0058] The operator 60 is an operating component that accepts control operations from the user on the vehicle 1. The operator 60 is configured to at least input steering operations. The operator 60 may also be configured to input at least one of acceleration and deceleration operations. For example, the operator 60 is a control panel type, which, when accepting control operations, is held by the user in a state not fixed to the vehicle 1. The control panel type operator 60 includes at least one of buttons, a joystick, and a crosshair. The control panel type operator 60 is connected to the control device 100 via at least one wired and wireless means. For example, the control panel type operator 60 is held in a retaining part provided on the vehicle 1 during automatic driving, and is removed by the user from the retaining part to accept control operations during manual driving.

[0059] Alternatively, the operator 60 can be of a vehicle-mounted type, receiving control operation while fixed to the vehicle 1. The vehicle-mounted type operator 60 is, for example, an on-board device sensor that detects at least one of the following as indications of a user's interaction with the on-board device: the operation of a switch, the operation of a touch panel, and non-contact identifiable gestures. Furthermore, unlike conventional steering components, the vehicle-mounted type operator 60 does not transmit physical rotational motion to the electric power steering system, but rather transmits steering operation electrically. Additionally, the operator 60 may include both components capable of receiving steering operation from inside the vehicle and components capable of receiving steering operation from outside the vehicle.

[0060] The auditory prompting system 70 provides notification information to the user of vehicle 1 by stimulating the user's hearing with sound information. The auditory prompting system 70 is, for example, at least one of a speaker, a buzzer, and a vibrating unit.

[0061] The display system 80 provides notification information to the user of vehicle 1 by providing visual information that stimulates the user's vision. The display system 80 includes, for example, an interior display 81 that displays information inside the vehicle and an exterior display 82 that displays information outside the vehicle.

[0062] The in-vehicle display 81 includes a display device that displays at least one of vehicle information and entertainment information related to the vehicle 1. The in-vehicle display 81 may, for example, include an instrument cluster display (hereinafter referred to as MD) 81a, which displays at least one of speed information and drive engine speed as vehicle information. The in-vehicle display 81 may include a central information display (hereinafter referred to as CID) 81b, which displays entertainment information and is located in the central area of ​​the in-vehicle interior in the width direction. Entertainment information is information other than information associated with the state of the vehicle 1. For example, entertainment information is video content unrelated to the state of the vehicle 1, such as movies, television programs, and internet streaming video. The display system 80 may include at least one of a HUD (Head-Up Display), an MFD (Multi-Function Display) located outside the central area in the width direction, and a light-emitting unit.

[0063] The exterior display 82 is a display installed, for example, on the exterior of the vehicle 1, particularly near or on a door. The exterior display 82 can be installed at the front or rear of the vehicle 1. The exterior display 82 can be installed in multiple locations.

[0064] The control device 100 is connected to the sensor system 10, the communication system 20, and the map database 30 via at least one of the following: a LAN (Local Area Network) line, a wiring harness, an internal bus, and a wireless communication line. Furthermore, the control device 100 is connected to the drive and braking system 40, the operator 60, the auditory prompting system 70, and the display system 80 via at least one of the following: a LAN line, a wiring harness, an internal bus, and a wireless communication line. The control device 100 is configured to include at least one dedicated computer.

[0065] The dedicated computer constituting the control device 100 may be an HCU (Hman Machine Interface Control Unit) that controls information prompts provided by the auditory prompt system 70 and display system 80 in the vehicle 1. The dedicated computer constituting the control device 100 may be an integrated ECU (Electronic Control Unit) that integrates the driving control of the vehicle 1. The dedicated computer constituting the control device 100 may be a judgment ECU that determines the driving task in the driving control of the vehicle 1. The dedicated computer constituting the control device 100 may be a monitoring ECU that monitors the driving control of the vehicle 1. The dedicated computer constituting the control device 100 may be an evaluation ECU that evaluates the driving control of the vehicle 1.

[0066] The dedicated computer constituting the control device 100 may be a steering control ECU specifically for controlling the steering system 50. The dedicated computer constituting the control device 100 may be a navigation ECU for navigating the driving path of the vehicle 1. The dedicated computer constituting the control device 100 may be a positioner ECU for estimating the vehicle 1's own state variables. The dedicated computer constituting the control device 100 may be an actuator ECU for controlling the driving actuators of the vehicle 1. The dedicated computer constituting the control device 100 may be a computer outside the vehicle 1, such as an external center or mobile terminal capable of communicating with the vehicle 1.

[0067] The dedicated computer constituting the control device 100 has at least one memory 101 and one processor 102. The memory 101 is a non-transitory tangible storage medium that stores computer-readable programs and data, such as semiconductor memory, magnetic media, and optical media. The storage here can be storage that retains data even when the vehicle 1 starts and stops, or temporary storage that erases data when the vehicle 1 starts and stops. The processor 102 includes at least one of the following as its core: CPU (Central Processing Unit), GPU (Graphics Processing Unit), RISC (Reduced Instruction Set Computer) - CPU, CISC (Complex Instruction Set Computer) - CPU, DFP (Data Flow Processor), and GSP (Graph Streaming Processor).

[0068] In the control device 100, the processor 102 executes multiple instructions contained in the control program stored in the memory 101, which serves as a storage medium, to control information prompts in the vehicle 1. Thus, the control device 100 constructs multiple functional blocks for controlling information prompts in the vehicle 1. Among the multiple functional blocks constructed in the control device 100, such as... Figure 3 As shown, it includes a discrimination block 110, an acquisition block 120, and a prompt control block 130.

[0069] Through the combined action of these blocks 110, 120, and 130, the control device 100 controls the display to the display system 80 according to the following method. Figure 4 The control flow shown is executed. Figure 4The control flow shown is repeatedly executed during the start-up of vehicle 1. Furthermore, each "S" in the control flow represents a multiple step executed through multiple instructions contained in the control program.

[0070] First, in S10, the determination block 110 performs a determination of the current control status of vehicle 1. The determination block 110 broadly categorizes the control status into, for example, a normal autonomous driving scenario, a parking scenario, and an emergency stop scenario. The normal autonomous driving scenario is a scenario in which normal driving control is performed through autonomous driving. The parking scenario is a scenario in which parking control is initiated by autonomous driving towards a parking area. Here, the parking area is the area where users are expected to get on and off after vehicle 1 has stopped. The parking area includes at least one of the following: a pick-up and drop-off area prepared for users to get on and off the service, a parking lot for parking vehicle 1, the surrounding area for users waiting to get on and off, and an area that is only set as the destination for autonomous driving-based driving.

[0071] The discrimination block 110 may determine that parking control has started, for example, when a driving trajectory is generated that uses a parking area as the terminal in a short-term control plan for autonomous driving, or when vehicle control based on the driving trajectory is started. Alternatively, the discrimination block 110 may determine that parking control has started when it detects that the vehicle 1 is approaching within a specified distance of the parking area.

[0072] In addition, the discrimination block 110 further determines a more detailed control state in the parking scenario. Specifically, the discrimination block 110 determines the manner (steering mode) of the expected steering behavior of the tires 54 before parking. The steering mode includes, for example, the accumulation of the amount of change in steering angle (steering amount) from the start time to the end time of parking control, and at least one of the number of steering direction switching. Furthermore, the start time of parking control is, for example, the time when a driving trajectory with the parking location as the end point in a short-term control plan for autonomous driving is generated, or the time when vehicle control based on the driving trajectory begins. Alternatively, the start time of parking control may be the time when the vehicle 1 is detected approaching the parking location within a specified distance range. The end time of parking control is the time when the vehicle reaches the end point of the driving trajectory, i.e., the parking location, and the driving speed is substantially zero.

[0073] An emergency stop scenario is a scenario in which emergency stop control is executed through autonomous driving. For example, in the event that an event occurs that makes driving unsafe, when stop control is executed through MRM (Minimum Risk Maneuver) control performed by the autonomous driving ECU, it is identified as an emergency stop scenario.

[0074] Alternatively, the determination block 110 can determine an emergency stop scenario if the passenger initiates an emergency stop operation. For example, in the event of an approaching emergency vehicle, if the user determines that emergency avoidance is necessary after the automatic driving mode has not been performed, the determination block 110 can initiate an emergency stop operation initiated by the user. The emergency stop initiation operation is received by the determination block 110, for example, via in-vehicle sensors.

[0075] In addition, the discrimination block 110 further determines more detailed control conditions in emergency stop scenarios. Specifically, the discrimination block 110 determines the control condition as at least one of the following: whether the user performs any operation on the vehicle 1 via the operator 60 after the emergency stop; the user's operation location; and the degree of restriction on the operation. The determination of the user's operation location includes at least determining whether the operation is performed inside or outside the vehicle. The determination of the degree of restriction on the operation includes at least one of the following: whether there is an anomaly in the sensor system 10; whether there is a restriction on the drivable direction; and the range of restriction when there is a restriction on the drivable direction.

[0076] In the subsequent S20, the acquisition block 120 acquires steering angle information related to the steering angle of the tires 54 in the vehicle 1 under automatic steering control during autonomous driving. The steering angle information includes at least one of the current actual steering angle and the target steering angle after a predetermined control cycle.

[0077] Then, in S30, the prompt control block 130 prompts steering association information related to the virtual steering control. The prompt control block 130 prompts the steering association information in a manner based on the control status determined in S10. Here, the prompting method includes the type of information being prompted and the presence or absence of information. Specifically, when the information prompt is displayed as an object, the prompting method (display method) includes the shape of the displayed object, the type of information represented by the displayed object, and the presence or absence of the displayed object.

[0078] The following is a detailed explanation of how steering-related information is prompted for each scenario in S30.

[0079] <Typical Autonomous Driving Scenarios>

[0080] In typical autonomous driving scenarios, the prompt control block 130 causes the display system 80, which displays at least one of the vehicle 1's speed information and entertainment information, to display a steering association image as steering association information. As an example, the prompt control block 130 causes CID 81b to display the steering association image. For example, as... Figure 5 As shown, the control block 130 displays a steering-related image in display area A2, which is different from the display area A1 for displaying entertainment information, etc., in CID81b. The steering-related image includes at least... Figure 5The steering object OS is shown in the figure.

[0081] The steering object OS is a display representing a virtual steering component. For example, the steering object OS is a roughly circular shape simulating a steering wheel. The steering object OS is displayed with rotation as a change in the rotation angle (rotation amount) related to the steering amount in automatic driving. Specifically, the prompt control block 130 sets the rate of change of the rotation amount of the steering object OS relative to the steering amount, and rotates the steering object OS with this rate of change. In other words, the prompt control block 130 performs rotation display with the rotation amount obtained by multiplying the steering amount by a predetermined coefficient.

[0082] The prompt control block 130 changes the rate of change when the rotation angle from the reference angle (e.g., zero degrees) is within or outside the allowable rotation angle range. Here, the allowable rotation angle range is the range where the rotation angle is above or above the lower threshold and below or less than the upper threshold. When the rotation angle is outside the allowable rotation angle range, the prompt control block 130 suppresses the rate of change compared to when it is within the allowable rotation angle range. In other words, the prompt control block 130 rotates the display of the steering object OS outside the allowable rotation angle range by multiplying the steering amount by a smaller coefficient than when it is within the allowable rotation angle range. Figure 6 In the example shown, the maximum rotation angle corresponding to the maximum steering angle is set to ±120 degrees. Within the ranges of +90 degrees to +120 degrees and -120 degrees to -90 degrees, a coefficient smaller than that within the ±90 degree range is set. Therefore, the rate of change is smaller than that within the ±90 degree range.

[0083] In addition, in typical autonomous driving scenarios, the prompt control block 130 provides auditory prompts corresponding to the rotation of the steering object OS as steering-related information. For example, during the rotation of the steering object OS, the prompt control block 130 uses the auditory prompt system 70 to provide simulated steering sounds of the tires 54 rubbing against the road surface. The prompt control block 130 can change the manner of the audio prompts based on the rotation speed of the steering object OS. For example, the faster the steering object OS rotates, the louder the audio prompts. Alternatively, the faster the rotation speed, the higher the pitch of the audio prompts. Or, the prompt control block 130 can provide audio with varying pitch based on the rotation speed. Or, the prompt control block 130 can provide periodic audio with varying frequencies based on the rotation speed.

[0084] Furthermore, in typical autonomous driving scenarios, the prompt control block 130 disables the display of the steering object OS if it presumes that the passenger lacks experience in manually driving the vehicle. The prompt control block 130 presumes driving experience, for example, through personal authentication of the passenger in vehicle 1. Specifically, if the user's age, as determined through personal authentication, is below the legal age for obtaining a driver's license, the prompt control block 130 presumes that the user lacks driving experience; if the user has reached the legal age, it presumes that the user has experience.

[0085] Furthermore, if both a user presumed to have no driving experience and a user presumed to have experience are riding in the vehicle, the prompting control block 130 will display the steering object OS without disabling its display. In other words, the prompting control block 130 will disable the display of the steering object OS if only a user presumed to have no driving experience is riding in the vehicle.

[0086] <Parking Scenario>

[0087] In a parking scenario, if the steering method anticipated before parking is permitted, the prompt control block 130 displays the steering object OS as a steering-related image, similar to the typical autonomous driving scenario described above. Conversely, if the prompt control block 130 prevents the display of the steering object OS if the steering method anticipated before parking is not permitted.

[0088] For example, the prompt control block 130 can determine the steering mode as permissible if the expected cumulative steering amount is within the permissible upper limit, and determine it as non-permissible if it exceeds the permissible upper limit. Alternatively, the prompt control block 130 can determine the steering mode as permissible if the expected number of steering direction changes is within the permissible upper limit, and determine it as non-permissible if it exceeds the permissible upper limit.

[0089] <Emergency Stop Scenario>

[0090] After vehicle 1 completes an emergency stop in the emergency stop scenario, the prompt control block 130 displays the steering object OS and the linkage object OL as steering-related images. Furthermore, in this embodiment, the prompt control block 130 displays the front and rear objects OFR as steering-related images, in addition to the steering object OS and the linkage object OL.

[0091] When the prompt control block 130 receives a rotational operation from inside the vehicle, it displays the aforementioned steering-related image on the in-vehicle display 81, which displays at least one of the speed information and entertainment information. Conversely, when the prompt control block 130 receives a rotational operation from outside the vehicle, it displays the steering-related image on the external display 82. Furthermore, when the prompt control block 130 receives a rotational operation from the user via the operator 60 after an emergency stop, it displays the steering-related image regardless of the steering method. Additionally, the external display 82, which displays the steering-related image, may not necessarily need to display at least one of the speed information and entertainment information. Furthermore, unless otherwise specified, the following descriptions of the steering-related images apply to both the cases displayed on the in-vehicle display 81 and the cases displayed on the external display 82.

[0092] When displaying the steering object OS, the prompt control block 130 accepts the steering operation of the vehicle 1 via the operator 60 that receives the user's control operation. The prompt control block 130 rotates the steering object display according to the user's steering operation. In other words, the prompt control block 130 rotates the steering object display by an amount of rotation related to the steering amount corresponding to the user's steering operation.

[0093] The forward and backward objects OFR are display objects that show the forward and backward movement of vehicle 1 corresponding to the operation of operator 60. For example, the forward and backward objects OFR include: a forward object OF displayed when vehicle 1 is moving forward, a backward object OR displayed when moving backward, and a vehicle object OC that simulates the icon of vehicle 1.

[0094] The linkage object OL is a display object that represents the relationship between the operation of the operator 60 and the rotation display of the steering object OS. For example, as... Figure 7 As shown, the linkage object OL includes an appearance object OE, an input object OI, and a key binding object OKB. The appearance object OE is an object that simulates the shape of the operator 60. Figure 7 It is presented in the shape of a control panel. The input object OI is the object in the analog operator 60 that operates the input component. Figure 7 In the example, icons for simulated buttons, joysticks, and D-pads are displayed as input objects (OIs). Key binding objects (OKBs) represent the correspondence between input components and control content. Figure 7In the example, the lines extending from the input object OI and the text displayed as a rectangular array are shown as key binding objects OKB. The lines in the key binding objects OKB point to the corresponding input components. The text in the key binding objects OKB uses text information to represent the control content that can be executed by operating the corresponding input component. As an example, for an input object OI that corresponds to a button that can be pressed to move forward, a key binding object OKB is displayed that includes lines extending from the input object OI and the text "Forward" written above the lines. Similarly, for an input object OI that corresponds to a button that can be pressed to move backward, a key binding object OKB is displayed that includes lines extending from the input object OI and the text "Back" written above the lines. Furthermore, for an input object OI that corresponds to a joystick that can be tilted left or right to rotate the steering wheel 51, a key binding object OKB is displayed that includes lines extending from the input object OI and the text "Turn the steering wheel left or right" written above the lines.

[0095] When the user can perform steering operations via the operator 60, the prompt control block 130 first displays the steering object OS, the forward / backward object OFR, and the linkage object OL. Then, when the operator 60 is operated, the prompt control block 130 emphasizes the input object OI corresponding to the operated input component. Furthermore, the prompt control block 130 executes the rotation display of the steering object OS corresponding to the operation, and the forward / backward display via the forward / backward object OFR.

[0096] For example, such as Figure 7 As shown in the upper frame, suppose no operation corresponding to steering is entered, but an operation corresponding to forward is entered. In this case, the prompt control block 130 emphasizes the input object OI corresponding to forward by changing the brightness, display color, etc. Then, the prompt control block 130 keeps the steering object OS in its initial angle state, displays the forward object OF and the vehicle object OC in the forward / backward object OFR, and sets the backward object OR to not be displayed. Additionally, as... Figure 7 As shown in the lower box, assume that a leftward steering operation and a corresponding reverse operation have been entered. In this case, the prompt control block 130 emphasizes the input object OI corresponding to reverse and the input object OI corresponding to left steering. Then, the prompt control block 130 rotates the steering object OS to the left, displays the reverse object OR and the vehicle object OC in the forward / backward object OFR, and sets the forward object OF to be hidden.

[0097] Furthermore, the prompt control block 130 prohibits rotational operations from outside the vehicle when it detects an anomaly in the sensor system 10 related to the driving control of the vehicle 1. When an anomaly is detected, the prompt control block 130 may also display a prohibited object OP on the external display 82 indicating that operations performed via the operator 60 from outside the vehicle are prohibited. For example, such as... Figure 8 As shown, the prompt control block 130 displays a prohibited object OP in the shape of a prohibition symbol.

[0098] Furthermore, the prompt control block 130 displays the operable range of the steering object related to the drivable direction when the drivable direction of vehicle 1 is limited. For example, it can limit the drivable direction when vehicle 1 is detected to be stuck or when an anomaly such as a sensor malfunction is detected. For example, as Figure 9 As shown, the prompt control block 130 provides prompts by displaying an operable range object OOR that indicates the rotatable direction and the prohibited direction of rotation of the steering object OS.

[0099] Additionally, in an emergency stop scenario, when the user initiates the emergency stop operation for vehicle 1, the prompt control block 130 can display the steering object OS, linkage object OL, and forward and backward objects after the operation begins. In this case, the prompt control block 130 begins accepting control operations from the operator 60 after the operation begins, and displays the various steering association images according to the control operations.

[0100] The prompt control block 130 in S30 prompts steering-related information in its own prompting manner according to the control status of each scenario. When the prompt is executed, this process ends. By repeatedly executing this series of processes in S10, S20, and S30, while appropriately changing the prompting method according to the control status, the steering-related information continues to be executed during the start-up of vehicle 1.

[0101] According to the first embodiment described above, a steering-related image is displayed, which includes at least a steering object OS. This steering object OS is a virtual steering component that is rotated and displayed with a rotation angle related to the steering angle in autonomous driving. The steering-related image is displayed on a display system 80 that displays at least one of the vehicle 1's speed information and entertainment information, according to the control status of the vehicle 1. Thus, by visually viewing the display showing at least one of the vehicle 1's speed information and entertainment information, the user can grasp the direction of the vehicle 1's movement from the steering object OS displayed according to the control status. Therefore, convenience is improved. In particular, in the first embodiment, the steering-related image is displayed on a CID 81b, which is a display located in the central area of ​​the vehicle's width direction within the vehicle interior. Therefore, regardless of which seat the user is in, it is relatively easy to visually confirm the steering-related image.

[0102] (Second Implementation)

[0103] like Figure 10 , 11 As shown, the second embodiment is a variation of the first embodiment.

[0104] In the second embodiment, in a parking scenario, if the expected steering method before parking is a permissible method, such as... Figure 11 As shown, the prompt control block 130 displays the steering object OS and the current direction object OCD related to the current vehicle 1's direction. On the other hand, when the steering mode is a non-permitted mode, such as... Figure 10 As shown, in addition to the steering object OS and the current direction object OCD, the prompt control block 130 also displays the predetermined direction object OPD, which is related to the predetermined direction of the vehicle 1 when it is parked. Furthermore, when the steering mode is not permitted, the prompt control block 130 displays the reversing object OT.

[0105] The Current Direction Object (OCD) is the object that indicates the current direction of vehicle 1. Here, the direction of vehicle 1 is set to the direction of yaw corresponding to the steering angle, i.e., the magnitude of the yaw angle. The Current Direction Object (OCD) uses, for example, a steering angle of zero degrees, i.e., a yaw angle of zero degrees, as a reference direction, and indicates the magnitude of the tilt relative to the current direction in association with the magnitude of the steering angle.

[0106] The current orientation object OCD is, for example Figure 10 , 11 The icon shown is a simulation of vehicle 1 viewed from above. The current direction object OCD is tilted relative to the reference direction based on the steering angle. Therefore, the current direction object OCD can also be considered an object that rotates in conjunction with the steering object OS. Furthermore, since it moves according to the steering angle, the steering object OS can also be understood as an object contained within the current direction object OCD.

[0107] The Predicted Orientation Object (OPD) is an object relating to the predetermined orientation of vehicle 1 when it is parked. That is, the Predicted Orientation Object (OPD) displays the orientation of vehicle 1's yaw direction based on the expected steering angle when parked. For example... Figure 10 As shown, the predetermined direction object OPD is set to an icon simulating a top-down view of vehicle 1. This predetermined direction object OPD differs from the steering object OS and the current direction object OCD, as shown below. Figure 11 As shown, it is set to not display when allowed, i.e., display is disabled.

[0108] The reversing object (OT) is an object relating to at least one of the expected number of reversals before stopping and the direction of rotation of the steering object during each reversal. For example, the reversing object OT is... Figure 10As shown, it includes both a count object OTN that displays the number of reversals and a reversal direction object OTD that displays the rotation direction of each reversal.

[0109] The OTN (Operation Count) object is displayed as a number-shaped icon, indicating the number of reversals. Here, the reversal count is set to the number of times the steering object OS reverses its rotation direction. At the start of parking control, the OTN object displays the estimated total number of reversals from the start to the end of parking control. The count indicated by the OTN object decreases with each actual reversal. In other words, the OTN object counts down to indicate the remaining number of reversals.

[0110] The reversing direction object (OTD) is displayed as an arrow-shaped icon, indicating the reversing direction by pointing to it. Each time a reversal occurs, the OTD indicates the rotation direction of the steering object via an arrow. For example, the OTD might indicate the reversing direction before the rotation direction of the steering object (OS) reverses. In other words, the OTD foreshadows the nearest reversing direction.

[0111] (Third implementation method)

[0112] like Figure 12 As shown, the third embodiment is a variation of the second embodiment.

[0113] In a parking scenario, when the steering mode is not permitted, the prompt control block 130 displays the steering object OS and the predetermined direction object OPD. Unlike the second embodiment, the prompt control block 130 does not display the steering object OS and the current direction object of another object. Since the steering object OS can also be understood as an object contained within the current direction object OCD, the prompt control block 130 can display the current direction of vehicle 1 simply by rotating the steering object OS.

[0114] In addition, the prompt control block 130 is in a non-permitted mode, such as Figure 12 As shown in the left column, the predetermined direction object OPD is displayed as an icon simulating a steering component with a shape substantially the same as the steering object OS. This predetermined direction object OPD is displayed fixedly, representing the state of the rotation angle corresponding to the expected steering angle at the time of stopping, without rotating accordingly. For example, in... Figure 12 In the example shown, the predetermined direction object OPD is displayed with a rotation angle (i.e., zero degrees) corresponding to a steering angle of zero degrees. When the steering mode is enabled, the prompt control block 130 displays as shown. Figure 12 As shown in the right column, the predefined orientation object OPD is not displayed.

[0115] (Fourth Implementation)

[0116] like Figures 13-15As shown, the fourth embodiment is a variation of the first embodiment.

[0117] In the fourth embodiment, such as Figure 13 As shown, the steering system 50 in vehicle 1, in addition to the configuration of the first embodiment, also includes a steering wheel 51. The steering wheel 51 physically transmits the user's rotational operation to the steering component of the electric power steering system via a steering shaft. The steering wheel 51 is pre-adjusted so that its reference angular position in the non-rotating state (i.e., steering angle zero degrees) corresponds to the forward direction of vehicle 1. In other words, the correspondence between the steering angle and the steering angle is adjusted so that when the steering angle of the steering wheel 51 is substantially zero degrees, the steering angle of the tire 54 is substantially zero degrees. Furthermore, the correspondence between the steering angle and the steering angle may have errors relative to when the adjustment was first completed due to changes over the years, etc. The correspondence between the steering angle and the steering angle may be readjusted at the factory, for example, during battery replacement.

[0118] like Figure 14 As shown, the control device 100 in the fourth embodiment includes multiple functional blocks, in addition to blocks 110, 120, and 130 identical to those in the first embodiment, and also includes a steering control block 140. Through the combined action of these blocks 110, 120, 130, and 140, the control device 100 controls the display to the display system 80 according to... Figure 15 The control flow shown is executed.

[0119] like Figure 15 As shown, after processing in S10, the process moves to S15. In S15, the steering control block 140 performs steering control according to the control status. Specifically, when the steering mode is permitted in a parking scenario, the steering control block 140 rotates the steering wheel 51 in conjunction with the steering control of the tires 54. On the other hand, when the steering mode is not permitted in a parking scenario, the steering control block 140 disengages the linkage between the steering control of the tires 54 and the rotation control of the steering wheel 51. For example, in the disengaged state, the steering control block 140 keeps the steering wheel 51 stationary at a substantially zero steering angle.

[0120] Furthermore, in S30 of the fourth embodiment, the prompt control block 130 also displays the steering object OS when the steering mode is not permitted in a parking scenario. The prompt control block 130 may further display at least one of the current direction object OCD, the predetermined direction object OPD, and the reversing object OT. That is, when the steering mode is not permitted in a parking scenario, the steering wheel 51 is stationary, and instead, the user controls the driving direction of the vehicle 1 through the steering object.

[0121] (Other implementation methods)

[0122] The above describes several embodiments, but this disclosure should not be limited to these embodiments. It can be applied to various embodiments and combinations without departing from the spirit of this disclosure.

[0123] In a modified example, the control device 100 can display a steering-related image containing the steering object OS during the calibration of the vehicle 1 in the factory.

[0124] In a modified example, the control device 100 can control the rotation display of the steering object OS so that the rate of change of rotation relative to the steering amount is lower than the rate of change of rotation of the steering wheel 51 relative to the steering amount in manual driving.

[0125] In a variation, the dedicated computer constituting the control device 100 may have at least one of digital circuitry and analog circuitry as a processor. Here, the digital circuitry is at least one of, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). Furthermore, such digital circuitry may have a memory storing the program.

[0126] In a variation, the host mobile body to which the control device 100 is applied may be, for example, an autonomous robot capable of carrying goods or collecting information through autonomous or remote driving, and manually operable via a steering component. Apart from the descriptions above, the embodiments and variations described herein may be implemented as control devices configured to be mounted on a host mobile body, having at least one processor 102 and one memory 101, and implemented as processing circuits (e.g., processing ECUs) or semiconductor devices (e.g., semiconductor chips).

[0127] (The disclosure of technical ideas)

[0128] This specification discloses several technical ideas described in the following list of items. Some items may be described in a multiple dependent form, which selectively references an antecedent in a subsequent item. Furthermore, some items may be described in a multiple dependent form referring to another multiple dependent form. These items described in multiple dependent forms define several technical ideas.

[0129] (Technical Idea 1)

[0130] A control device having a processor (102) for controlling information prompts in a vehicle (1) capable of autonomous driving, wherein,

[0131] The processor is configured to execute:

[0132] Obtain steering angle information related to the steering angle of the tires (54) of the vehicle in autonomous driving; and

[0133] The user of the vehicle is prompted with steering association information related to the virtual steering control, which is associated with the steering control.

[0134] The steering-related information mentioned includes:

[0135] The display system (80) displays a steering-related image and changes the display mode of the steering-related image according to the control status of the vehicle. The display system displays at least one of the vehicle's speed information and entertainment information. The steering-related image contains at least a steering object (OS), which is an object of a virtual steering component that is rotated and displayed with a rotation angle related to the steering angle in autonomous driving.

[0136] (Technical Idea 2)

[0137] According to the control device described in technical concept 1, wherein,

[0138] The steering-related information mentioned includes:

[0139] In a parking scenario where the vehicle is stopped by autonomous driving, the steering object is displayed when the steering mode is permitted, and the display of the steering object is prohibited when the steering mode is not permitted. The steering mode is the steering behavior of the tires expected before stopping.

[0140] (Technical Idea 3)

[0141] According to the control device described in technical concept 1, wherein,

[0142] The steering-related information mentioned includes:

[0143] In a parking scenario where the vehicle is stopped by autonomous driving, if the steering mode is not permitted, the current direction object (OCD) related to the current direction of the vehicle and the predetermined direction object (OPD) related to the predetermined direction of the vehicle at the time of parking are displayed. If the steering mode is permitted, the current direction object is displayed and the display of the predetermined direction object is prohibited. The steering mode is the steering behavior of the tires expected before parking.

[0144] (Technical Idea 4)

[0145] According to the control device described in technical concept 1, wherein,

[0146] The steering-related information mentioned includes:

[0147] If the user riding in the vehicle has no experience in manually driving the vehicle, the display of the steering object should be disabled.

[0148] (Technical Idea 5)

[0149] The control device according to any one of technical concepts 1 to 4,

[0150] The steering-related information mentioned includes:

[0151] In a parking scenario where the vehicle is brought to a stop via autonomous driving, a reversing object (OT) is displayed, which is related to at least one of the number of reversals expected before stopping and the rotation direction of the steering object for each reversal.

[0152] (Technical Idea 6)

[0153] The control device according to any one of technical concepts 1 to 5,

[0154] The steering-related information mentioned includes:

[0155] Before reaching the maximum rotation angle, the rate of change of the rotation angle relative to the rate of change of the steering angle is changed based on the rotation angle.

[0156] (Technical Idea 7)

[0157] The control device according to technical concept 6

[0158] The steering-related information mentioned includes:

[0159] If the rotation angle exceeds the upper limit of the allowable rotation angle range, the rate of change is reduced.

[0160] (Technical Idea 8)

[0161] The control device according to any one of technical concepts 1 to 7,

[0162] The steering-related information mentioned above also includes:

[0163] Auditory prompts provide sound information corresponding to the rotation of the steering object.

[0164] (Technical Idea 9)

[0165] The control device according to any one of technical concepts 1 to 8,

[0166] The steering-related information mentioned includes:

[0167] In an emergency stop scenario where the vehicle performs an emergency stop, the steering object is rotated and displayed according to the user's rotation operation on the steering object.

[0168] (Technical Idea 10)

[0169] The control device according to technical concept 9

[0170] The steering-related information mentioned includes:

[0171] The rotation operation is accepted via an operator (60) that receives the rotation operation input from the user; and

[0172] In the emergency stop scenario, a linkage object (OL) is displayed, which is related to the operation of the manipulator and the rotation display of the steering object.

[0173] (Technical Idea 11)

[0174] The control device according to technical concept 9 or technical concept 10

[0175] The steering-related information mentioned includes:

[0176] Accepts the rotation operation from either inside or outside the vehicle; and

[0177] When the rotation operation is received from inside the vehicle, the steering object is displayed on the display system inside the vehicle; when the rotation operation is received from outside the vehicle, the steering control is displayed on the display system outside the vehicle.

[0178] (Technical Idea 12)

[0179] According to the control device described in technical concept 11

[0180] The steering-related information mentioned includes:

[0181] If an anomaly is detected in a sensor related to the vehicle's driving control, the rotation operation is prohibited.

[0182] (Technical Idea 13)

[0183] The control device according to any one of technical concepts 9 to 12,

[0184] The steering-related information mentioned includes:

[0185] When the vehicle's drivable direction is limited, the operable range of the steering object related to the drivable direction is displayed.

[0186] (Technical Idea 14)

[0187] The control device according to any one of technical concepts 9 to 13

[0188] The steering-related information mentioned includes:

[0189] The rotation operation is permitted in the event that the user performs an emergency stop on the vehicle.

[0190] Furthermore, the above-mentioned technical ideas 1 to 14 can also be implemented in the form of control methods and control procedures.

Claims

1. A control device having a processor (102) that controls presentation of information in a vehicle (1) capable of automated driving, characterized by the processor being configured to: acquire steering angle information related to a steering angle of a tire (54) of the vehicle in automated driving based on steering control; and present, to a user of the vehicle, steering association information associated with virtual steering control associated with the steering control, the presentation of the steering association information including: causing a display system (80) that displays at least one of speed information and entertainment information of the vehicle to display a steering association image that includes at least a steering object (OS) that is an object of a virtual steering member that is displayed in rotation at a rotation angle related to the steering angle in automated driving, and to change a display manner of the steering association image according to a control situation of the vehicle.

2. The control device according to claim 1, characterized by the presentation of the steering association information including: in a parking scenario in which the vehicle is parked by automated driving, displaying the steering object in a case where a steering manner that is a manner of steering behavior of the tire before parking is an allowable manner, and prohibiting display of the steering object in a case where the steering manner is a non-allowable manner.

3. The control device according to claim 1, characterized by the presentation of the steering association information including: in a parking scenario in which the vehicle is parked by automated driving, displaying a current direction object (OCD) related to a direction of the vehicle at present and a predetermined direction object (OPD) related to a direction of the vehicle that is scheduled at the time of parking in a case where the steering manner that is a manner of steering behavior of the tire before parking is a non-allowable manner, and displaying the current direction object and prohibiting display of the predetermined direction object in a case where the steering manner is an allowable manner.

4. The control device according to claim 1, characterized by the presentation of the steering association information including: in a case where the user who is a passenger does not have experience of manually driving a vehicle, prohibiting display of the steering object.

5. The control device according to claim 1, characterized by the presentation of the steering association information including: in a parking scenario in which the vehicle is parked by automated driving, displaying a turn-around object (OT) related to at least one of a scheduled number of times of turn-around before parking and a rotation direction of the steering object each time of turn-around.

6. The control device according to claim 1, characterized by the presentation of the steering association information including: before reaching a maximum rotation angle, changing a change rate of a change amount of the rotation angle with respect to a change amount of the steering angle according to the rotation angle.

7. The control device according to claim 6, characterized by the presentation of the steering association information including: in a case where the rotation angle exceeds an upper limit of an allowable rotation angle range, reducing the change rate.

8. The control device according to claim 1, characterized by the presentation of the steering association information further including: audibly prompting sound information corresponding to rotation of the steering object.

9. The control device according to claim 1, characterized in that the prompting of the steering-related information includes: in an emergency stop scene in which the vehicle performs an emergency stop, causing the steering object to perform a rotational display in accordance with a rotational operation of the steering object by the user.

10. The control device according to claim 9, characterized in that the prompting of the steering-related information includes: accepting the rotational operation via an operator (60) that inputs the rotational operation input by the user; and in the emergency stop scene, displaying a linkage object (OL) that is related to the operation of the operator and the rotational display of the steering object.

11. The control device according to claim 9, characterized in that the prompting of the steering-related information includes: accepting the rotational operation from either of inside and outside of a vehicle cabin; and in a case where the rotational operation is accepted from inside the vehicle cabin, causing the steering object to be displayed on a display system inside the vehicle cabin, and in a case where the rotational operation is accepted from outside the vehicle cabin, causing the steering object to be displayed on a display system outside the vehicle cabin.

12. The control device according to claim 11, characterized in that the prompting of the steering-related information includes: in a case where a sensor abnormality related to travel control of the vehicle is detected, prohibiting the acceptance of the rotational operation.

13. The control device according to claim 9, characterized in that the prompting of the steering-related information includes: in a case where a travelable direction of the vehicle is defined, displaying an operable range of the steering object related to the travelable direction.

14. The control device according to claim 9, characterized in that the prompting of the steering-related information includes: in a case where an emergency stop operation of the vehicle by the user is accepted, allowing the acceptance of the rotational operation.

15. A control method executed by a processor (102) for controlling information presentation of a vehicle (1) capable of automatic driving, characterized by, including: acquiring steering angle information related to a steering angle of a tire (54) of the vehicle based on steering control in automatic driving; and and prompting a user of the vehicle of steering-related information associated with virtual steering control associated with the steering control, the prompting of the steering-related information includes: causing a display system (80) that displays at least one of speed information and entertainment information of the vehicle to display a steering-related image that contains at least a steering object (OS) that is an object of a virtual steering member that performs a rotational display with a rotational angle related to the steering angle in the automatic driving, and to change a display manner of the steering-related image in accordance with a control state of the vehicle.

16. A control program stored in a storage medium (101) for controlling information prompting of a vehicle (1) capable of automatic driving, and containing instructions for causing a processor (102) to execute, characterized in that the instructions include: acquiring steering angle information related to a steering angle of a tire (54) of the vehicle based on steering control in automatic driving; and prompting a user of the vehicle of steering-related information associated with a virtual steering control associated with the steering control, the prompting of the steering-related information includes: causing a display system (80) to display a steering-related image including at least a steering object (OS) that is an object of a virtual steering member that is displayed in rotation with a rotation angle related to the steering angle in autonomous driving, and to change a display manner of the steering-related image in accordance with a control state of the vehicle, the display system displaying at least one of speed information and entertainment information of the vehicle.

Images