Control device, control method, and control program

Abstract

To provide a control device and the like capable of improving convenience.SOLUTION: A control device has a processor and controls information presentation in a vehicle allowing automated driving. The processor is configured to execute acquisition of turning angle information on a turning angle of a tire due to turning control in the vehicle during the automated driving. The processor is configured to execute presentation of steering-related information related to virtual steering control related to the turning control to a user of the vehicle. The presentation of the steering-related information includes: displaying, on a display for displaying at least one of speed information on the vehicle and entertainment information, a steering-related image including at least a steering object that is an object of a virtual steering member rotationally displayed at a rotation angle correlated with the turning angle during the automated driving; and changing a display mode of the steering-related image in accordance with a control situation of the vehicle.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a control technique for controlling a steering member of an autonomously driven vehicle. [Background technology]

[0002] Patent Document 1 discloses a steering angle display device for a vehicle. The steering angle display device is disposed on a ring portion of the steering wheel and includes a display unit disposed along the ring portion. The steering angle display device includes a control unit that displays a steering angle display indicating the controlled steering angle at a position on the display unit corresponding to the controlled steering angle during automatic driving control that controls the steering angle of the vehicle according to road conditions without rotating the steering wheel. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6760827 Summary of the Invention [Problem to be solved by the invention]

[0004] The steering angle display device of Patent Document 1 displays the steering angle on the ring part of the steering wheel during automatic driving, and stops displaying it when automatic driving is canceled. However, there is room for improvement in the convenience of this steering angle display device with respect to the display position of the steering angle and the display of the steering angle according to the control status of the vehicle.

[0005] An object of the present disclosure is to provide a control device capable of improving convenience. Another object of the present disclosure is to provide a control method capable of improving convenience. Yet another object of the present disclosure is to provide a control program capable of improving convenience. [Means for solving the problem]

[0006] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference characters in parentheses in this section indicate the corresponding relationship with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0007] A first aspect of the present disclosure is a control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor Acquiring steering angle information regarding a steering angle of a tire (54) caused by a steering control in an autonomous driving vehicle; presenting steering-related information related to a virtual steering control related to the turning control to a user of the vehicle; configured to run Presenting steering-related information is The method includes displaying a steering-related image including at least a steering object (OS), which is a virtual steering member object that is rotated at a rotation angle correlated with the steering angle during autonomous driving, on a display (80) that displays at least one of vehicle speed information and entertainment information, and changing the display mode of the steering-related image according to the control status of the vehicle.

[0008] A second aspect of the present disclosure is a control method executed by a processor (102) to control information presentation in an autonomously-drivable vehicle (1), comprising: Acquiring steering angle information regarding a steering angle of a tire (54) caused by a steering control in an autonomous driving vehicle; presenting steering-related information related to a virtual steering control related to the turning control to a user of the vehicle; Including, Presenting steering-related information is The method includes displaying a steering-related image including at least a steering object (OS), which is a virtual steering member object that is rotated at a rotation angle correlated with the steering angle during autonomous driving, on a display (80) that displays at least one of vehicle speed information and entertainment information, and changing the display mode of the steering-related image according to the control status of the vehicle.

[0009] A third aspect of the present disclosure is a control program stored in a storage medium (101) for controlling information presentation in an autonomous vehicle (1), the control program including instructions to be executed by a processor (102), The command is, acquiring steering angle information regarding a steering angle of a tire (54) caused by steering control in an autonomously driven vehicle; presenting steering-related information related to a virtual steering control related to the turning control to a user of the vehicle; Including, Presenting steering-related information is The method includes displaying a steering-related image including at least a steering object (OS), which is a virtual steering member object that is rotated at a rotation angle correlated with the steering angle during autonomous driving, on a display (80) that displays at least one of vehicle speed information and entertainment information, and changing the display mode of the steering-related image according to the control status of the vehicle.

[0010] According to the first to third aspects, a steering-related image including at least a steering object, which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with a steering angle during automatic driving, is displayed in a display mode corresponding to the control status of the vehicle on a display device that displays at least one of vehicle speed information and entertainment information. This allows a user to grasp the traveling direction of the vehicle from the steering object in a display mode corresponding to the control status by visually checking the display device that displays at least one of vehicle speed information and entertainment information. Therefore, convenience can be improved. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing an overall configuration of a first embodiment. [Diagram 2] FIG. 2 is a schematic diagram showing a vehicle interior according to the first embodiment. [Diagram 3] FIG. 2 is a block diagram showing a functional configuration of a control device according to the first embodiment. [Figure 4] 4 is a flowchart showing a control flow according to the first embodiment. [Diagram 5] FIG. 2 is a diagram showing an example of a steering object according to the first embodiment. [Figure 6] 4 is a diagram showing the relationship between the rotation angle and the steering angle of a steering object according to the first embodiment. FIG. [Figure 7] FIG. 4 is a diagram showing an example of a steering-related image in an emergency stop scene according to the first embodiment. [Figure 8] FIG. 4 is a diagram showing an example of a steering-related image in an emergency stop scene according to the first embodiment. [Figure 9] FIG. 4 is a diagram showing an example of a steering-related image in an emergency stop scene according to the first embodiment. [Figure 10] FIG. 11 is a diagram showing an example of a steering-related image in a vehicle stopping scene according to the second embodiment. [Figure 11] FIG. 11 is a diagram showing an example of a steering-related image in a vehicle stopping scene according to the second embodiment. [Figure 12] FIG. 13 is a diagram showing an example of a steering-related image in a vehicle stopping scene according to the third embodiment. [Figure 13] FIG. 13 is a schematic diagram showing a vehicle interior of a fourth embodiment. [Figure 14] FIG. 13 is a block diagram showing a functional configuration of a control device according to a fourth embodiment. [Figure 15] 13 is a flowchart showing a control flow according to the fourth embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. In addition, by assigning the same reference numerals to corresponding components in each embodiment, duplicated descriptions may be omitted. In addition, when only a part of the configuration is described in each embodiment, the configuration of the other embodiment described above can be applied to the other parts of the configuration. Furthermore, in addition to the combination of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments can be partially combined together even if not explicitly stated, as long as there is no particular problem with the combination.

[0013] First embodiment The control device 100 of the first embodiment shown in Fig. 1 controls a display system 80 of a vehicle 1 shown in Fig. 1 as a host moving body. From a viewpoint centered on the vehicle 1, the vehicle 1 can also be said to be an ego-vehicle. The vehicle 1 is a moving body such as an automobile that can travel on a road with a user as a user on board.

[0014] The vehicle 1 is an autonomous robot that is given an autonomous driving mode that is classified according to the degree of manual intervention of the user in the dynamic driving task. The autonomous driving mode may be realized by autonomous driving control, such as conditional driving automation, high driving automation, or full driving automation, in which the system performs all dynamic driving tasks when activated. The autonomous driving mode may be realized by advanced driving assistance control, such as driving assistance or partial driving automation, in which the user performs some dynamic driving tasks. The autonomous driving mode may be realized by either one of the autonomous driving control and the advanced driving assistance control, or by a combination or switching between them. The vehicle 1 can also be said to be an autonomous vehicle. The vehicle 1 is applied to a system that provides a service in which the vehicle is dispatched to a user who wishes to board the vehicle and travels by autonomous driving to the destination of the user who boarded the vehicle.

[0015] In the autonomous driving mode, the vehicle 1 or an external center sequentially generates a mid- to long-term driving plan that determines a planned driving route from the vehicle's position to the destination, and a short-term control plan for driving according to the mid- to long-term driving plan. Autonomous driving is realized by the vehicle 1 executing driving control according to each plan.

[0016] 1 are mounted on the vehicle 1. The sensor system 10 acquires sensor information for the external and internal worlds of the vehicle 1 that can be used by the control device 100. To this end, the sensor system 10 includes an external sensor 11 and an internal sensor 12.

[0017] The external sensor 11 acquires external information as sensor information from the external world that is the surrounding environment of the vehicle 1. The external sensor 11 may be of a target detection type that detects targets that exist in the external world of the vehicle 1. The target detection type external sensor 11 is at least one of, for example, an exterior camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, and the like.

[0018] The internal sensor 12 acquires internal information as sensor information from the internal world, which is the internal environment of the vehicle 1. The internal sensor 12 may be a physical quantity detection type that detects a specific physical quantity of motion in the internal world of the vehicle 1. The physical quantity detection type internal sensor 12 may include at least one of a traveling speed sensor, an acceleration sensor, a gyro sensor, and a steering angle sensor, for example. In this embodiment, the steering angle means the angle of the tire 54 with respect to the front-rear direction of the vehicle 1. The steering angle may also be called a tire angle or a tire turning angle.

[0019] The internal sensor 12 may be a user detection type that detects a specific state of the user in the internal world of the vehicle 1. The user detection type internal sensor 12 is, for example, at least one of an in-vehicle camera, a seating sensor, an actuator sensor, and an in-vehicle device sensor. The seating sensor detects the seating state of the user in each seat in the vehicle. The actuator sensor detects at least one of, for example, an accelerator pedal operation state, a brake pedal operation state, an on / off state of a starter switch, and a shift state of a shift lever as a user's instruction state to a traveling actuator of the vehicle 1. The in-vehicle device sensor detects at least one of, for example, an on / off switch operation state, a touch panel operation state, and a non-contact recognizable gesture as a user's instruction state to an in-vehicle device.

[0020] The communication system 20 acquires communication information available to the control device 100 by wireless communication. The communication system 20 may be of a positioning type that receives a positioning signal from an artificial satellite of a Global Navigation Satellite System (GNSS) that exists in the outside world of the vehicle 1. The positioning type communication system 20 is, for example, a GNSS receiver. The communication system 20 may be of a V2X type that transmits and receives a communication signal to and from a V2X system that exists in the outside world of the vehicle 1. The V2X type communication system 20 is, for example, at least one of a Dedicated Short Range Communications (DSRC) communication device and a Cellular V2X (C-V2X) communication device. The communication system 20 may be of a terminal communication type that transmits and receives a communication signal to and from a terminal that exists in the inside world of the vehicle 1. The terminal communication type communication system 20 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, and the like.

[0021] The map database 30 stores map information that can be used by the control device 100. The map database 30 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map database 30 may be a database of a locator that estimates the vehicle 1's own state quantity including its own position. The map database 30 may be a database of a navigation unit that navigates the travel route of the vehicle 1. The map database 30 may be configured by combining a plurality of types of these databases.

[0022] The map database 30 acquires and stores the latest map information by communication with an external center via, for example, a V2X type communication system 20. Here, the map information is digitized in two dimensions or three dimensions as information representing the driving environment of the vehicle 1. In particular, as the three-dimensional map data, digital data of a high-precision map may be adopted. The map information may include road information representing at least one of the position, shape, and road surface condition of the road itself. The map information may include marking information representing at least one of the positions and shapes of signs and dividing lines attached to the road. The map information may include structure information representing at least one of the positions and shapes of buildings and traffic lights facing the road.

[0023] The drive and braking system 40 includes a drive system made up of parts for accelerating the vehicle 1, and a braking system made up of parts for decelerating the vehicle 1. The parts constituting the drive system are of multiple types, such as an accelerator pedal, a drive motor, a drive engine, a starter switch, a transmission, and a shift unit. The parts constituting the braking system are of multiple types, such as tires 54, a battery, a brake pedal, a friction braking unit, a hydraulic circuit, and a regenerative motor.

[0024] Steering system 50 shown in Fig. 2 is composed of parts for steering vehicle 1. Steering system 50 is made up of a plurality of types of parts, such as an electric power steering device, a steering unit, and tires 54. The steering unit steers tires 54 at a steering angle sequentially determined by automatic driving control. Note that steering system 50 of vehicle 1 in this embodiment does not include a steering wheel, i.e., a steering member connected to an electric power steering device by a steering shaft, as shown in Fig. 2.

[0025] The operation device 60 is an operation member that accepts a control operation for the vehicle 1 by a user. The operation device 60 is configured to be capable of inputting at least a steering operation. The operation device 60 may be further configured to be capable of inputting at least one of an acceleration operation and a deceleration operation. For example, the operation device 60 is a control pad type that is held by the user in a state where it is not fixed to the vehicle 1 at least when a control operation is accepted. The control pad type operation device 60 is provided with at least one of a push button, a joystick, and a cross key. The control pad type operation device 60 is connected to the control device 100 by at least one of a wired and wireless method. For example, the control pad type operation device 60 is held by a holding part provided on the vehicle 1 during automatic driving, and is removed from the holding part by the user during manual driving to accept a control operation.

[0026] Alternatively, the operation device 60 may be a vehicle-fixed type that accepts a control operation while being fixed to the vehicle 1. The vehicle-fixed type operation device 60 is an in-vehicle device sensor that detects at least one of an on / off switch operation state, a touch panel operation state, and a non-contact recognizable gesture as a user's instruction state to the in-vehicle device. The vehicle-fixed type operation device 60 differs from a general steering member in that it electrically transmits a steering operation without transmitting a physical rotational motion to the electric power steering device. The operation device 60 may be provided in both a vehicle cabin-compatible type and a vehicle exterior-compatible type.

[0027] The auditory presentation system 70 presents notification information to the user of the vehicle 1 by providing sound information that stimulates the user's hearing. The auditory presentation system 70 is at least one of a speaker, a buzzer, a vibration unit, and the like.

[0028] The display system 80 presents visual information that stimulates the user's vision, thereby presenting notification information to the user of the vehicle 1. 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.

[0029] The interior display 81 includes a display device that displays at least one of vehicle information related to the vehicle 1 and entertainment information. The interior display 81 may include, for example, a meter display (hereinafter, MD) 81a that displays at least one of speed information and the rotation speed of the drive source as vehicle information. The interior display 81 may include a center information display (hereinafter, CID) 81b that displays entertainment information and is provided in a central area in the vehicle width direction inside the vehicle. The entertainment information is information other than information related to the status of the vehicle 1. For example, the entertainment information is video content unrelated to the status of the vehicle 1, such as movies, television programs, and videos distributed via the Internet. The display system 80 may include at least one of a head-up display (HUD), a multi-function display (MFD) provided in a location other than the central area in the vehicle width direction, and a light-emitting unit.

[0030] The exterior display device 82 is, for example, a display provided on the exterior of the vehicle 1, particularly on a door or near a door. The exterior display device 82 may be a display provided on the front or rear of the vehicle 1. The exterior display device 82 may be provided in multiple locations.

[0031] The control device 100 is connected to a sensor system 10, a communication system 20, and a map database 30 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. In addition, the control device 100 is connected to a drive / braking system 40, an operating device 60, an auditory presentation system 70, and a display system 80 via at least one of, for example, a LAN line, a wire harness, an internal bus, and a wireless communication line. The control device 100 is configured to include at least one dedicated computer.

[0032] The dedicated computer constituting the control device 100 may be an HCU (Human Machine Interface Control Unit (HMI)) that controls information presentation by information presentation systems such as the auditory presentation system 70 and the 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 judges a 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.

[0033] The dedicated computer constituting the control device 100 may be a steering control ECU specialized for controlling the steering system 50. The dedicated computer constituting the control device 100 may be a navigation ECU that navigates the driving route of the vehicle 1. The dedicated computer constituting the control device 100 may be a locator ECU that estimates the self-state quantity of the vehicle 1. The dedicated computer constituting the control device 100 may be an actuator ECU that controls the driving actuator of the vehicle 1. The dedicated computer constituting the control device 100 may be a computer other than the vehicle 1 that constitutes, for example, an external center or a mobile terminal capable of communicating with the vehicle 1.

[0034] The dedicated computer constituting the control device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, the term "storage" may refer to accumulation in which data is retained even when the vehicle 1 is turned off, or temporary storage in which data is erased when the vehicle 1 is turned off. The processor 102 includes at least one type of core, such as a central processing unit (CPU), a graphics processing unit (GPU), a reduced instruction set computer (RISC)-CPU, a complex instruction set computer (CISC)-CPU, a data flow processor (DFP), or a graph streaming processor (GSP).

[0035] In the control device 100, the processor 102 executes a plurality of instructions included in a control program stored in the memory 101 in order to control the presentation of information in the vehicle 1. In this way, the control device 100 constructs a plurality of functional blocks for controlling the presentation of information in the vehicle 1. The functional blocks constructed in the control device 100 include a discrimination block 110, an acquisition block 120, and a presentation control block 130, as shown in FIG.

[0036] A control method in which the control device 100 controls the display on the display system 80 by cooperation of these blocks 110, 120, and 130 is executed according to the control flow shown in Fig. 4. The control flow shown in Fig. 4 is executed repeatedly while the vehicle 1 is running. Note that each "S" in the control flow represents a plurality of steps executed by a plurality of commands included in a control program.

[0037] First, in S10, the discrimination block 110 executes discrimination of the current control situation of the vehicle 1. The discrimination block 110 broadly classifies the control situation into, for example, a normal automatic driving scene, a stopping scene, and an emergency stop scene. The normal automatic driving scene is a scene in which normal driving control is executed by automatic driving. The stopping scene is a scene in which stopping control to a stopping area by automatic driving is started. Here, the stopping area is an area where a user is expected to get on and off after the vehicle 1 stops. The stopping area includes at least one of the following types: a boarding and alighting area prepared for users who use the service to get on and off, a parking lot for parking the vehicle 1, an area surrounding a user waiting to get on and off, and an area simply set as a destination for driving by automatic driving.

[0038] The discrimination block 110 may determine that the stopping control has started, for example, when a travel trajectory ending in a stopping area in a short-term control plan for autonomous driving is generated, or when vehicle control according to the travel trajectory is started. Alternatively, the discrimination block 110 may determine the start of the stopping control when the approach of the vehicle 1 within a predetermined distance range from the stopping area is detected.

[0039] In addition, the discrimination block 110 further discriminates more detailed control conditions in a stopping scene. Specifically, the discrimination block 110 discriminates the mode of steering behavior (steering mode) of the tires 54 expected until the vehicle stops. The steering mode includes at least one of the cumulative amount of change in steering angle (steering amount) from the start of the stopping control to the completion of the stopping control, and the number of times the steering direction is switched. The start of the stopping control is, for example, the time when a traveling trajectory ending at a stopping point in a short-term control plan for automatic driving is generated, or the time when vehicle control according to the traveling trajectory is started. Alternatively, the start of the stopping control may be the time when the approach of the vehicle 1 within a predetermined distance range from the stopping point is detected. The completion of the stopping control is the time when the end of the traveling trajectory, that is, the time when the vehicle reaches the stopping point and the traveling speed becomes substantially zero.

[0040] An emergency stop scene is a scene in which emergency stop control is executed by automatic driving. The determination block 110 determines that the scene is an emergency stop scene when, for example, a stop control is executed by an automatic driving ECU in response to an event that makes it impossible to drive safely, such as an MRM (Minimum Risk Maneuver) control.

[0041] Alternatively, the discrimination block 110 may determine that the scene is an emergency stop scene when an operation to start an emergency stop is performed by a user who is in the vehicle. For example, in a situation where an emergency vehicle is approaching, an emergency evacuation is not performed in the automatic driving mode, and the user determines that an emergency evacuation needs to be performed, the user may perform an operation to start an emergency stop. The operation to start an emergency stop is received by the discrimination block 110 via, for example, an in-vehicle device sensor.

[0042] In addition, the discrimination block 110 further discriminates more detailed control conditions in an emergency stop scene. Specifically, the discrimination block 110 discriminates at least one of the control conditions, such as whether or not the user operates the vehicle 1 via the operating device 60 after the emergency stop, the location of the user's operation, and the degree of restriction on the operation. The discrimination of the location of the user's operation includes at least a discrimination of whether the operation is performed inside or outside the vehicle. The discrimination of the degree of restriction on the operation includes at least a discrimination of at least one of the following: whether or not there is an abnormality in the sensor system 10, whether or not there is a restriction on the possible driving direction, and the range of restriction when there is a restriction on the possible driving direction.

[0043] In the next S20, the acquisition block 120 acquires steering angle information regarding the steering angle of the tires 54 by the automatic steering control of the vehicle 1 during automatic 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.

[0044] Then, in S30, the presentation control block 130 presents steering-related information related to the virtual steering control. The presentation control block 130 presents the steering-related information in a presentation manner according to the control situation determined in S10. Here, the presentation manner includes the type of information to be presented and the presence or absence of information. In particular, when a display object is displayed as information presentation, the presentation manner (display manner) includes the shape type of the display object, the type of information expressed by the display object, and the presence or absence of the display object.

[0045] The manner in which steering-related information is presented for each scene in S30 will be described in detail below.

[0046] <Normal autonomous driving scene> In a normal autonomous driving scene, the presentation control block 130 displays a steering-related image as steering-related information in the display system 80 that displays at least one of the speed information and entertainment information of the vehicle 1. As an example, the presentation control block 130 displays the steering-related image in CID 81b. For example, as shown in FIG. 5, the presentation control block 130 displays the steering-related image in a display area A2 different from the display area A1 that displays entertainment information and the like in CID 81b. The steering-related image includes at least a steering object OS shown in FIG. 5 and the like.

[0047] The steering object OS is a display object that indicates a virtual steering member. For example, the steering object OS is substantially circular in shape to imitate a steering wheel. The steering object OS is rotated and displayed at a change in rotation angle (amount of rotation) that correlates with the amount of steering during automatic driving. Specifically, the presentation control block 130 sets a rate of change in the amount of rotation of the steering object OS relative to the amount of steering, and rotates and displays the steering object OS at that rate of change. In other words, the presentation control block 130 performs rotation and display at a rotation amount obtained by multiplying the amount of steering by a specified coefficient.

[0048] The presentation control block 130 changes the rate of change depending on whether the magnitude of the rotation angle from the reference angle (e.g., zero degrees) is within the allowable rotation angle range or outside the allowable rotation angle range. Here, the allowable rotation angle range is a range in which the rotation angle is equal to or exceeds a lower threshold value and is equal to or below an upper threshold value. When the rotation angle is outside the allowable rotation angle range, the presentation control block 130 suppresses the rate of change more than when the rotation angle is within the allowable rotation angle range. In other words, the presentation control block 130 rotates and displays the steering object OS outside the allowable rotation angle range with a rotation amount obtained by multiplying the steering amount by a coefficient smaller than when the rotation angle is within the allowable rotation angle range. In the example shown in FIG. 6, the maximum rotation angle corresponding to the maximum steering angle is set to ±120 degrees, and a coefficient smaller than that within the ±90 degree range is set within the ranges of +90 degrees to +120 degrees and -120 degrees to -90 degrees. As a result, the rate of change is smaller than that within the ±90 degree range.

[0049] In addition, in a normal automatic driving scene, the presentation control block 130 auditorily presents sound information according to the rotation of the steering object OS as steering-related information. For example, the presentation control block 130 presents, in the vehicle interior, a pseudo sound that imitates a sound generated by the rubbing of the steering tire 54 and the road surface while the steering object OS is rotating, by the auditory presentation system 70. The presentation control block 130 may change the presentation mode of the sound information according to the rotation speed of the steering object OS. For example, the presentation control block 130 may present sound information with a louder volume as the rotation speed of the steering object OS becomes faster. Or, the presentation control block 130 may present sound information with a higher pitch as the rotation speed becomes faster. Or, the presentation control block 130 may present sound information with different intonations according to the rotation speed. Or, the presentation control block 130 may present periodic sound information with different frequencies according to the rotation speed.

[0050] In addition, in a normal automatic driving scene, the presentation control block 130 prohibits the display of the steering object OS when it is estimated that the user on board has no experience of manually driving a vehicle. The presentation control block 130 estimates whether the user on board the vehicle 1 has experience of driving a vehicle, for example, by personal authentication of the user. Specifically, the presentation control block 130 may estimate that the user has no experience of driving a vehicle when the user's age obtained by personal authentication is under the age at which a driver's license is required, and that the user has experience when the user has reached the age at which a driver's license is required.

[0051] In addition, when both a user who is estimated to have no experience in driving a vehicle and a user who is estimated to have experience are on board, the presentation control block 130 executes without prohibiting the display of the steering object OS. In other words, the presentation control block 130 prohibits the display of the steering object OS when only a user who is estimated to have no experience in driving a vehicle is on board.

[0052] <Stopping scene> In the stopping scene, when the steering mode expected before stopping is an allowable mode, the presentation control block 130 displays the steering object OS as a steering-related image, similar to the normal automatic driving scene described above. On the other hand, when the steering mode expected before stopping is an unallowable mode, the presentation control block 130 prohibits the display of the steering object OS.

[0053] For example, the presentation control block 130 may determine that the steering mode is permissible when the expected cumulative steering amount falls within the allowable upper limit, and may determine that the steering mode is unacceptable when it is outside the allowable upper limit. Alternatively, the presentation control block 130 may determine that the steering mode is permissible when the expected number of times the steering direction is switched falls within the allowable upper limit, and may determine that the steering mode is unacceptable when it is outside the allowable upper limit.

[0054] <Emergency stop scene> After the vehicle 1 completes an emergency stop in the emergency stop scene, the presentation control block 130 displays the steering object OS and the cooperating object OL as steering-related images. Furthermore, the presentation control block 130 of the present embodiment displays the front and rear objects OFR as steering-related images in addition to the steering object OS and the cooperating object OL.

[0055] When the presentation control block 130 receives a rotation operation from inside the vehicle, the presentation control block 130 displays the steering-related image on the in-vehicle display 81 that displays at least one of the speed information and the entertainment information. On the other hand, when the presentation control block 130 receives a rotation operation from outside the vehicle, the presentation control block 130 displays the steering-related image on the outside display 82. When the presentation control block 130 receives a rotation operation by the user via the operating device 60 after an emergency stop, the presentation control block 130 displays the steering-related image regardless of the steering mode. In addition, the outside display 82 that displays the steering-related image does not necessarily have to display at least one of the speed information and the entertainment information. In addition, the following description of each steering-related image is common to both the case where it is displayed on the in-vehicle display 81 and the case where it is displayed on the outside display 82, unless otherwise specified.

[0056] When displaying the steering object OS, the presentation control block 130 receives the steering operation of the vehicle 1 via the operation device 60 to which the user's control operation is input. The presentation control block 130 rotates and displays the steering object in response to the user's steering operation. In other words, the presentation control block 130 rotates and displays the steering object by an amount of rotation that correlates with the steering amount in response to the user's steering operation.

[0057] The front-rear object OFR is a display object that displays forward travel and reverse travel of the vehicle 1 in response to the operation of the operation device 60. For example, the front-rear object OFR includes a forward travel object OF that is displayed when the vehicle 1 is traveling forward, a reverse travel object OR that is displayed when the vehicle 1 is traveling reverse, and a vehicle object OC that is an icon that resembles the vehicle 1.

[0058] The collaboration object OL is a display object related to the relationship between the operation of the controller 60 and the rotational display of the steering object OS. For example, as shown in FIG. 7, the collaboration object OL includes an appearance object OE, an input object OI, and a key bind object OKB. The appearance object OE is an object having a shape imitating the controller 60, and in FIG. 7, it has a control pad shape. The input object OI is an object imitating an input component to which an operation is input in the controller 60. In the example of FIG. 7, icons imitating a button, a joystick, and a cross key are displayed as the input object OI. The key bind object OKB is an object indicating the correspondence between the input component and the control content. In the example of FIG. 7, a line extending from the input object OI and text are displayed as the key bind object OKB.

[0059] When the user is able to steer via the controller 60, the presentation control block 130 first displays the steering object OS, the front-rear object OFR, and the cooperating object OL. Then, when an operation is performed on the controller 60, the presentation control block 130 highlights the input object OI corresponding to the operated input part. Furthermore, the presentation control block 130 executes a rotation display of the steering object OS in response to the operation, and a forward / reverse display using the front-rear object OFR.

[0060] For example, as shown in the upper frame of FIG. 7, it is assumed that an operation corresponding to steering is not input, but an operation corresponding to forward movement is input. In this case, the presentation control block 130 highlights the input object OI corresponding to forward movement by changing the brightness or display color, etc. Then, the presentation control block 130 keeps the steering object OS at the initial angle, displays the forward movement object OF and the vehicle object OC in the front-rear object OFR, and does not display the reverse object OR. Also, as shown in the lower frame of FIG. 7, it is assumed that a steering operation to the left and an operation corresponding to reverse movement are input. In this case, the presentation control block 130 highlights the input object OI corresponding to reverse movement and the input object OI corresponding to left steering. Then, the presentation control block 130 rotates and displays the steering object OS counterclockwise, displays the reverse object OR and the vehicle object OC in the front-rear object OFR, and does not display the forward movement object OF.

[0061] Note that, when an abnormality is detected in the sensor system 10 related to the driving control of the vehicle 1, the presentation control block 130 prohibits the acceptance of a rotation operation from outside the vehicle. When an abnormality is detected, the presentation control block 130 may display a prohibited object OP indicating that operation from outside the vehicle using the operating device 60 is prohibited on the outside display 82. For example, as shown in FIG. 8, the presentation control block 130 displays a prohibited object OP in the shape of a prohibition symbol.

[0062] Furthermore, when the driving direction of the vehicle 1 is limited, the presentation control block 130 displays the operable range of the steering object that correlates with the driving direction. For example, when the vehicle 1 is detected to be stuck or when an abnormality such as a failure is detected in a sensor, the driving direction may be limited. For example, the presentation control block 130 presents the steering object OS by displaying an operable range object OOR that indicates the rotatable direction and the prohibited rotation direction, as shown in FIG. 9.

[0063] When the user performs an operation to start an emergency stop of the vehicle 1 in an emergency stop scene, the presentation control block 130 may display the steering object OS, the cooperating object OL, and the front and rear objects after the start operation. In this case, the presentation control block 130 starts accepting a control operation by the operating device 60 after the start operation, and displays each steering-related image in response to the control operation.

[0064] The presentation control block 130 in S30 presents the steering-related information in each presentation mode according to the control situation for each of the above-mentioned scenes. When the presentation is performed, this flow ends. By repeatedly executing the series of processes in S10, S20, and S30, the steering-related information is continuously presented during the startup of the vehicle 1 while the presentation mode is appropriately changed according to the control situation.

[0065] According to the above-described first embodiment, a steering-related image including at least a steering object OS, which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with a steering angle during automatic driving, is displayed. The steering-related image is displayed in a display mode corresponding to the control status of the vehicle 1 on the display system 80 that displays at least one of the speed information and entertainment information of the vehicle 1. As a result, the user can grasp the traveling direction of the vehicle 1 from the steering object OS in a display mode corresponding to the control status by visually checking the display that displays at least one of the speed information and entertainment information of the vehicle 1. Therefore, convenience can be improved. Particularly in the first embodiment, the steering-related image is displayed on the CID 81b, which is a display provided in the vehicle width direction central region in the vehicle cabin. Therefore, the steering-related image can be relatively easily viewed by a user sitting in any seat.

[0066] Second Embodiment As shown in FIGS. 10 and 11, the second embodiment is a modification of the first embodiment.

[0067] In the second embodiment, in a stopping scene, when the steering mode expected before stopping is an allowable mode, the presentation control block 130 displays a steering object OS and a current direction object OCD related to the current direction of the vehicle 1, as shown in Fig. 11. On the other hand, when the steering mode is an unallowable mode, the presentation control block 130 displays a planned direction object OPD related to the planned direction of the vehicle 1 when stopping, in addition to the steering object OS and the current direction object OCD, as shown in Fig. 10. Furthermore, when the steering mode is an unallowable mode, the presentation control block 130 displays a turning object OT.

[0068] The current direction object OCD is an object that presents the current direction of the vehicle 1. Here, the direction of the vehicle 1 is the direction of the vehicle 1 in the yaw direction according to the steering angle, that is, the magnitude of the yaw angle. The current direction object OCD presents the magnitude of the inclination of the current direction relative to the reference direction, for example, with a steering angle of zero degrees, that is, a yaw angle of zero degrees, as a reference direction, in correlation with the magnitude of the steering angle.

[0069] The current direction object OCD is an icon that resembles a vehicle 1 viewed from above, as shown in Figs. 10 and 11. The current direction object OCD is displayed tilted with respect to the reference direction with a magnitude according to the steering angle. Therefore, it can be said that the current direction object OCD is an object that rotates in conjunction with the rotation of the steering object OS. Since the steering object OS moves according to the steering angle, it can also be understood that the steering object OS is an object included in the current direction object OCD.

[0070] The planned direction object OPD is an object related to the direction planned for the vehicle 1 when stopped. That is, the planned direction object OPD displays the direction of the yaw direction of the vehicle 1 according to the steering angle expected when stopped. For example, as shown in Fig. 10, the planned direction object OPD is an icon imitating the vehicle 1 viewed from above. Unlike the steering object OS and the current direction object OCD, this planned direction object OPD is hidden, that is, prohibited from being displayed, in the permissible mode, as shown in Fig. 11.

[0071] The turning object OT is an object related to at least one of the number of turns expected until the vehicle stops and the direction of rotation of the steering object for each turn. For example, as shown in Fig. 10, the turning object OT includes both a number object OTN that displays the number of turns and a turning direction object OTD that displays the direction of rotation for each turn.

[0072] The number of times object OTN is displayed, for example, as a number-shaped icon, and presents the number of turns using numerical information. Here, the number of turns is the number of times the rotation direction of the steering object OS is reversed. When the vehicle stop control is started, the number of times object OTN displays the total number of turns expected from the start of the vehicle stop control to its completion. The number presented by the number of times object OTN decreases each time a turn is actually performed. In other words, the number of times object OTN counts down and presents the current remaining number of turns.

[0073] The turning direction object OTD is displayed, for example, as an arrow-shaped icon, and indicates and presents the turning direction. The turning direction object OTD presents the rotation direction of the steering object with an arrow for each turning. For example, the turning direction object OTD presents the turning direction inverted prior to the reversal of the rotation direction of the steering object OS. In other words, the turning direction object OTD notifies the user of the upcoming turning direction.

[0074] Third embodiment As shown in FIG. 12, the third embodiment is a modification of the second embodiment.

[0075] When the steering behavior is not permissible in a stopping scene, the presentation control block 130 displays the steering object OS and the intended direction object OPD. The presentation control block 130 does not display the steering object OS and the current direction object OPD, which is a different object, as in the second embodiment. Since the steering object OS can also be considered as an object included in the current direction object OCD, the presentation control block 130 can achieve the display of the current direction of the vehicle 1 only by rotating the steering object OS.

[0076] Also, in the non-permissible mode, the presentation control block 130 displays the intended direction object OPD as an icon imitating a steering member having substantially the same shape as the steering object OS, as shown in the left column of Fig. 12. This intended direction object OPD is fixedly displayed without rotating according to the steering angle in a state showing a rotation angle according to the steering angle assumed when the vehicle is stopped. For example, in the example shown in Fig. 12, the intended direction object OPD is displayed at a rotation angle corresponding to a steering angle of zero degrees (i.e., zero degrees). When the steering mode is the permissible mode, the presentation control block 130 hides the intended direction object OPD, as shown in the right column of Fig. 12.

[0077] Fourth embodiment As shown in FIGS. 13 to 15, the fourth embodiment is a modification of the first embodiment.

[0078] In the fourth embodiment, as shown in FIG. 13, the steering system 50 in the vehicle 1 includes a steering wheel 51 in addition to the configuration of the first embodiment. The steering wheel 51 is a steering member that physically transmits a rotation operation by a user to an electric power steering device via a steering shaft. The steering wheel 51 is adjusted in advance so that a reference angle position in a non-rotating state (i.e., a steering angle of zero degrees) is an angle position corresponding to a straight-ahead direction of the vehicle 1. In other words, the correspondence relationship between the steering angle and the turning angle is adjusted so that the turning angle of the tires 54 is substantially zero degrees when the steering angle of the steering wheel 51 is substantially zero degrees. Note that the correspondence relationship between the steering angle and the turning angle may have an error immediately after adjustment due to aging or the like. The correspondence relationship between the steering angle and the turning angle may be readjusted at a factory, for example, when a battery is replaced or the like.

[0079] 14, the multiple functional blocks constructed in the control device 100 of the fourth embodiment include a steering control block 140 in addition to blocks 110, 120, 130 similar to those in the first embodiment. A control method in which the control device 100 controls the display on the display system 80 by cooperation of these blocks 110, 120, 130, 140 is executed according to the control flow shown in FIG.

[0080] As shown in Fig. 15, after the process of S10, the flow proceeds to S15. In S15, the steering control block 140 executes steering control according to the control situation. Specifically, when the steering mode is an allowable mode in a stopped scene, the steering control block 140 controls the rotation of the steering wheel 51 in conjunction with the steering control of the tires 54. On the other hand, when the steering mode is an unallowable mode in a stopped scene, the steering control block 140 releases the link between the steering control of the tires 54 and the rotation control of the steering wheel 51. For example, in the release state, the steering control block 140 keeps the steering wheel 51 stationary with a steering angle of substantially zero degrees.

[0081] In addition, in S30 of the fourth embodiment, the presentation control block 130 displays the steering object OS even when the steering manner is not permissible in the stopping scene. The presentation control block 130 may further display at least one of the current direction object OCD, the planned direction object OPD, and the turning object OT. That is, when the steering manner is not permissible in the stopping scene, the steering wheel 51 is stationary, and the user is able to grasp the traveling direction of the vehicle 1 by the steering object instead.

[0082] (Other embodiments) Although several embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope not departing from the gist of the present disclosure.

[0083] In a modified example, the control device 100 may display a steering-related image including the steering object OS during calibration of the vehicle 1 in a factory.

[0084] In a modified example, the control device 100 may control the rotational display of the steering object OS so that the rate of change of the rotation amount relative to the steering amount is lower than the rate of change of the rotation amount of the steering wheel 51 relative to the steering amount in manual driving.

[0085] In a modified example, the dedicated computer constituting the control device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), CPLD (Complex Programmable Logic Device), etc. Furthermore, such a digital circuit may have a memory that stores a program.

[0086] In the modified example, the host moving body to which the control device 100 is applied may be, for example, an autonomous traveling robot capable of transporting luggage or collecting information by autonomous traveling or remote traveling, and configured to be manually operated by a steering member. In addition to the forms described so far, the above-mentioned embodiment and modified example may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a control device configured to be mountable on a host moving body and having at least one processor 102 and one memory 101.

[0087] (Disclosure of technical ideas) This specification discloses multiple technical ideas described in the following multiple dependent claims. Some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. Furthermore, some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. The claims described in these multiple dependent forms define multiple technical ideas.

[0088] (Technical thought 1) A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor, acquiring steering angle information regarding a steering angle of a tire (54) caused by a steering control in the vehicle during automatic driving; presenting steering related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: A control device that displays a steering-related image including at least a steering object (OS), which is an object of a virtual steering member that is rotated at a rotation angle correlated with the steering angle during autonomous driving, on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changes the display mode of the steering-related image depending on the control status of the vehicle.

[0089] (Technical thought 2) Presenting the steering-related information includes: A control device according to technical idea 1, which includes, in a stopping scene in which the vehicle is stopped by autonomous driving, displaying the steering object when a steering pattern, which is the pattern of the steering behavior of the tires expected until the vehicle is stopped, is an acceptable pattern, and prohibiting the display of the steering object when the steering pattern is an unacceptable pattern.

[0090] (Technical Thought 3) Presenting the steering-related information includes: A control device according to technical idea 1, which includes: in a stopping scene in which the vehicle is stopped by autonomous driving, if the steering pattern, which is the pattern of the steering behavior of the tires expected before the vehicle is stopped, is an unacceptable pattern, a current direction object (OCD) related to the current direction of the vehicle and a planned direction object (OPD) related to the direction planned for the vehicle when stopping are displayed; and if the steering pattern is an acceptable pattern, the control device displays the current direction object and prohibits the display of the planned direction object.

[0091] (Technical Thought 4) Presenting the steering-related information includes: A control device according to any one of Technical Ideas 1 to 3, which prohibits the display of the steering object when the user on board has no experience in manually driving a vehicle.

[0092] (Technical Thought 5) Presenting the steering-related information includes: A control device according to any one of technical ideas 1 to 4, which includes displaying a turning object (OT) relating to at least one of the expected number of turns before the vehicle is stopped and the rotation direction for each turn of the steering object in a stopping scene in which the vehicle is stopped by autonomous driving.

[0093] (Technical Thought 6) Presenting the steering-related information includes: A control device according to any one of technical ideas 1 to 5, which includes changing a rate of change in the amount of change in the rotation angle relative to the amount of change in the steering angle according to the rotation angle up to a maximum rotation angle.

[0094] (Technical Thought 7) Presenting the steering-related information includes: The control device according to technical idea 6 includes reducing the rate of change when the rotation angle falls outside the upper limit of an allowable rotation angle range.

[0095] (Technical Thought 8) Presenting the steering-related information includes: The control device according to any one of Technical Ideas 1 to 7, further comprising audibly presenting sound information corresponding to the rotation of the steering object.

[0096] (Technical Thought 9) Presenting the steering-related information includes: A control device described in any one of technical ideas 1 to 8, which includes displaying a steering object in a rotating manner in response to a rotation operation of the user on the steering object in an emergency stop scene in which an emergency stop of the vehicle is performed.

[0097] (Technical Thought 10) Presenting the steering-related information includes: receiving the rotation operation via an operation device (60) through which the rotation operation of the user is input; The control device according to Technical Idea 9 includes displaying an association object (OL) relating to a relationship between the operation of the controller and a rotational display of the steering object in the emergency stop scene.

[0098] (Technical Thought 11) Presenting the steering-related information includes: receiving the rotation operation from either inside or outside the vehicle; A control device as described in technical idea 9 or technical idea 10, which includes, when the rotation operation is received from inside the vehicle cabin, displaying the steering object on the display inside the vehicle cabin, and, when the rotation operation is received from outside the vehicle, displaying the steering object on the display outside the vehicle.

[0099] (Technical Thought 12) Presenting the steering-related information includes: The control device according to technical idea 11 includes prohibiting acceptance of the rotation operation when an abnormality is detected in a sensor related to driving control of the vehicle.

[0100] (Technical Thought 13) Presenting the steering-related information includes: A control device described in any one of Technical Ideas 9 to 12, which includes, when the vehicle's possible driving direction is limited, displaying an operable range of the steering object that correlates with the possible driving direction.

[0101] (Technical Thought 14) Presenting the steering-related information includes: The control device according to any one of Technical Ideas 9 to 13, wherein, when an emergency stop operation of the vehicle by the user is accepted, acceptance of the rotation operation is permitted.

[0102] The above technical ideas 1 to 14 may be implemented in the form of a control method and a control program. [Explanation of symbols]

[0103] 1: vehicle, 54: tires, 60: operation device, 80: display system (display device), 100: vehicle control device (control device), 101: memory (storage medium), 102: processor, OS: steering object, OCD: current direction object, OPD: planned direction object, OT: turning object, OL: cooperation object

Claims

1. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In a stopping scene in which the vehicle is stopped by autonomous driving, when a steering mode, which is a mode of steering behavior of the tires expected until the vehicle is stopped, is an allowable mode, the steering object is displayed, and when the steering mode is an unallowable mode, the display of the steering object is prohibited; A control device including:

2. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In a stopping scene in which the vehicle is stopped by automatic driving, if a steering pattern, which is a pattern of the steering behavior of the tires expected until the vehicle is stopped, is an unacceptable pattern, a current direction object (OCD) relating to the current direction of the vehicle and a planned direction object (OPD) relating to the direction planned for the vehicle when the vehicle is stopped are displayed, and if the steering pattern is an acceptable pattern, the current direction object is displayed and the display of the planned direction object is prohibited; A control device including:

3. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; prohibiting the display of the steering object when the user has no experience in manually driving a vehicle; A control device including:

4. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In a stopping scene in which the vehicle is stopped by automatic driving, a turning object (OT) relating to at least one of the number of turnings expected until the vehicle is stopped and the direction of rotation of the steering object for each turning is displayed; A control device including:

5. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; changing a rate of change in the rotation angle relative to the change in the steering angle in accordance with the rotation angle up to a maximum rotation angle; When the rotation angle is outside an upper limit of an allowable rotation angle range, the rate of change is reduced. A control device including:

6. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; aurally presenting sound information corresponding to the rotation of the steering object; A control device including:

7. A control device having a processor (102) and controlling information presentation in an autonomously driven vehicle (1), The processor: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; configured to run Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In an emergency stop scene in which an emergency stop of the vehicle is executed, the steering object is displayed in a rotational manner in response to a rotation operation of the user on the steering object; A control device including:

8. Presenting the steering-related information includes:

8. A control device according to claim 2, further comprising: in a stopping scene in which the vehicle is stopped by automatic driving, displaying the steering object when a steering pattern, which is a pattern of the steering behavior of the tires expected until the vehicle is stopped, is an acceptable pattern; and prohibiting display of the steering object when the steering pattern is an unacceptable pattern.

9. Presenting the steering-related information includes:

8. The control device according to claim 1 or any one of claims 3 to 7, further comprising: in a stopping scene in which the vehicle is stopped by automatic driving, if a steering pattern, which is a pattern of the steering behavior of the tires expected until the vehicle is stopped, is an unacceptable pattern, displaying a current direction object (OCD) relating to the current direction of the vehicle and a planned direction object (OPD) relating to the direction planned for the vehicle when the vehicle is stopped; and if the steering pattern is an acceptable pattern, displaying the current direction object and prohibiting display of the planned direction object.

10. Presenting the steering-related information includes: The control device according to claim 1 , wherein the display of the steering object is prohibited when the user on board has no experience of manually driving a vehicle.

11. Presenting the steering-related information includes: A control device as described in any one of claims 1 to 3 or any one of claims 5 to 7, which includes displaying a turning object (OT) related to at least one of the number of turns expected before the vehicle is stopped and the direction of rotation for each turn of the steering object in a stopping scene in which the vehicle is stopped by automatic driving.

12. Presenting the steering-related information includes:

8. The control device according to claim 1, further comprising: changing a rate of change in the rotation angle relative to the amount of change in the steering angle in accordance with the rotation angle up to a maximum rotation angle.

13. Presenting the steering-related information includes: The control device according to claim 12 , further comprising reducing the rate of change when the rotation angle is outside an upper limit of an allowable range of rotation angles.

14. Presenting the steering-related information includes: The control device according to claim 1 , further comprising: audibly presenting sound information corresponding to the rotation of the steering object.

15. Presenting the steering-related information includes: The control device according to any one of claims 1 to 7, further comprising displaying the steering object in a rotational manner in response to a rotational operation of the user on the steering object in an emergency stop scene in which an emergency stop of the vehicle is performed.

16. Presenting the steering-related information includes: receiving the rotation operation via an operation device (60) through which the rotation operation of the user is input; The control device according to claim 15, further comprising displaying, in the emergency stop scene, a linking object (OL) relating to a relationship between the operation of the controller and a rotational display of the steering object.

17. Presenting the steering-related information includes: receiving the rotation operation from either inside or outside the vehicle; The control device according to claim 15, further comprising: when the rotation operation is received from inside the vehicle cabin, displaying the steering object on the display inside the vehicle cabin; and when the rotation operation is received from outside the vehicle, displaying the steering object on the display outside the vehicle.

18. Presenting the steering-related information includes:

18. The control device according to claim 17, further comprising prohibiting acceptance of the rotation operation when an abnormality is detected in a sensor related to driving control of the vehicle.

19. Presenting the steering-related information includes: The control device according to claim 15 , further comprising, when a possible driving direction of the vehicle is limited, displaying an operable range of the steering object that correlates with the possible driving direction.

20. Presenting the steering-related information includes: The control device according to claim 15 , wherein, when an emergency stop operation of the vehicle by the user is accepted, acceptance of the rotation operation is permitted.

21. A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In a stopping scene in which the vehicle is stopped by autonomous driving, when a steering mode, which is a mode of steering behavior of the tires expected until the vehicle is stopped, is an allowable mode, the steering object is displayed, and when the steering mode is an unallowable mode, the display of the steering object is prohibited; A control method comprising:

22. A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In a stopping scene in which the vehicle is stopped by automatic driving, if a steering pattern, which is a pattern of the steering behavior of the tires expected until the vehicle is stopped, is an unacceptable pattern, a current direction object (OCD) relating to the current direction of the vehicle and a planned direction object (OPD) relating to the direction planned for the vehicle when the vehicle is stopped are displayed, and if the steering pattern is an acceptable pattern, the current direction object is displayed and the display of the planned direction object is prohibited; A control method comprising:

23. A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; prohibiting the display of the steering object when the user has no experience in manually driving a vehicle; A control method comprising:

24. A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In a stopping scene in which the vehicle is stopped by automatic driving, a turning object (OT) relating to at least one of the number of turnings expected until the vehicle is stopped and the direction of rotation of the steering object for each turning is displayed; A control method comprising:

25. A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; changing a rate of change in the rotation angle relative to the change in the steering angle in accordance with the rotation angle up to a maximum rotation angle; When the rotation angle is outside an upper limit of an allowable rotation angle range, the rate of change is reduced. A control method comprising:

26. A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; aurally presenting sound information corresponding to the rotation of the steering object; A control method comprising:

27. ​​A control method executed by a processor (102) for controlling information presentation in an autonomously driven vehicle (1), comprising: Acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to a virtual steering control related to a turning control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image according to the control status of the vehicle; In an emergency stop scene in which an emergency stop of the vehicle is executed, the steering object is displayed in a rotational manner in response to a rotation operation of the user on the steering object; A control method comprising:

28. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; In a stopping scene in which the vehicle is stopped by autonomous driving, when a steering mode, which is a mode of steering behavior of the tires expected until the vehicle is stopped, is an allowable mode, the steering object is displayed, and when the steering mode is an unallowable mode, the display of the steering object is prohibited; A control program including:

29. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; In a stopping scene in which the vehicle is stopped by automatic driving, if a steering pattern, which is a pattern of steering behavior of the tires expected until the vehicle is stopped, is an unacceptable pattern, a current direction object (OCD) relating to the current direction of the vehicle and a planned direction object (OPD) relating to the direction planned for the vehicle when the vehicle is stopped are displayed, and if the steering pattern is an acceptable pattern, the current direction object is displayed and the display of the planned direction object is prohibited; A control program including:

30. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; prohibiting the display of the steering object when the user has no experience in manually driving a vehicle; A control program including:

31. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; In a stopping scene in which the vehicle is stopped by automatic driving, a turning object (OT) relating to at least one of the number of turnings expected until the vehicle is stopped and the direction of rotation of the steering object for each turning is displayed; A control program including:

32. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; changing a rate of change in the rotation angle relative to the change in the steering angle in accordance with the rotation angle up to a maximum rotation angle; When the rotation angle is outside an upper limit of an allowable rotation angle range, the rate of change is reduced. A control program including:

33. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; audibly presenting sound information corresponding to the rotation of the steering object; A control program including:

34. A control program stored in a storage medium (101) for controlling information presentation in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), The instruction: acquiring steering angle information relating to a steering angle of a tire (54) caused by steering control in the vehicle during automatic driving; presenting steering-related information related to virtual steering control related to steering control to a user of the vehicle; Including, Presenting the steering-related information includes: a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated with the steering angle during automatic driving, is displayed on a display (80) that displays at least one of speed information and entertainment information of the vehicle, and a display mode of the steering-related image is changed according to a control status of the vehicle; In an emergency stop scene in which an emergency stop of the vehicle is executed, the steering object is displayed in a rotational manner in response to a rotation operation of the user on the steering object; A control program including:

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