Information processing device, information processing method, and program

Abstract

To provide an information processing device or the like capable of executing lane change control at an appropriate timing.SOLUTION: An information processing device 100 includes: an acquisition unit 110 that acquires first visual line information indicating a direction of a visual line of a driver who drives a vehicle 10; a determination unit 120 that determines whether or not the time when the driver's visual line is directed toward a second lane adjacent to the first line in which the vehicle 10 is travelling is the first time or longer based on the first visual line information; and a control unit 130 that executes the control regarding the lane change of the vehicle 10 to the second lane when the determination unit 120 determines that the time is the first time or longer.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to an information processing device, an information processing method, and a program. [Background technology]

[0002] 2. Description of the Related Art Conventionally, there are devices that perform lane change control, such as assisting a driver in changing lanes when a vehicle in motion changes lanes.

[0003] Patent Document 1 discloses a lane change assistance system that selects one of a plurality of lane change programs based on a signal from a driver intention detection device that detects the driver's intention to change lanes. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] International Publication No. 2012 / 160591 Summary of the Invention [Problem to be solved by the invention]

[0005] When a driver attempts to change lanes, it is desirable that control related to the lane change be performed at an appropriate timing so as not to interfere with the lane change.

[0006] The present disclosure provides an information processing device and the like that can execute control related to lane changes at appropriate timing. [Means for solving the problem]

[0007] An information processing device according to one embodiment of the present disclosure includes an acquisition unit that acquires first gaze information indicating the direction of the gaze of a driver of a vehicle; a determination unit that determines, based on the first gaze information, whether the driver's gaze is directed toward a second lane adjacent to a first lane in which the vehicle is traveling for a first period of time or longer; and a control unit that, when the determination unit determines that the period of time is the first period of time or longer, executes control regarding the vehicle changing lanes to the second lane.

[0008] An information processing method according to one embodiment of the present disclosure acquires first gaze information indicating the direction of the gaze of a driver of a vehicle, and determines, based on the first gaze information, whether the driver's gaze is directed toward a second lane adjacent to a first lane in which the vehicle is traveling for a first period of time or longer, and if it is determined that the gaze is directed toward a second lane adjacent to a first lane in which the vehicle is traveling for a first period of time or longer, performs control regarding the vehicle changing lanes to the second lane.

[0009] A program according to one aspect of the present disclosure is a program for executing the information processing method. [Effects of the Invention]

[0010] According to the present disclosure, it is possible to provide an information processing device or the like that can execute control related to lane changes at appropriate timing. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a block diagram showing a configuration of an information processing device according to an embodiment. [Figure 2] FIG. 2 is a diagram schematically showing the interior of the vehicle according to the embodiment. [Figure 3] FIG. 3 is a diagram for explaining a first example of lane changing of a vehicle according to an embodiment. [Figure 4] FIG. 4 is a diagram for explaining a second example of lane changing of a vehicle according to an embodiment. [Figure 5] FIG. 5 is a diagram for explaining a third example of lane changing of a vehicle according to an embodiment. [Figure 6]FIG. 6 is a diagram for explaining a specific example of vehicle control according to the embodiment. [Figure 7] FIG. 7 is a diagram for explaining a specific example of vehicle control according to the embodiment. [Figure 8] FIG. 8 is a flowchart illustrating a first example of a processing procedure of the information processing device according to the embodiment. [Figure 9] FIG. 9 is a flowchart illustrating a second example of the processing procedure of the information processing device according to the embodiment. [Figure 10] FIG. 10 is a flowchart showing an example of a basic information processing method according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] (Background to this disclosure) As described above, there have been conventional devices that perform lane change control, such as assisting the driver in changing lanes when a vehicle in motion attempts to change lanes. In lane change control, for example, information indicating whether a lane change is possible or not, determined based on information about vehicles around the vehicle attempting to change lanes, is displayed on a display device.

[0013] In the lane change assistance system disclosed in Patent Document 1, the driver's intention is detected based on the detection results of a detector that detects a turn signal, a manual switch operated by the driver, the lateral acceleration of the vehicle, or the yaw rate as an indication of the start of a lane change.

[0014] In this way, conventionally, when a lane change is attempted in a situation where surrounding vehicles are traveling at a constant speed, such as on a highway, an explicit intention to change lanes is recognized by displaying blinkers and detecting yaw rate, and an indication is provided as to whether or not the lane change is possible.

[0015] Here, when the driver performs an action to change lanes, such as using a blinker signal, a manual switch, the lateral acceleration of the vehicle, or the yaw rate, as disclosed in Patent Document 1, the driver himself / herself has often already completed actions such as safety confirmation. In other words, when the driver explicitly indicates his / her intention to change lanes in this way, the driver has often already completed checking the safety of the surroundings, and the timing of determining the intention to change lanes may be inappropriate, i.e., the timing of the control related to the lane change that is performed after the result of this determination may also be inappropriate.

[0016] Therefore, the inventors of the present invention have come up with the invention.

[0017] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that the embodiments described below illustrate specific examples of the present disclosure. Therefore, the numerical values, shapes, materials, components, component placement positions, and connection configurations shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components that are not recited in independent claims will be described as optional components.

[0018] It should be noted that the drawings are schematic diagrams and are not necessarily strict illustrations. In addition, in the drawings, substantially the same components are denoted by the same reference numerals, and redundant explanations are omitted or simplified.

[0019] Furthermore, in this specification, ordinal numbers such as "first" and "second" do not refer to the number or order of components unless otherwise specified, but are used to avoid confusion and distinguish between components of the same type.

[0020] (Embodiment) [composition] FIG. 1 is a block diagram showing a configuration of an information processing device 100 according to an embodiment.

[0021] The information processing device 100 is a computer that executes control related to the vehicle 10 (hereinafter also referred to as vehicle control). Specifically, the information processing device 100 executes vehicle control to assist the vehicle 10, driven by the driver, in changing lanes while the vehicle 10 is traveling. Here, "traveling" refers to a state in which the vehicle speed is not 0. When the speed of the vehicle 10 is 0 (stopped), the information processing device 100 does not execute vehicle control to assist the vehicle in changing lanes. By taking such measures, the information processing device 100 can reduce malfunctions.

[0022] The information processing device 100 is implemented, for example, by a non-volatile memory mounted on the vehicle 10 and storing a program, a volatile memory that is a temporary storage area for executing the program, a processor that executes the program, etc. The information processing device 100 may also include a communication interface for communicating with an ECU (Electronic Control Unit) provided in the vehicle 10 and an external server, etc. The communication interface is implemented, for example, by a wireless communication interface such as an antenna and a wireless communication circuit.

[0023] The information processing device 100 may be disposed outside the vehicle 10. The information processing device 100 may also be realized by an ECU or the like provided in the vehicle 10.

[0024] The vehicle 10 is, for example, a vehicle such as an automobile. The vehicle 10 is equipped with, for example, a DMS 200 configured with an imaging device, a processor, a memory, and a storage, and a display device 210 such as a display for displaying images. The information processing device 100 is, for example, connected to the DMS 200 and the display device 210 so as to be able to communicate with them.

[0025] The DMS 200 is a driver monitoring system (DMS) that captures and monitors the driver. The DMS 200 captures the driver's facial direction, line of sight, and other conditions using, for example, an imaging device disposed inside the vehicle 10, and estimates whether there are any signs of inattentive driving or drowsy driving. In this embodiment, the DMS 200 captures an image of the driver's face using the imaging device, analyzes the image, calculates the direction of the driver's line of sight, and transmits the calculation result to the information processing device 100 as line of sight information.

[0026] Note that the DMS 200 may transmit the above-described calculation result as gaze information to the information processing device 100, or may transmit an image showing the driver's face as gaze information to the information processing device 100. For example, when the information processing device 100 acquires an image showing the driver's face as gaze information, the information processing device 100 may calculate the direction of the driver's gaze based on the image.

[0027] The display device 210 is a display that displays video. For example, the display device 210 is controlled by the information processing device 100 to display video of the vehicle 10 and the area around the vehicle 10. For example, the display device 210 acquires alert information output when the DMS 200 detects drowsiness or the like in the driver, and displays video encouraging the driver to take a break or the like based on the alert information. For example, the display device 210 displays video acquired from an imaging device provided in the vehicle 10, a server device external to the vehicle 10, or an imaging device disposed other than the vehicle 10. In this embodiment, the display device 210 displays information related to lane changes acquired from the information processing device 100.

[0028] The display device 210 may be a monitor such as a liquid crystal display, or may be realized by a HUD (Head Up Display) or the like.

[0029] For example, the information processing device 100 acquires gaze information indicating the direction of the driver's gaze from the DMS 200, and determines whether the driver intends to change lanes based on the acquired gaze information.If it determines that the driver intends to change lanes, it displays an image on the display device 210 to assist the driver in changing lanes.

[0030] The information processing device 100 includes an acquisition unit 110, a determination unit 120, a control unit 130, and a storage unit 140.

[0031] The acquisition unit 110 is a processing unit that acquires various types of information. Specifically, the acquisition unit 110 acquires gaze information indicating the gaze direction of the driver of the vehicle 10 from the DMS 200. The gaze information may include, in addition to the gaze direction of the driver, information indicating the time when the gaze direction was detected or information indicating the duration of time the gaze direction is maintained. Furthermore, for example, the acquisition unit 110 acquires video of the surroundings of the vehicle 10 from an imaging device (not shown) provided in the vehicle 10.

[0032] The determination unit 120 is a processing unit that estimates whether the driver intends to change lanes. Specifically, based on the gaze information acquired by the acquisition unit 110, the determination unit 120 determines whether the driver's gaze is directed toward an adjacent lane (also referred to as a second lane), which is a lane adjacent to the lane in which the vehicle 10 is traveling (also referred to as a first lane), for a first period of time or longer. In this way, for example, if the driver's gaze is directed toward the second lane for a first period of time or longer, the determination unit 120 determines (estimates) that the driver is intending to change lanes from the first lane to the second lane. On the other hand, if the driver's gaze is not directed toward the second lane for a first period of time or longer, the determination unit 120 determines (estimates) that the driver is not intending to change lanes from the first lane to the second lane.

[0033] The time during which the driver's gaze is directed toward the second lane may be the time during which the driver looks directly at the second lane, or the time during which the driver looks indirectly at the second lane via the rearview mirror 40 or side mirrors 50, 51 described below.

[0034] The time during which the driver's line of sight is directed toward the second lane may be the time during which the driver's line of sight is continuously directed toward the second lane, or the time during which the driver's line of sight is directed toward the second lane for a predetermined period or more per unit time. The unit time and the predetermined period may be determined arbitrarily in advance and are not particularly limited.

[0035] The control unit 130 is a processing unit that executes vehicle control related to lane changes. Specifically, when it is estimated that the driver intends to change lanes, the control unit 130 assists the driver in changing lanes of the vehicle 10. For example, when the determination unit 120 determines that the driver's gaze is directed toward the second lane for a first time period or longer, the control unit 130 executes vehicle control related to lane changes of the vehicle 10 to the second lane. For example, in vehicle control related to lane changes, the control unit 130 performs at least one of notifying the driver about the lane change and controlling the driving of the vehicle 10. For example, the control unit 130 notifies the driver about the lane change by controlling the display device 210. Furthermore, for example, the control unit 130 controls the driving of the vehicle 10 by communicating with an ECU or the like provided in the vehicle 10 and assisting the vehicle 10 by accelerating or decelerating the vehicle 10.

[0036] In addition, the control unit 130 may notify the driver of the lane change by sound by controlling an audio device such as a speaker that outputs sound provided in the vehicle 10.

[0037] In this way, the control unit 130 executes control to assist the driver in changing lanes, based on the determination result of the determination unit 120 determined based on the line-of-sight information acquired by the acquisition unit 110.

[0038] For example, when the determination unit 120 determines that the driver's gaze is directed toward the second lane for a first time or more, the acquisition unit 110 acquires gaze information indicating the direction of the driver's gaze in the second lane after the determination unit 120 determines that the gaze is directed toward the second lane for a first time or more. Furthermore, the determination unit 120 determines a destination in the second lane to which the driver is changing lanes and intends to move the vehicle 10, based on the gaze information acquired by the acquisition unit 110. Furthermore, the control unit 130 executes control regarding the vehicle 10 based on the destination.

[0039] The gaze information acquired by the acquisition unit 110 before the determination unit 120 determines that the driver's gaze is directed toward the second lane for the first time or longer is also referred to as first gaze information. The gaze information acquired by the acquisition unit 110 after the determination unit 120 determines that the time is the first time or longer is also referred to as second gaze information.

[0040] FIG. 2 is a diagram schematically illustrating the interior of the vehicle 10 according to the embodiment.

[0041] For example, when the driver's line of sight is directed toward a first position 300 such as the rearview mirror 40 or the side mirrors 50, 51 provided on the vehicle 10, the determination unit 120 determines that the driver is looking behind the vehicle 10.

[0042] Furthermore, for example, when the driver's line of sight is directed toward a second position 310 such as the windshield 20 provided on the vehicle 10, the determination unit 120 determines that the driver is looking ahead of the vehicle 10.

[0043] Furthermore, for example, when the driver's line of sight is directed toward a third position 320 such as a door window 30, 31 provided on the vehicle 10, the determination unit 120 determines that the driver is looking to the side of the vehicle 10.

[0044] 3 to 5 are diagrams for explaining lane changes according to an embodiment. In FIGS. 3 to 5, an example will be described in which a vehicle 10 is traveling and is about to change lanes from a first lane to a second lane. In the example shown in FIGS. 3 to 5, another vehicle 11 other than the vehicle 10 is traveling in the second lane. In the following description, "forward" and "backward" of the vehicle 10 refer to positions in the second lane relative to the position of the vehicle 10 in the second lane when it is assumed that the vehicle 10 traveling in the first lane is traveling in the second lane. Similarly, "forward" and "backward" of the position of the vehicle 10 refer to positions in the second lane.

[0045] FIG. 3 is a diagram for explaining a first example of lane changing by the vehicle 10 according to the embodiment.

[0046] For example, when the determination unit 120 determines, based on the second gaze information, that the driver's gaze is directed toward the rear of the vehicle 10 (specifically, behind the vehicle 10 in the second lane) for a predetermined period of time or longer, the determination unit 120 determines that a location behind the position of the vehicle 10 (specifically, behind the position of the vehicle 10 in the second lane) is the destination (e.g., destination 10A). Note that, here, "behind the position of the vehicle 10" means, for example, a location behind the position of the vehicle 10 when the traveling vehicle 10 continues traveling at a constant speed in the first lane. Furthermore, for example, when the acquisition unit 110 acquires an image of the surroundings of the vehicle 10, the determination unit 120 may determine, based on the second gaze information and the image, that the driver is attempting to change lanes so as to move the vehicle 10 to destination 10A located behind the other vehicle 11. For example, if the judgment unit 120 determines that the driver's gaze is directed toward the rear of the vehicle 10 for a predetermined period of time or longer, it may determine that the driver is attempting to change lanes so as to move the vehicle 10 to a destination 10A located behind the other vehicle 11, even if the other vehicle 11 is located behind the vehicle 10.

[0047] FIG. 4 is a diagram for explaining a second example of lane changing by vehicle 10 according to the embodiment.

[0048] For example, when the determination unit 120 determines, based on the second gaze information, that the driver's gaze is directed to the side of the vehicle 10 for a predetermined period of time or longer, the determination unit 120 determines that a side of the position of the vehicle 10 is the destination (e.g., destination 10B). Note that the side of the position of the vehicle 10 here means, for example, the side of the vehicle 10 when the traveling vehicle 10 continues to travel in the first lane at a constant speed. Furthermore, for example, when the acquisition unit 110 acquires a video of the surroundings of the vehicle 10, the determination unit 120 may determine, based on the second gaze information and the video, that the driver is attempting to change lanes so as to move the vehicle 10 to destination 10B located in front of or behind the other vehicle 11. For example, when the other vehicle 11 is traveling ahead of the vehicle 10, the determination unit 120 may determine that the driver is attempting to change lanes so as to move the vehicle 10 behind the other vehicle 11. Also, for example, when another vehicle 11 is traveling behind the vehicle 10, the judgment unit 120 may determine that the driver is attempting to change lanes to move the vehicle 10 ahead of the other vehicle 11.

[0049] FIG. 5 is a diagram for explaining a third example of lane changing by the vehicle 10 according to the embodiment.

[0050] For example, when the determination unit 120 determines, based on the second gaze information, that the driver's gaze is directed ahead of the vehicle 10 (specifically, ahead of the vehicle 10 in the second lane) for a predetermined period of time or longer, the determination unit 120 determines that a location ahead of the position of the vehicle 10 (specifically, ahead of the position of the vehicle 10 in the second lane) is the destination (for example, destination 10C). Note that, here, "ahead of the position of the vehicle 10" means, for example, a location ahead of the position of the vehicle 10 when the traveling vehicle 10 continues traveling at a constant speed in the first lane. Furthermore, for example, when the acquisition unit 110 acquires an image of the surroundings of the vehicle 10, the determination unit 120 may determine, based on the second gaze information and the image, that the driver is attempting to change lanes so as to move the vehicle 10 to destination 10C located ahead of the other vehicle 11. For example, if the judgment unit 120 determines that the driver's gaze is directed ahead of the vehicle 10 for a predetermined period of time or longer, it may determine that the driver is attempting to change lanes so as to move the vehicle 10 to a destination 10C located ahead of the other vehicle 11, even if the other vehicle 11 is located ahead of the vehicle 10.

[0051] Note that the predetermined time in these examples may be arbitrarily determined in advance and is not particularly limited. For example, if the determination unit 120 determines, based on the second gaze information, that the driver's gaze is directed toward the rear of the vehicle 10 for a cumulative total of at least a second time during a predetermined period, the determination unit 120 determines that the destination (e.g., destination 10A) is a location behind the position of the vehicle 10 that would result if the traveling vehicle 10 continued traveling at a constant speed in the first lane. In this way, for example, the predetermined time may be a cumulative time during the predetermined period. For example, the predetermined period is a period from the time when the determination unit 120 determines that the gaze is directed toward the side of the vehicle 10 for a cumulative total of at least a second time during a predetermined period. The predetermined period and the second time may be arbitrarily determined in advance and are not particularly limited. Furthermore, for example, if the determination unit 120 determines that the driver's gaze is directed toward the side of the vehicle 10 for a cumulative total of at least a second time during a predetermined period, the determination unit 120 determines that the destination (e.g., destination 10B) is a location to the side of the position of the vehicle 10 that would result if the traveling vehicle 10 continued traveling at a constant speed in the first lane. Also, for example, if it is determined that the driver's gaze is directed ahead of the vehicle 10 for a cumulative total of more than the second hour within a predetermined period, the destination (e.g., destination 10C) is determined to be a location ahead of the position of the vehicle 10 if the vehicle 10 continues to travel at a constant speed in the first lane.

[0052] In addition, if the judgment unit 120 determines that the driver's gaze is not directed forward, backward, or to the side of the vehicle 10 for a cumulative period of time equal to or longer than the second time period within a predetermined period, the control unit 130 may not execute vehicle control regarding lane changes.

[0053] Furthermore, the predetermined time may be the time that the driver's gaze continues to be directed continuously for a predetermined period of time (specifically, until the predetermined period has elapsed). For example, when the determination unit 120 determines, based on the second gaze information, that the driver's gaze continues to be directed rearward of the vehicle 10 for three or more hours, the determination unit 120 determines that the destination is a location behind the position of the vehicle 10 that would result if the traveling vehicle 10 continued traveling in the first lane at a constant speed. For example, when the determination unit 120 determines that the driver's gaze continues to be directed to the side of the vehicle 10 for three or more hours, the determination unit 120 determines that the destination is a location to the side of the position of the vehicle 10 that would result if the traveling vehicle 10 continued traveling in the first lane at a constant speed. For example, when the determination unit 120 determines that the driver's gaze continues to be directed forward of the vehicle 10 for three or more hours, the determination unit 120 determines that the destination is a location ahead of the position of the vehicle 10 that would result if the traveling vehicle 10 continued traveling in the first lane at a constant speed.

[0054] For example, the control unit 130 executes vehicle control in accordance with the determination result of the determination unit 120 as shown in these examples. For example, when the driver is attempting to move the vehicle 10 behind another vehicle 11 as in the first example, the control unit 130 may perform control to decelerate the vehicle 10. Furthermore, when the driver is attempting to move the vehicle 10 to the side as in the second example, the control unit 130 may perform control not to accelerate or decelerate the vehicle 10. Furthermore, when the driver is attempting to move the vehicle 10 ahead of another vehicle 11 as in the third example, the control unit 130 may perform control to accelerate the vehicle 10. These controls may be realized, for example, by controlling the speed of the vehicle 10, or by notifying the driver regarding the speed of the vehicle 10, such as by informing the driver that the speed of the vehicle 10 should be increased.

[0055] In this way, the control unit 130 may execute vehicle control according to the destination to which the driver is moving the vehicle 10. For example, the control unit 130 executes a first control when the determination unit 120 determines that (i) the driver's line of sight is directed toward the rear of the vehicle 10 for a cumulative total of at least a second hour or at least a third hour consecutively within a predetermined period, executes a second control different from the first control when the determination unit 120 determines that the driver's line of sight is directed toward the side of the vehicle 10, and executes a third control different from the first control and the second control when the determination unit 120 determines that the driver's line of sight is directed toward the front of the vehicle 10.

[0056] Note that vehicle control is not limited to the above. For example, the control unit 130 may execute vehicle speed control according to the position of the lane change destination (movement destination) of the vehicle 10, or may execute driving assistance such as steering control provided in the vehicle 10. Furthermore, for example, when it is determined that the driver intends to change lanes ahead of the vehicle 10, if the vehicle 10 is traveling slower than the speed of another vehicle 11 traveling in the lane change destination, the control unit 130 may execute driving assistance to assist acceleration by causing the display device 210 to display a message urging the vehicle 10 to speed up. Furthermore, for example, when it is determined that the driver intends to change lanes behind the vehicle 10, if the vehicle 10 is traveling faster than the speed of another vehicle 11 traveling in the lane change destination, the control unit 130 may execute driving assistance to assist deceleration by causing the display device 210 to display a message urging the vehicle 10 to slow down.

[0057] Further, for example, the control unit 130 may determine the image to be displayed on the display device 210 based on lane change intention information indicating whether or not the driver intends to change lanes and the number of lanes on the road on which the vehicle 10 is traveling.

[0058] 6 and 7 are diagrams for explaining a specific example of vehicle control according to the embodiment.

[0059] For example, when the driver has no intention to change lanes from the first lane (i.e., when the driver's gaze is directed toward the second lane for less than a first time), the control unit 130 causes the display device 210 to display a display area 400 that includes the first lane and the lanes adjacent to the first lane, as shown in Fig. 6. Furthermore, when the driver has an intention to change lanes (i.e., when the driver's gaze is directed toward the second lane for a first time or more), the control unit 130 causes the display device 210 to display a display area 410 that includes the second lane and the lanes adjacent to the second lane (i.e., the first lane and the lanes located on the opposite side of the first lane as viewed from the second lane), as shown in Fig. 7.

[0060] Note that these images may be acquired, for example, from a server device external to vehicle 10. For example, acquisition unit 110 may acquire images from the external server device according to the determination result of determination unit 120. Also, for example, acquisition unit 110 may acquire images of a road showing all lanes, and control unit 130 may determine an area to be displayed in the acquired images according to the determination result of determination unit 120, and cause display device 210 to display the determined area.

[0061] Furthermore, for example, when the determination unit 120 determines that the driver's line of sight is directed toward the second lane for a first time or longer, the control unit 130 may cause the display device 210 to display information about the second lane and surrounding vehicles in lanes adjacent to the second lane. The surrounding vehicle information is, for example, information indicating the position and speed of other vehicles 11. Furthermore, for example, when the control unit 130 determines that the driver's line of sight is directed toward the second lane for a first time or longer, the control unit 130 may cause the display device 210 to display information indicating whether or not a lane change to the second lane is possible. For example, the control unit 130 may cause the second lane displayed on the display device 210 to be displayed in a different color from the other lanes, or may cause the display device 210 to display information indicating whether or not a lane change to the second lane is possible after explicitly notifying the driver about the lane change, such as by audio guidance. For example, control unit 130 may control display device 210 so that the second lane is displayed in a different manner (e.g., color) depending on whether a lane change is possible or not. For example, control unit 130 may perform this notification by coloring the lane displayed on the display device, or, if display device 210 is a HUD, by superimposing the lane. Furthermore, for example, when it is determined that the driver is attempting to change lanes to the second lane, control unit 130 may cause display device 210 to display the second lane in a color that corresponds to the determination result of whether a lane change is possible, such as by causing display device 210 to display the second lane in blue if a lane change to the second lane is possible, or by causing display device 210 to display the second lane in red if a lane change to the second lane is not possible.

[0062] The determination of whether a lane change is possible may be performed by any method. For example, the determination unit 120 may determine whether a lane change is possible based on surrounding vehicle information. Furthermore, for example, the acquisition unit 110 may acquire the determination result of whether a lane change is possible from an external server device.

[0063] Each processing unit such as the acquisition unit 110, the determination unit 120, and the control unit 130 is realized by, for example, a processor and a memory that stores a control program executed by the processor.

[0064] The storage unit 140 is a processing unit that stores various types of information. For example, the storage unit 140 stores information used by each processing unit, such as the predetermined time, the predetermined period, and threshold information such as the first time, the second time, and the third time. The storage unit 140 is realized by, for example, an HDD (Hard Disk Drive) or a semiconductor memory.

[0065] [Processing Procedure] Next, the processing procedure of the information processing device 100 will be described.

[0066] <Example 1> 8 is a flowchart showing a first example of a processing procedure of the information processing device 100 according to the embodiment. In the first example, when the information processing device 100 determines that the driver intends to change lanes, it further estimates that the driver intends to move the vehicle 10 in the direction that the driver has been looking in for a predetermined time or more in total during a predetermined period of time.

[0067] First, the DMS 200 starts monitoring the driver (S110). In this embodiment, the DMS 200 detects the direction of the driver's gaze by capturing an image of the driver's face. The acquisition unit 110 acquires, from the DMS 200, gaze information (first gaze information) indicating the direction of the driver's gaze detected by the DMS 200.

[0068] Next, the determination unit 120 determines whether the driver has looked at the side mirror 50 or 51 for a first period or longer based on the line-of-sight information (S120). Specifically, the determination unit 120 determines whether the driver has looked at the second lane through the side mirror 50 or 51 for a first period or longer based on the line-of-sight information. If the determination unit 120 determines that the driver has not looked at the side mirror 50 or 51 for a first period or longer (No in S120), the determination unit 120 determines whether the driver has looked at a vehicle (e.g., another vehicle 11) in the adjacent lane (second lane) reflected in the rearview mirror 40 for a first period or longer (S130). In other words, the determination unit 120 determines whether the driver has looked at the second lane through the rearview mirror 40 for a first period or longer.

[0069] When the determination unit 120 determines that the driver has not looked at the vehicle in the second lane reflected in the rearview mirror 40 for the first hour or longer (No in S130), the determination unit 120 returns to the process of step S120. The determination unit 120 executes steps S120 and S130 based on the gaze information that is repeatedly acquired, thereby determining, for example, whether the driver has looked at the vehicle in the second lane reflected in the rearview mirror 40 for the first hour or longer.

[0070] The determination unit 120 may perform the determinations of S120 and S130 based on the time the driver directly looked at the second lane, rather than the time the driver indirectly looked at the second lane via the rearview mirror 40 or the side mirrors 50, 51. The determination unit 120 may also determine whether the driver looked at the rearview mirror 40 or the side mirrors 50, 51 for a first period of time or more, or whether the driver looked at a vehicle traveling in the second lane reflected in the rearview mirror 40 for a first period of time or more. The first period of time is, for example, a few seconds, such as 1 to 2 seconds, but may be set arbitrarily.

[0071] For example, if the determination unit 120 determines that the driver has looked at the side mirror 50 or 51 for the first hour or more (Yes in S120), or if the determination unit 120 determines that the driver has looked at a vehicle in the second lane reflected in the rearview mirror 40 for the first hour or more (Yes in S130), it determines that the driver intends to change lanes from the first lane to the second lane while the vehicle 10 is traveling (S140). Next, the determination unit 120 determines (estimates) where the driver intends to move the vehicle 10 in the second lane.

[0072] Next, the acquisition unit 110 acquires gaze information for a predetermined period (second gaze information) (S150). In this example, for example, the following process is executed after the acquisition unit 110 acquires the gaze information for the predetermined period. The predetermined time is, for example, about several seconds, such as 1 to 5 seconds, but may be set arbitrarily.

[0073] For example, the determination unit 120 executes the following steps S160, S180, and / or S200 based on the line-of-sight information acquired in step S150.

[0074] The determination unit 120 determines whether or not the driver has looked at the rearview mirror 40 or the side mirror 50 or 51 for a cumulative total of two hours or more during a predetermined period (within the predetermined period) (S160). Specifically, the determination unit 120 determines whether or not the driver has looked at the rear of the vehicle 10 in the second lane through the rearview mirror 40 or the side mirror 50 or 51 for a cumulative total of two hours or more during the predetermined period.

[0075] When it is determined that the driver has not looked at the rearview mirror 40 or the side mirror 50 or 51 for a cumulative total of the second time or more during the predetermined period (No in S160), the determination unit 120 determines whether the driver has looked at the side of the vehicle (i.e., the vehicle 10) (e.g., the door windows 30, 31) for a cumulative total of the second time or more during the predetermined period (S180). Specifically, the determination unit 120 determines whether the driver has looked at the side of the vehicle 10 in the second lane for a cumulative total of the second time or more during the predetermined period.

[0076] If it is determined that the driver has not looked at the side of the vehicle for a cumulative total of two hours or more during the predetermined period (No in S180), the determination unit 120 determines whether the driver has looked at the area ahead of the vehicle 10, not including the first lane (for example, a vehicle traveling ahead of the vehicle in the second lane, or an empty space in the second lane), for a cumulative total of two hours or more during the predetermined period (S200). Specifically, the determination unit 120 determines whether the driver has looked at the area ahead of the vehicle 10 in the second lane for a cumulative total of two hours or more during the predetermined period.

[0077] Note that steps S160, S180, and S200 may be executed in any order. The second time period may be set arbitrarily, for example, to a few seconds, such as 1 to 2 seconds. The second time period may be set as a percentage of the predetermined period, such as 50% or more, or 80% or more, of the predetermined period.

[0078] When the determination unit 120 determines that the driver has looked at the rearview mirror 40 or the side mirror 50 or 51 for a cumulative second time or more within a predetermined period (Yes in S160), the determination unit 120 determines that the driver intends to change lanes behind the vehicle (S170). For example, the determination unit 120 determines that the driver is attempting to move the vehicle 10 behind the position of the vehicle 10 in the second lane when the vehicle 10 continues traveling at a constant speed in the first lane.

[0079] When it is determined that the driver has looked at the side of the vehicle for a cumulative total of the second time or more within a predetermined period (Yes in S180), the determination unit 120 determines that the driver intends to change lanes to the side of the vehicle (S190). For example, when the vehicle 10 continues traveling at a constant speed in the first lane, the determination unit 120 determines that the driver is attempting to move the vehicle 10 to the side of the vehicle 10 in the second lane.

[0080] When the determination unit 120 determines that the driver has looked ahead of the vehicle for a cumulative second time or more during the predetermined period (Yes in S200), the determination unit 120 determines that the driver intends to change lanes ahead of the vehicle (S210). For example, the determination unit 120 determines that the driver is attempting to move the vehicle 10 ahead of the position of the vehicle 10 in the second lane when the vehicle 10 continues to travel at a constant speed in the first lane.

[0081] On the other hand, if the determination unit 120 determines that the driver has not looked ahead of the vehicle for a cumulative second time or more during the predetermined period (No in S200), it determines that the driver has an intention to change lanes but has not performed a lane change (lane change operation) (S220), and returns the process to step S120. In this case, for example, the control unit 130 does not perform control related to lane changes, and the determination of whether the driver has an intention to change lanes is repeated again.

[0082] Furthermore, after steps S170, S190, and S210, the control unit 130 executes vehicle control in accordance with the determination result of the determination unit 120 (S230). For example, the determination unit 120 determines that the driver is attempting to move the vehicle 10 to a position behind the position of the vehicle 10 in the second lane when the traveling vehicle 10 continues to travel at a constant speed in the first lane. For example, when executing step S230 after step S170, the control unit 130 executes vehicle control to assist the driver in moving the vehicle 10 to a position behind the position of the vehicle 10 when the traveling vehicle 10 continues to travel at a constant speed in the first lane and to the second lane. Furthermore, for example, when the control unit 130 executes step S230 following step S190, the control unit 130 performs vehicle control to assist the driver in moving the vehicle 10 to the side and to the second lane relative to the position of the vehicle 10 if the traveling vehicle 10 continues to travel at a constant speed in the first lane. Furthermore, for example, when the control unit 130 executes step S230 following step S210, the control unit 130 performs vehicle control to assist the driver in moving the vehicle 10 to the front and to the second lane relative to the position of the vehicle 10 if the traveling vehicle 10 continues to travel at a constant speed in the first lane.

[0083] Note that in step S150, the processing from step S160 onward may be performed after the acquisition unit 110 acquires all of the gaze information for the predetermined period, or the processing of step S160 may be performed each time the acquisition unit 110 acquires gaze information in step S150. In this case, for example, if the answers to steps S160, S180, and S200 are No until the predetermined period has elapsed, the processing may be returned to step S150. For example, if the answers to steps S160, S180, or S200 are Yes before the predetermined period has elapsed, the processing may be performed without returning to step S150. Furthermore, after the predetermined period has elapsed, the processing may be performed as shown in FIG. 8.

[0084] <Example 2> 9 is a flowchart showing a second example of the processing procedure of the information processing device 100 according to the embodiment. In the second example, when the information processing device 100 determines that the driver intends to change lanes, it further presumes that the driver is attempting to move the vehicle 10 in the direction that the driver has been looking at continuously for a predetermined period of time or more. In the following description of the second example, processes that are substantially the same as those in the first example are given the same reference numerals, and the description may be simplified or omitted.

[0085] The information processing device 100 executes steps S110 to S140 as described in the first example.

[0086] Next, the acquisition unit 110 repeatedly acquires the line-of-sight information (second line-of-sight information) of the DMS 200. In this example, for example, the following process is executed each time the acquisition unit 110 acquires line-of-sight information until a predetermined period has elapsed.

[0087] For example, determination unit 120 executes the following steps S160A, S180A, and / or S200A based on the line-of-sight information acquired after step S140.

[0088] The determination unit 120 determines whether or not the subject has looked at the rearview mirror 40 or the side mirror 50 or 51 for a third consecutive time or longer before a predetermined period of time has elapsed (S160A). Specifically, the determination unit 120 determines whether or not the subject has looked at the rear of the vehicle 10 in the second lane through the rearview mirror 40 or the side mirror 50 or 51 for a third consecutive time or longer before a predetermined period of time has elapsed.

[0089] Furthermore, when it is determined that the driver has not looked at the rearview mirror 40 or the side mirror 50 or 51 for a continuous period of three hours or more before the predetermined period has elapsed (No in S160A), the determination unit 120 determines whether the driver has looked at the side of the vehicle 10 for a continuous period of three hours or more before the predetermined period has elapsed (S180A). Specifically, the determination unit 120 determines whether the driver has looked at the side of the vehicle 10 in the second lane for a continuous period of three hours or more before the predetermined period has elapsed.

[0090] Furthermore, when it is determined that the driver has not looked at the side of the vehicle for a continuous period of three hours or more before the predetermined period has elapsed (No in S180A), the determination unit 120 determines whether the driver has looked at the area ahead of the vehicle 10, excluding the first lane, for a continuous period of three hours or more before the predetermined period has elapsed (S200A). Specifically, the determination unit 120 determines whether the driver has looked at the area ahead of the vehicle 10 in the second lane for a continuous period of three hours or more before the predetermined period has elapsed.

[0091] Note that steps S160A, S180A, and S200A may be executed in any order. Furthermore, the third time period may be set to any length, for example, about a few seconds, such as 1 to 2 seconds.

[0092] Furthermore, when determining that the driver has looked at the rearview mirror 40 or the side mirror 50 or 51 for the third or more consecutive hours before the predetermined period of time has elapsed (Yes in S160A), the determination unit 120 proceeds to step S170.

[0093] Furthermore, when determining unit 120 determines that the driver has looked at the side of the vehicle continuously for the third time or more before the predetermined period of time has elapsed (Yes in S180A), it proceeds to step S190.

[0094] Furthermore, when determining that the driver has continuously looked ahead of the vehicle for the third time period or more before the predetermined period has elapsed (Yes in S200A), determining unit 120 proceeds to step S210.

[0095] On the other hand, when determining unit 120 determines that the driver has not looked ahead of the vehicle for the third consecutive hour or more before the predetermined period has elapsed (No in S200A), it proceeds to step S220.

[0096] For example, if the answer is No in steps S160A, S180A, and S200A until the predetermined period has elapsed, the process may return to step S160A. For example, if the answer is Yes in step S160A, S180A, or S200A before the predetermined period has elapsed, the process may be executed without returning to step S160A. After the predetermined period has elapsed, the process may be executed as shown in FIG. 9.

[0097] The subsequent processing is the same as the processing procedure shown in FIG. 8, for example.

[0098] Furthermore, after step S140, similarly to the processing procedure shown in FIG. 8, the acquisition unit 110 may acquire all of the line-of-sight information for a predetermined period, and then the processing from step S160A onwards may be executed.

[0099] <Basic example> 10 is a flowchart showing an example of a basic information processing method according to an embodiment. For example, the information processing device 100 includes a processor and a memory, and the processor uses the memory to perform the following processes.

[0100] First, the information processing device 100 acquires gaze information (first gaze information) indicating the direction of the gaze of the driver who drives the vehicle 10 (S10).

[0101] Next, based on the acquired first gaze information, the information processing device 100 determines whether the driver's gaze is directed toward a second lane adjacent to the first lane in which the vehicle 10 is traveling for a first time or longer (S20).

[0102] When it is determined in step S20 that the time is equal to or longer than the first time (Yes in S20), the information processing device 100 executes control regarding lane change of the vehicle 10 to the second lane (S30).

[0103] On the other hand, if it is determined in step S20 that the time is not equal to or longer than the first time (No in S20), the information processing device 100 does not execute control regarding the lane change of the vehicle 10 to the second lane.

[0104] For example, as a control related to lane change, the information processing device 100 causes the display device 210 to display the first lane and the second lane so as to highlight the second lane with a different color from the first lane.

[0105] For example, the information processing device 100 repeatedly executes the above process while the vehicle 10 is traveling.

[0106] [Effects, etc.] Below, examples of techniques that can be obtained from the disclosure of this specification will be given, and the effects and the like that can be obtained from the exemplified techniques will be described.

[0107] Technique 1 is an information processing device 100 that includes an acquisition unit 110 that acquires first gaze information indicating the direction of the gaze of a driver operating a vehicle 10, a determination unit 120 that determines, based on the first gaze information, whether the driver's gaze is directed toward a second lane adjacent to a first lane in which the vehicle 10 is traveling for a first time period or longer, and a control unit 130 that executes control regarding lane changes of the vehicle 10 to the second lane when the determination unit 120 determines that the time period is longer than the first time period.

[0108] According to this, the driver's intention to change lanes is determined based on the direction of the driver's line of sight. In other words, whether the driver is about to change lanes is determined based on the direction of the driver's line of sight. Therefore, whether the driver is about to change lanes is determined before the driver has already performed an action to change lanes (lane change action), such as turning on a blinker signal, as described in Patent Document 1. In other words, whether the driver is about to change lanes is determined at an earlier timing than conventionally. Therefore, it is possible to prevent notification of a lane change to the driver and control of the vehicle 10, such as control of the vehicle 10's driving, from being performed at an unnecessary time. Therefore, the information processing device 100 can execute control related to a lane change at an appropriate timing.

[0109] Technique 2 is the information processing device 100 according to Technique 1, in which the control unit 130 performs at least one of notifying the driver about the lane change and controlling the running of the vehicle 10 in the control related to the lane change.

[0110] This allows the driver to be assisted in changing lanes by controlling the lane change.

[0111] Technology 3 is the information processing device 100 described in Technology 1 or 2, in which, when the determination unit 120 determines that the first time period is or longer, the acquisition unit 110 acquires second gaze information indicating the direction of the driver's gaze in the second lane after the determination unit 120 determines that the first time period is or longer, the determination unit 120 determines, based on the second gaze information, a destination in the second lane to which the driver is changing lanes and intends to move the vehicle 10 (e.g., destination 10A, 10B, or 10C), and the control unit 130 executes control regarding the vehicle 10 based on the destination.

[0112] This allows the control unit 130 to execute control of the vehicle 10 according to the destination to which the driver is presumed to be planning to move the vehicle 10.

[0113] Technology 4 is the information processing device 100 described in Technology 3, in which, if the judgment unit 120 determines based on the second gaze information that the driver's gaze is directed toward the rear of the vehicle 10 for a cumulative total of two hours or more during a predetermined period, the judgment unit 120 judges the destination to be a location behind the vehicle 10 that would result if the moving vehicle 10 continued to travel in the first lane at a constant speed (for example, destination 10A); if the judgment unit 120 determines that the driver's gaze is directed toward the side of the vehicle 10 for a cumulative total of two hours or more during a predetermined period, the judgment unit 120 judges the destination to be a location to the side of the vehicle 10 that would result if the moving vehicle 10 continued to travel in the first lane at a constant speed (for example, destination 10B); and if the judgment unit 120 determines that the driver's gaze is directed toward the front of the vehicle 10 for a cumulative total of two hours or more during a predetermined period, the judgment unit 120 judges the destination to be a location ahead of the vehicle 10 that would result if the moving vehicle 10 continued to travel in the first lane at a constant speed (for example, destination 10C).

[0114] This makes it possible to accurately determine the destination in the second lane to which the driver is moving the vehicle 10 by performing a lane change operation.

[0115] Technology 5 is the information processing device 100 described in Technology 3 or 4, in which, if the judgment unit 120 determines based on the second gaze information that the driver's gaze has been directed backwards for a third period of time or more, the judgment unit 120 judges the destination to be a location behind the vehicle 10 that would be the location of the vehicle 10 if the moving vehicle 10 continued to travel in the first lane at a constant speed; if the judgment unit 120 determines that the driver's gaze has been directed to the side of the vehicle 10 for a third period of time or more, the judgment unit 120 judges the destination to be a location to the side of the vehicle 10 that would be the location of the vehicle 10 if the moving vehicle 10 continued to travel in the first lane at a constant speed; and if the judgment unit 120 determines that the driver's gaze has been directed forwards for a third period of time or more, the judgment unit 120 judges the destination to be a location ahead of the vehicle 10 that would be the location of the vehicle 10 if the moving vehicle 10 continued to travel in the first lane at a constant speed.

[0116] This makes it possible to accurately determine the destination in the second lane to which the driver is moving the vehicle 10 by performing a lane change operation.

[0117] Technique 6 is an information processing method that acquires first gaze information indicating the direction of the gaze of the driver of vehicle 10 (S10), determines based on the first gaze information whether the driver's gaze is directed toward a second lane adjacent to the first lane in which vehicle 10 is traveling for a first time period or longer (S20), and if it is determined that the gaze is directed toward a second lane adjacent to the first lane in which vehicle 10 is traveling for a first time period or longer (Yes in S20), executes control regarding lane change of vehicle 10 to the second lane (S30).

[0118] This provides the same effects as the information processing device 100 according to the first technique.

[0119] Technique 7 is a program for causing a computer to execute the information processing method described in Technique 6.

[0120] This provides the same effects as the information processing device 100 according to the first technique.

[0121] Note that the general or specific aspects of the present disclosure may be realized as a system, an apparatus, a method, an integrated circuit, a computer program, or a non-transitory recording medium such as a computer-readable CD-ROM, or as any combination of a system, an apparatus, a method, an integrated circuit, a computer program, and a recording medium.

[0122] (Other embodiments) Although the present disclosure has been described above based on each embodiment, the present disclosure is not limited to the above-described embodiments. Therefore, the components described in the accompanying drawings and detailed description may include not only components essential for solving the problem, but also components that are not essential for solving the problem in order to illustrate the above technology. Therefore, the fact that these non-essential components are described in the accompanying drawings or detailed description should not be interpreted as immediately indicating that these non-essential components are essential.

[0123] For example, in the above embodiment, the time that the driver's gaze is directed toward the second lane may be the time that the driver indirectly looks at the second lane via a display device 210 (e.g., a HUD) that displays information about surrounding vehicles.

[0124] In the above-described embodiments, each component (each processing unit) may be realized by executing a software program suitable for that component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or semiconductor memory.

[0125] Furthermore, each component may be realized by hardware. Each component may be a circuit (or integrated circuit). These circuits may form a single circuit as a whole, or each may be a separate circuit. Furthermore, each of these circuits may be a general-purpose circuit or a dedicated circuit.

[0126] The division of functional blocks in the block diagram is an example, and multiple functional blocks may be realized as a single functional block, one functional block may be divided into multiple blocks, or some functions may be moved to another functional block.Furthermore, the functions of multiple functional blocks having similar functions may be processed in parallel or time-shared by a single piece of hardware or software.

[0127] The order in which the steps in the flowchart are executed is merely an example for specifically explaining the present disclosure, and an order other than the above may be used. Also, some of the steps may be executed simultaneously (in parallel) with other steps.

[0128] In addition, this disclosure also includes forms obtained by applying various modifications to the above embodiments that a person skilled in the art would think of, and forms realized by arbitrarily combining the components and functions of the above embodiments within the scope of the present disclosure. [Industrial Applicability]

[0129] The present disclosure is applicable to an information processing device that assists a driver in changing lanes. [Explanation of symbols]

[0130] 10 vehicles 10A, 10B, 10C Move destination 11 Other vehicles 20 Front Window 30, 31 Door windows 40 Rearview mirror 50, 51 Side mirror 100 Information processing device 110 Acquisition Department 120 Judgment section 130 control section 140 Storage section 200 DMS 210 Display device 300 1st position 310 2nd position 320 3rd position 400, 410 indicates the domain

Claims

1. an acquisition unit that acquires first line-of-sight information indicating a line-of-sight direction of a driver who drives a vehicle; a determination unit that determines whether the driver's line of sight is directed toward a second lane adjacent to a first lane in which the vehicle is traveling for a first time period or longer based on the first line of sight information; a control unit that executes control regarding a lane change of the vehicle to the second lane when the determination unit determines that the time is equal to or longer than the first time. Information processing device.

2. In the control regarding the lane change, the control unit performs at least one of notifying the driver regarding the lane change and controlling the traveling of the vehicle. The information processing device according to claim 1 .

3. When the determination unit determines that the time is equal to or longer than the first time, the acquisition unit acquires second line of sight information indicating a direction of line of sight of the driver in the second lane after the determination unit determines that the time is equal to or longer than the first time, and The determination unit determines a destination in the second lane to which the driver is intending to move the vehicle by changing lanes, based on the second line of sight information, The control unit executes control regarding the vehicle based on the destination.

3. The information processing device according to claim 1.

4. The determination unit, based on the second line of sight information, When it is determined that the driver's line of sight is directed rearward of the vehicle for a cumulative total of a second time period or more within a predetermined period, it is determined that the destination is a location behind the position of the vehicle that would be assumed if the vehicle were to continue traveling at a constant speed in the first lane, If it is determined that the driver's line of sight is directed to the side of the vehicle for a cumulative total of at least the second time during the predetermined period, it is determined that the destination is a side of the position of the vehicle if the vehicle continues to travel in the first lane at a constant speed, When it is determined that the driver's line of sight is directed forward of the vehicle for a cumulative total of at least the second time period during the predetermined period, it is determined that the destination is a location forward of the vehicle that would be in the event that the vehicle continues to travel at a constant speed in the first lane. The information processing device according to claim 3 .

5. The determination unit, based on the second line of sight information, If it is determined that the driver's line of sight continues to be directed rearward of the vehicle for a third time or more, it is determined that the destination is a location behind the position of the vehicle that would be assumed if the vehicle continued to travel at a constant speed in the first lane, When it is determined that the driver's line of sight continues to be directed to the side of the vehicle for the third time period or more, it is determined that the destination is a side of the position of the vehicle when the vehicle continues to travel in the first lane at a constant speed, When it is determined that the driver's line of sight continues to be directed forward of the vehicle for the third time period or more, it is determined that the destination is a location forward of the position of the vehicle that would be assumed if the vehicle continued to travel at a constant speed in the first lane. The information processing device according to claim 3 .

6. acquiring first line-of-sight information indicating a line-of-sight direction of a driver who drives a vehicle; determining whether the driver's gaze is directed toward a second lane adjacent to a first lane in which the vehicle is traveling for a first time period or longer based on the first gaze information; When it is determined that the time is equal to or longer than the first time, control is executed regarding a lane change of the vehicle to the second lane. Information processing methods.

7. A computer-implemented method for processing information according to claim 6, program.

Images