Information transmission device, electronic control device, information sending device and electronic control system

Abstract

Information transmission device (5) installed in a vehicle (3), wherein the vehicle transporting the information transmission device is referred to as the subject vehicle (3), the information transmission device comprising: an information acquisition unit (9) which is obtained by means of communication with another vehicle: (a) Information indicating whether the other vehicle is driving automatically, (b) Information relating to the functions of the other vehicle concerning automatic driving, (c) Information indicating a plan of the other vehicle concerning automatic driving, and (d) Information providing a reason for the plan in (c); and an information processing unit (11) that provides the information obtained from the information acquisition unit to a driver of the subject vehicle (3) or outputs the acquired information to a driving control device (7) of the subject vehicle (3).

Description

Technical area

[0001] The present invention relates to an information transmission device, an electronic control device, an information transmission device and an electronic control system. State of the art

[0002] A vehicle is known that is capable of driving automatically according to a preset schedule without driver operation (see JP 2008-120271 A). The vehicle described in JP 2008-120271 A can switch between driving under automatic driving control and driving manually by a driver.

[0003] JP 2015-44432 A discloses a driving assistance device wherein another manually driven vehicle is detected through communication with nearby vehicles, and when the manually driven vehicle is present, an automatic driving mode of the own vehicle is changed to a mode different from the case where no manually driven vehicle is present. This enables automatic driving of the own vehicle in a mode that takes the other manually driven vehicle into account.

[0004] DE10 2009 007 348 A1 discloses a vehicle-to-vehicle communication device in which, when installed in a vehicle's own vehicle, the intersection closest to the own vehicle among intersections in the direction of travel of the own vehicle is detected. Furthermore, the intersection closest to a non-vehicle among intersections in the direction of travel of the non-vehicle is detected. If both of the above intersections are identical, a transmission cycle in the vehicle-to-vehicle communication device of the own vehicle is shortened. If both of the above intersections are not identical, the transmission cycle is not changed.

[0005] JP 2015-141641 A discloses a following support device comprising: means for detecting a candidate vehicle located ahead of the own vehicle and which the own vehicle can follow by automatic driving; presentation means for presenting the position of the candidate vehicle to a driver; means for detecting a following enable position of the candidate vehicle based on a positional relationship between the candidate vehicle and the own vehicle on a road; display means for selectably displaying the following enable position of the candidate vehicle; and selection acceptance means for accepting the selective instruction of the following enable position of the candidate vehicle.

[0006] JP 2015-106326 A discloses an information display device that displays an image of an own vehicle and a risk image arranged to surround the image of the own vehicle at a display part, wherein the risk image is displayed so as to protrude in a height direction or outwardly from the image of the own vehicle according to an estimated risk potential.

[0007] JP 2008-180591 A discloses a system for generating a travel control plan, comprising: receiving respective priorities of the driver's driving taste in a priority input part; setting values ​​of parameters for generating travel control plans in a parameter value setting part in response to the input of the input priority; and generating a travel control plan in a plan generation part using the travel control plan generation parameters reflecting the driver's driving taste. Summary of the inventionSolution to the problem

[0008] It is conceivable that in some situations, there may be a mixture of vehicles under automatic driving control (hereinafter referred to as automatic driving vehicles) and vehicles driving through manual driving (hereinafter referred to as manual driving vehicles) on the same road. In such situations, it is difficult to determine whether vehicles driving in the vicinity of the subject vehicle or the vehicle in question are automatic driving vehicles or manual driving vehicles.

[0009] If a vehicle traveling near the subject vehicle is an automated vehicle, the vehicle may move differently than manually driven vehicles. At this time, the driver of the subject vehicle may feel uncomfortable because they do not know the reason for the other vehicle's movement. Furthermore, it is difficult for a driving control device of the subject vehicle to perform appropriate control depending on the state of the other vehicles (whether the other vehicles are automated vehicles or manually driven vehicles).

[0010] The present invention was conceived in view of the above problems. It is an object of the present invention to provide a technique that helps avoid discomfort for the driver of the subject vehicle and enables appropriate controls of the subject vehicle. This object is achieved by an information transmission device having the features of claim 1, an electronic control device having the features of claim 4, an information transmission device having the features of claim 6, and an electronic control system having the features of claim 7. The dependent claims are directed to advantageous developments of the invention. Solution to the problem

[0011] An information transmission device according to one aspect of the present invention includes, when a vehicle having the information transmission device is referred to as a subject vehicle, an information acquisition unit that acquires, through communications with another vehicle, (a) information indicating whether the other vehicle is automatically driven, (b) information indicating functions of the other vehicle related to automatic driving, (c) information indicating a plan of the other vehicle related to automatic driving, and (d) information indicating a reason for the plan in (c), and an information processing unit that provides the information acquired by the information acquisition unit to the driver of the subject vehicle or outputs the same to a driving control device of the subject vehicle.

[0012] The information transmission device can acquire the information (a) to (d) and provide it, for example, to the driver of the subject vehicle. This allows the driver of the subject vehicle to recognize the reason for the other vehicle's movement (e.g., acceleration, deceleration, or steering) and learn the other vehicle's future movements in advance. As a result, the information transmission device can help avoid discomfort for the driver of the subject vehicle.

[0013] The driving control device of the subject vehicle can perform appropriate controls depending on the state of the other vehicle based on the information (a) to (d).

[0014] An electronic control device according to one aspect of the present invention includes the information transmission device and the travel control device described above. The travel control device changes a control mode of the subject vehicle based on the information obtained by the information transmission device. According to the electronic control device, it is possible to perform appropriate controls depending on the state of the other vehicle.

[0015] An information transmission device according to one aspect of the present invention includes a transmission unit that, when a vehicle having the information transmission device is designated as a subject vehicle, transmits (A) information indicating whether the subject vehicle is in automatic travel, (B) information indicating functions of the subject vehicle related to automatic travel, (C) information indicating a schedule of the subject vehicle related to automatic travel, and (D) information indicating a reason for the schedule in (C).

[0016] The information transmitting device can transmit information (A) to (D). The information transmitting device and the electronic control device described above can acquire and use the information transmitted by the information transmitting device. The information (A) to (D) is equivalent to the information (a) to (d) for the information transmitting device and the electronic control device that acquired the information.

[0017] An electronic control system according to one aspect of the present invention includes the electronic control device and the information transmission device described above. These devices are installed in different vehicles. The information transmission device can transmit information (A) to (D). The electronic control device can acquire and use this information.

[0018] Accordingly, with the electronic control device for the vehicle having the information transmission device, it is possible, for example, to avoid discomfort for the driver of the vehicle. Furthermore, the driving control device of the vehicle having the electronic control device can perform appropriate control depending on the state of the vehicle having the information transmission device. Short description of the drawings Fig. 1 is a block diagram illustrating a configuration of an electronic control device according to an embodiment of the present invention; Fig. 2 is a flowchart of an information transmission process performed by the information transmission device of the Fig. 1 is executed; Fig. 3 is a flowchart of a travel control process executed by a travel control device of the Fig. 1 is executed; and Fig. 4 is a flowchart of an information transmission process performed by an information transmission device installed in another vehicle. Description of the embodiments

[0019] In the following, embodiments of the present invention will be described in more detail with reference to the accompanying drawings. However, the present invention may be embodied in many different embodiments and should not be construed as limiting the embodiments described herein. Rather, these embodiments serve to fully and completely describe the disclosure of the present invention and to educate those skilled in the art as to the scope of the present invention. The same reference numerals represent the same components throughout the drawings. First Embodiment 1. Configuration of the Electronic Control Device 1

[0020] In the following, a configuration of an electronic control device 1 will be described with reference to Fig. 1. The electronic control device 1 is an on-vehicle device installed in a vehicle. The electronic control device 1 is installed in multiple vehicles. In the following description, any one of the vehicles including the electronic control device 1 is referred to as the subject vehicle 3, and the other vehicles are referred to as other vehicles. Here, a configuration of the electronic control device 1 installed in the subject vehicle 3 is described, but the electronic control devices 1 installed in the other vehicles are configured similarly.

[0021] The electronic control device 1 includes an information transmission device 5 and a travel control device 7. The information transmission device 5 and the travel control device 7 are each a known computer including a central processing unit (CPU), a random access memory (RAM), a read-only memory (ROM), an input / output interface, and the like. The CPU executes various programs stored in the ROM to perform processes described later.

[0022] The information transmission device 5 includes an information acquisition unit 9, an information processing unit 11, and a transmission unit 13 as functional blocks. The functions of each unit will be described later.

[0023] The driving control device 7 can perform controls corresponding to automatic driving. The control processes corresponding to automatic driving are as follows: (i) A control for driving on a route preset in map data. (ii) A control for detecting an obstacle using a sensor 16 described later and performing acceleration, steering or the like to avoid collision with the obstacle. (iii) A control for detecting a preceding vehicle using the sensor 16 and following the preceding vehicle while maintaining the distance between the preceding vehicle and the subject vehicle 3 at a target inter-vehicle distance. (iv) A control for driving at a desired speed without a preceding vehicle. (v) A controller for detecting a preceding vehicle using the sensor 16 and for performing a lane change to pass the preceding vehicle when the speed of the preceding vehicle is equal to or less than a threshold value. (vi) A control for acquiring the relative position of the subject vehicle 3 on the lane using the sensor 16 and for performing steering, deceleration or the like such that the subject vehicle 3 does not deviate from the lane.

[0024] (vii) A controller for acquiring road information and generating a speed plan for automatic travel (future speed plan of the subject vehicle 3) according to the road information. A specific example of this controller involves acquiring signal schedules of traffic lights on the route via road-to-vehicle communication (for example, information about how many seconds until the traffic light will turn red and how many seconds until the traffic light will turn green) and generating a speed plan of the subject vehicle 3 such that the frequency or duration of the subject vehicle 3's stops at a red light is minimized.

[0025] The travel control device 7 can perform known controls corresponding to manual travel. Even during manual travel, the travel control device 7 can perform the controls (ii) to (vi) according to the driver's operation input.

[0026] In addition to the electronic control device 1, the subject vehicle 3 includes a communication device 15, a sensor 16, an actuator 17, a display 19, a speaker 21, and an input device 23. The communication device 15 can send and receive information via vehicle-to-vehicle communications or road-to-vehicle communications. A possible partner for the vehicle-to-vehicle communication is the electronic control device 1 installed in another vehicle.

[0027] The sensor 16 detects targets (other vehicles, obstacles, and the like) present in the surroundings of the subject vehicle 3. The sensor 16 is an image sensor, a millimeter-wave radar, a lidar, or the like.

[0028] The actuator 17 performs operations regarding the engine, brake, steering, and the like of the subject vehicle 3 according to instructions from the driving control device 7. The actuator 17 also responds to the driving control device 7 to inform whether the operation has been performed according to the instruction from the driving control device 7 and what the result is (for example, the instruction from the driving control device 7 is to set the vehicle speed to 50 km / h, and the vehicle speed has become 51 km / h as a result of the operation).

[0029] The display 19 is arranged in the interior of the subject vehicle 3 to display various images according to instructions from the information transmission device 5. The speaker 21 is arranged in the interior of the subject vehicle 3 to output various sounds according to instructions from the information transmission device 5.

[0030] The input device 23 is arranged inside the subject vehicle 3 to accept input operations from an occupant (e.g., the driver). The input operations include turning automatic driving on and off, accepting or rejecting suggestions from the information transmission device 5, and the like.

[0031] Like the subject vehicle 3, the other vehicle includes the communication device 15, the sensor 16, the actuator 17, the display 19, the speaker 21, and the input device 23. The information transmission device 5 is an example of an information transmission device and an information transmission device. The electronic control device 1 installed in the subject vehicle 3 and the information transmission devices 5 (an example of an information transmission device) installed in the other vehicles constitute an electronic control system.

[0032] 2. Information transmission process performed by the information transmission device 5

[0033] In the following, an information transmission process executed by the information transmission device 5 of the subject vehicle 3 will be described with reference to Fig. 2 described.

[0034] In step S1, the information acquisition unit 9 uses the communication device 15 to send a communicability determination request.

[0035] In step S2, the information acquisition unit 9 determines whether the communication device 15 has received a communicability determination. The communicability determination is transmitted from the information transmission device 5 installed in the other vehicle in step S22, which will be described later, in response to the communicability determination request sent in step S1. If the communication device 15 has received the communicability determination, the process proceeds to step S3. If the communication device 15 has not received the communicability determination, the process returns to step S1.

[0036] In step S3, the information acquisition unit 9 uses the communication device 15 to send an information provision request.

[0037] In step S4, the information acquisition unit 9 determines whether information I has been received. The information I refers to information transmitted from the information transmission device 5 installed in the other vehicle in step S24, described later, in response to the information provision request sent in step S3. The information I includes the following parts: (a) Information indicating whether the other vehicle (the source of information I) is driving automatically. (b) Information indicating the functions of the other vehicle relating to automatic driving. (c) Information indicating the other vehicle’s plan regarding automatic travel. (d) The type and specification of the sensor 16 used by the other vehicle for automatic driving (for example, the sensor 16 can detect the locations and speeds of vehicles within a range of a radius X m or the like, where X represents a positive number). (e) Information indicating the locations, speeds, and the like of vehicles present in the vicinity of the other vehicle, which is obtained from the sensor 16 installed in the other vehicle. (f) Information indicating road information (e.g., signal schedules of traffic lights, opening / closing schedules of level crossing barriers, speed limits of roads, roads for motor vehicles only or not) obtained from the sensor 16 installed in the other vehicle. (g) Information indicating the destination of the other vehicle by means of latitude and longitude. (h) Information indicating the route to the destination (including a choice between branches at a fork in a road). (i) Information indicating straight sections, straight section spacing, gradients, gradient spacing, curve radii, curve spacing, shoulders, shoulder spacing and the like on the route to the destination.

[0038] (j) Information indicating the reason for the plan in (c); e.g., information indicating that the other vehicle is planned to travel at a lower-than-normal speed in (3) to perform control (vii). Another example includes information indicating that the other vehicle is planned to decelerate in (c) to avoid contact with a vehicle merging into traffic to exit at an interchange (IC).

[0039] (k) Location information about the other vehicle as the source of information I.

[0040] The functions specified by information (b) contain the functions for performing controls (i) to (vii). Plan (c) includes a plan for turning automatic driving on and off, a plan for changing the control mode to automatic driving, a plan for steering in automatic driving (right and left turns and lane changes), a plan for acceleration, deceleration, and stopping in automatic driving, a speed plan, and the like.

[0041] If the information I has been received, the process proceeds to step S5. If the information I has not been received, the process returns to step S1.

[0042] In step S5, the information processing unit 11 outputs the information I determined to have been received in step S4 to the driving control device 7. The information processing unit 11 performs a notification operation based on the information I using the display 19 and the speaker 21. Specifically, the information processing unit 11 displays characters, images, and the like corresponding to the contents of the information I on the display 19 and outputs sounds corresponding to the contents of the information I from the speaker 21. The driver of the subject vehicle 3 can view the display 19 and hear the sounds from the speaker 21 to know the contents of the information I.

[0043] 3. Driving control process executed by the driving control device 7

[0044] Hereinafter, a driving control process executed by the driving control device 7 of the subject vehicle 3 will be described with reference to Fig. 3. In step S11, it is determined whether the information I has been received. The information I is output by the information transmission device 5 in step S5 as described above. If the information I has been received, the process proceeds to step S12. If the information I has not been received, the process returns to the steps before step S11.

[0045] In step S12, it is determined whether the subject vehicle 3 is traveling automatically. If the subject vehicle 3 is traveling automatically, the process proceeds to step S13. If the subject vehicle 3 is not traveling automatically (but is traveling manually), the process returns to step S14.

[0046] In step S13, the control mode is changed to automatic driving based on the acquired information I. The control mode can be changed based on the information I as described below.

[0047] When the information I transmitted from a preceding vehicle includes information that the preceding vehicle is traveling automatically and the preceding vehicle's plan (e.g., speed plan), the target inter-vehicle distance between the preceding vehicle and the subject vehicle 3 is set shorter than normal in the control (iii). This increases traffic capacity. Furthermore, since the preceding vehicle is traveling automatically and the traveling control device 7 has acquired the automatic traveling plan, the shortened target inter-vehicle distance is unlikely to reduce safety.

[0048] It can be determined whether the preceding vehicle is the source of the information I by comparing the location information of the other vehicle included in the information I with the location information of the preceding vehicle detected by the subject vehicle 3 using the sensor 16.

[0049] If the information I transmitted from the preceding vehicle contains information that the preceding vehicle is currently traveling automatically but will terminate the automatic traveling in the future, the target inter-vehicle distance in control (iii) is set to be longer than the current value. This improves the safety of the subject vehicle 3.

[0050] If the information I transmitted by the preceding vehicle indicates that the preceding vehicle is currently driving manually but will start automatic driving in the future, the target inter-vehicle distance in control (iii) is set shorter than the normal value. This increases traffic capacity. Since the preceding vehicle will start automatic driving in the future, the shortened target inter-vehicle distance is unlikely to reduce safety.

[0051] In step S3, the control described below is performed based on the acquired information I. For example, if the information I transmitted from the preceding vehicle includes a plan for turning right or left, deceleration, stopping, or the like, the subject vehicle 3 changes the lane from the lane in which the preceding vehicle is traveling to another lane. This allows the subject vehicle 3 to travel smoothly, which can shorten the time to arrive at the destination and reduce fuel consumption.

[0052] Even when the subject vehicle 3 performs control (v) and the speed of the preceding vehicle is above a threshold (even in a situation where the subject vehicle 3 does not pass the preceding vehicle under normal conditions), the subject vehicle 3 performs a lane change to pass the preceding vehicle if the information I transmitted from the preceding vehicle includes a right or left turn plan. This allows the subject vehicle 3 to travel smoothly, which can shorten the time to arrive at the destination and reduce fuel consumption.

[0053] When the information I transmitted from the preceding vehicle includes a plan for acceleration, deceleration, stopping, or the like, the subject vehicle 3 accelerates or decelerates in advance such that the inter-vehicle distance between the preceding vehicle and the subject vehicle 3 does not become too long or too short. This increases the traffic capacity and improves the safety of the subject vehicle 3.

[0054] When another vehicle as the source of information I is driving automatically, subject vehicle 3 drives at the speed of the other vehicle. This improves the fuel consumption and safety of subject vehicle 3.

[0055] Specifically, when the other vehicle to which the subject vehicle 3 adjusts the speed has the “function of acquiring the signal schedules of the traffic lights on the route by road-to-vehicle communication and generating the speed schedule such that the frequency or duration of the other vehicle's stops at the red light is reduced or the other vehicle can decelerate or stop smoothly at a red light,” the subject vehicle traveling at the speed of the other vehicle can prevent stopping and accelerating and decelerating at a red light to further improve fuel consumption.

[0056] In step S14, the plan of the other vehicle included in the acquired information I is used for the manual drive controls (ii), (iii) and (vi).

[0057] The plan of the other vehicle contained in the information I is used, for example, in control (ii) to perform deceleration, steering, or the like to avoid a collision with the other vehicle as the source of the information I. This improves the safety of the subject vehicle 3.

[0058] In control (iii), the schedule of the other vehicle contained in the information I is used to calculate the target acceleration and deceleration of the subject vehicle 3 and to propose an acceleration or deceleration to the driver according to the target acceleration and deceleration. This proposal is intended to prompt the driver to maintain the distance between the other vehicle, the source of the information I, and the subject vehicle 3 at the target inter-vehicle distance. This increases traffic capacity and improves the safety of the subject vehicle 3.

[0059] In process (v), the other vehicle's plan contained in information I is used to determine whether to perform a lane change and to suggest driving to the driver according to the determination result. If the driver follows this suggestion, the subject vehicle 3 can drive smoothly, reducing the time to arrive at the destination and fuel consumption.

[0060] In step S14, the amount of change in acceleration for a specific accelerator operation amount, the amount of engine braking at the time of coasting or overrunning, and the like are changed according to the contents of the information I.

[0061] 4. Information transmission process performed by the information transmission device 5 installed in another vehicle

[0062] Hereinafter, an information transmission process executed by the information transmission device 5 (specifically, the transmission unit 13) installed in another vehicle will be described with reference to Fig. 4 described.

[0063] In step S21, it is determined whether the communication device 15 has received a communicability determination request. The communicability determination request is sent from the information transmission device 5 installed in the subject vehicle 3 in step S1. If the communication device 15 has received the communicability determination request, the process proceeds to step S22. If the communication device 15 has not received the communicability determination request, the process returns to step S21.

[0064] In step S22, a communicability confirmation determination is transmitted. The information transmission device 5 installed in the subject vehicle 3 determines the presence or absence of the communicability confirmation determination in step S2.

[0065] In step S23, it is determined whether the communication device 15 has received an information provision request. The information provision request is transmitted from the information transmission device 5 installed in the subject vehicle 3 in step S3. If the communication device 15 has received the information provision request, the process proceeds to step S24. If the communication device 15 has not received the information provision request, the process proceeds to step S25.

[0066] In step S24, the other-vehicle information I is generated using the information acquired from the travel control device 7, the communication device 15, the sensor 16, and the like installed in the other vehicle, and is transmitted using the communication device 15. The information transmission device 5 installed in the subject vehicle 3 determines the presence or absence of reception of the information I in step S4.

[0067] If the result of the determination in step S23 is negative, the process proceeds to step S25 to determine whether the number of consecutive negative occurrences in step S23 has reached N (N represents a natural number). If the number of consecutive negative occurrences is N, the process returns to step S21. If the number of consecutive negative occurrences is not N, the process returns to step S23. 5. Advantageous effects of the information transmission device 5 and the electronic control device 1

[0068] (1A) The information transmission device 5 installed in the subject vehicle 3 acquires the information I from another vehicle and outputs it to the driving control device 7. The driving control device 7 changes the control mode of the subject vehicle 3 to automatic driving based on the information I. This optimizes the movement of the subject vehicle 3.

[0069] (1B) The information transmission device 5 installed in the subject vehicle 3 provides the information I to the driver of the subject vehicle 3. Providing the information I allows the driver to know whether the other vehicle as the source of the information I is driving automatically. This can help avoid the driver's discomfort.

[0070] (1C) Information I includes the above parts (b) to (k). When the driver of the subject vehicle 3 is notified of the contents of information I during manual driving, the driver can perform appropriate driving operations according to the contents of parts (b) to (k). For example, when the driver of the subject vehicle 3 is notified of the contents of part (b) that "the other vehicle has the function of traveling on the route preset in the map data," the driver can follow the other vehicle to travel on that route.

[0071] Regarding the contents of part (b), if the driver of subject vehicle 3 is notified or informed that "the other vehicle has the function of acquiring the signal schedules of traffic lights on the route through road-to-vehicle communication and generating the speed schedule such that the frequency or time at which the other vehicle will stop at a red light is reduced, or that the other vehicle can decelerate or stop smoothly at a red light," he or she may suspect the reason why the other vehicle's speed is low and therefore is unlikely to feel uncomfortable. Even if the other vehicle's speed is low, the driver of subject vehicle 3 may follow the other vehicle to reduce the frequency or time at which the subject vehicle 3 will stop at a red light.This improves the fuel consumption of the subject vehicle 3. If the above notification is not performed, the driver of the subject vehicle 3 may feel uncomfortable and think that the driver of the other vehicle is driving at a lower speed than the adjacent traffic flow because the driver of the other vehicle is drunk or dozing.

[0072] Regarding the contents of part (b), if the driver of the subject vehicle 3 is notified or informed that “the other vehicle has the function of detecting in advance a third vehicle entering an intersection at which the other vehicle is traveling through by means of vehicle-to-vehicle communication and accelerating or decelerating according to the detection result,” he or she can understand the reason why the other vehicle accelerates or decelerates differently from the adjacent traffic flow, and therefore is unlikely to feel uncomfortable.

[0073] The driver of subject vehicle 3 can also detect the future behavior of the other vehicle based on the contents of part (c) and perform driving operations accordingly. For example, if the other vehicle ahead of subject vehicle 3 plans to decelerate or stop, the driver of subject vehicle 3 can decelerate or change lanes in a timely manner. If the other vehicle plans to accelerate, the driver of subject vehicle 3 can also accelerate in a timely manner. Further embodiments

[0074] A specific embodiment of the present invention has been described above. However, the present invention is not limited to the above specific embodiment, but may be embodied in various other modes.

[0075] (1) The subject vehicle 3 does not need to have the automatic driving function. In this case, the driving control device 7 does not need to perform step S13. Alternatively, the subject vehicle 3 may always perform automatic driving. In this case, the driving control device 7 does not need to perform step S14.

[0076] (2) The electronic control device 1 may perform notification based on the information I, but need not perform driving controls based on the information I. Alternatively, the electronic control device 1 may perform driving controls based on the information I, but need not perform notification based on the information I.

[0077] (3) During manual driving, the driving control device 7 may make suggestions according to the contents of the information I using the display 19 or the speaker 21. The suggestions include a vehicle speed change, a lane change, and the like.

[0078] (4) The electronic control device 1 installed in the subject vehicle 3 does not need to have the function of transmitting the information I to the outside of the vehicle. Furthermore, the electronic control device 1 installed in the other vehicle does not need to have the function of obtaining the information from other vehicles and performing notification or driving control based on the information I.

[0079] (5) The change of the control mode in step S13 may be a change of the target relative speed in the inter-vehicle distance keeping control.

[0080] (6) The information transmission device 5 can transmit the information I periodically without receiving an information provision request.

[0081] (7) The function of one component in the above embodiment may be distributed among multiple components, or the functions of multiple components in the above embodiment may be integrated into a single component. Some of the components in the above embodiment may be omitted. Furthermore, at least some of the components of the above embodiment may be added to or replaced by other components of the above embodiment. All modes included within the technical ideas indicated only by the text of the claims constitute embodiments of the present invention.

[0082] (8) The present invention can be implemented according to various modes as the information transmission device and the electronic control device described above, programs for computers to serve as the information transmission device and the electronic control device, media for recording the programs, information transmission methods, information sending methods, information notification methods, and travel control methods.

Claims

[1] An information transmission device (5) installed in a vehicle (3), the vehicle carrying the information transmission device being referred to as a subject vehicle (3), the information transmission device comprising: an information acquisition unit (9) which, by means of communication with another vehicle, acquires: (a) information indicating whether the other vehicle is driving automatically, (b) information indicating functions of the other vehicle relating to automatic driving, (c) information indicating a plan of the other vehicle concerning automatic travel, and (d) information setting out a reason for the plan in (c); and an information processing unit (11) that provides the information acquired by the information acquisition unit to a driver of the subject vehicle (3) or outputs the acquired information to a driving control device (7) of the subject vehicle (3). [2] Information transmission device (5) according to claim 1, characterized by that (b) the information indicating functions of the other vehicle relating to automatic driving includes at least a function for acquiring road information and generating a speed plan in automatic driving according to the road information and / or a function for driving on a preset route. [3] Information transmission device (5) according to claim 1 or 2, characterized bythat the information (c) is information indicating one or more plans selected from a group including: a plan for switching automatic driving on and off, a plan for changing a control mode to automatic driving, a plan for steering in automatic driving, and a plan for acceleration and deceleration in automatic driving. [4] Electronic control device (1) comprising: the information transmission device (5) according to one of claims 1 to 3; and the driving control device (7), characterized by , that the driving control device changes a control mode of the subject vehicle based on the information acquired from the information transmission device. [5] Electronic control device (1) according to claim 4, characterized bythat changing the control mode is for changing a target inter-vehicle distance in an inter-vehicle distance keeping control or a target relative speed. [6] An information transmission device (5) installed in a vehicle, the vehicle carrying the information transmission device being referred to as a subject vehicle, the information transmission device comprising a transmission unit (13) that transmits (A) information indicating whether the subject vehicle is in automatic travel, (B) information indicating functions of the subject vehicle related to automatic travel, (C) information indicating a plan of the subject vehicle related to automatic travel, and (D) information indicating a reason for the plan in (C). [7] Electronic control system (1, 5) comprising: the electronic control device (1) according to claim 5; and the information transmitting device (5) according to claim 6, characterized by , that the electronic control device (1) and the information transmission device (5) are each installed in a different vehicle.

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