Feedback information presentation device, feedback information presentation method, and program

Abstract

To provide a feedback information presentation device that presents feedback information for making movement control of a person appropriate without obstructing a central visual field of the person who is moving, by artificially enhancing sensory feedback available during movement.SOLUTION: In a feedback information presentation device, control is performed such that presentation stimuli of feedback information presented by a feedback information presentation unit increase as a mobile body approaches an edge of a traveling path in the feedback information presentation unit that is installed at a predetermined position within a peripheral visual field region of a user that does not obstruct a central visual field of the user. Accordingly, the user can sensitively recognize, by checking the presentation stimuli presented by the feedback information presentation unit, that a position of the mobile body has approached an edge of the traveling path.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a technique for presenting feedback information to support stable driving. [Background technology]

[0002] In recent years, various systems have been developed that provide driving assistance information to occupants of moving objects such as vehicles. For example, Patent Document 1 discloses a technology in which a head-up display (HUD) is installed in a vehicle (e.g., an automobile) and driving information (e.g., an arrow indicating the vehicle's traveling direction) is displayed as a virtual image in front of the vehicle's windshield as seen by the occupant of the vehicle, superimposed on the foreground in the forward field of view. With the technology of Patent Document 1, driving assistance is realized by having the occupant (driver) of the vehicle (e.g., an automobile) check the driving information (e.g., an arrow indicating the vehicle's traveling direction) displayed on the HUD. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2016-64760 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the above technology (the technology disclosed in Patent Document 1) has a problem in that driving information (for example, an arrow indicating the vehicle's traveling direction) is displayed on the HUD, which blocks the central field of vision of the vehicle's (for example, automobile) occupant (driver). Although there is a demand for technology that appropriately supports stable driving, no technology has been established that appropriately supports stable driving without blocking the central field of vision of the vehicle's (for example, automobile) occupant (driver).

[0005] Therefore, in view of the above problems, the present invention aims to realize a feedback information presentation device, a feedback information presentation method, and a program that present feedback information that optimizes a person's movement control without obstructing the central field of vision of the person moving by artificially enhancing the sensory feedback available during movement. [Means for solving the problem]

[0006] In order to solve the above problem, a representative example (one aspect) of the invention disclosed in this application is a feedback information presentation device for presenting feedback information to a user operating a mobile body, which includes a feedback information presentation unit, a driving environment data acquisition unit, a mobile body data acquisition unit, a feedback information presentation data acquisition processing unit, and a drive control unit.

[0007] The feedback information presentation unit is installed at a position within the moving body that does not obstruct the user's central visual field and is included in the user's peripheral visual field when performing an operation to move the moving body.

[0008] The traveling environment data acquisition unit acquires traveling environment data, which is data about the traveling environment of the mobile object.

[0009] The mobile object data acquisition unit acquires mobile object data, which is data including data about the position of a mobile object.

[0010] The feedback information presentation data acquisition processing unit acquires feedback information presentation data, which is data for presenting feedback information, based on the traveling environment data and the mobile object data.

[0011] The drive control unit drives the feedback information presentation unit based on the feedback information presentation data.

[0012] The feedback information presentation data acquisition processing unit acquires feedback information presentation data so that the closer the moving body approaches the end of the route on which the moving body is traveling, the higher the intensity of the presentation stimulus of the feedback information presented by the feedback information presentation unit becomes. [Effects of the Invention]

[0013] According to the present invention, it is possible to realize a feedback information presentation device, a feedback information presentation method, and a program that present feedback information that optimizes a person's movement control without obstructing the central field of vision of the person moving by artificially enhancing the sensory feedback available during movement. [Brief explanation of the drawings]

[0014] [Figure 1] 1 is a schematic configuration diagram of a feedback information presentation device 100 according to a first embodiment. [Figure 2] FIG. 1 is a diagram showing a schematic configuration of a feedback information presentation system 1000 when a feedback information presentation device 100 according to the first embodiment is mounted on an automobile (an example of a moving body), and is a diagram showing the automobile Vhcl1 as viewed from the side in the direction of travel when a driver Drv1 is driving the automobile Vhcl1. [Figure 3] FIG. 1 is a diagram showing a driver's seat and a passenger seat of an automobile (an example of a moving body) equipped with a feedback information presentation device 100 according to the first embodiment, and further showing the central visual field and peripheral visual field of the driver. [Figure 4] FIG. 1 is a schematic plan view seen from above for explaining the central and peripheral visual fields of a human being. [Figure 5] 1 is a flowchart of a process executed in a feedback information presentation system 1000 according to the first embodiment. [Figure 6] FIG. 2 is a diagram schematically illustrating a vehicle Vhcl1 and the lane in which the vehicle Vhcl1 is traveling. [Figure 7] FIG. 4 is a graph showing a function for determining a display area of ​​the feedback information presenting unit 2. [Figure 8] 4A and 4B are diagrams for explaining a method for controlling a lighting area of ​​a display area of ​​a feedback information presenting unit 2 according to the first embodiment. [Figure 9] 4A and 4B are diagrams for explaining a method for controlling a lighting area of ​​a display area of ​​a feedback information presenting unit 2 according to the first embodiment. [Figure 10] FIG. 10 is a diagram for explaining a method for controlling a lighting area of ​​a display area of ​​a feedback information presenting unit 2 according to a first modified example of the first embodiment. [Figure 11] FIG. 10 is a diagram for explaining a method for controlling a lighting area of ​​a display area of ​​a feedback information presenting unit 2 according to a first modified example of the first embodiment. [Figure 12] FIG. 10 is a diagram schematically illustrating the general configuration of a feedback information presentation system 2000 according to a second embodiment. [Figure 13] FIG. 10 is a schematic configuration diagram of a feedback information presentation device 100A according to a second embodiment. [Figure 14] FIG. 10 is a diagram showing a driver's seat and a passenger seat of an automobile (an example of a moving body) equipped with a feedback information presentation device 100A according to the second embodiment, and further showing the central visual field and peripheral visual field of the driver. [Figure 15] 10 is a flowchart of a process executed by a feedback information presentation system 2000 according to a second embodiment. [Figure 16] FIG. 2 is a diagram schematically illustrating a vehicle Vhcl1 and the lane in which the vehicle Vhcl1 is traveling. [Figure 17] 10A and 10B are diagrams for explaining a method for controlling a lighting area of ​​a display area of ​​a feedback information presenting unit 2A according to the second embodiment. [Figure 18] A diagram showing the CPU bus configuration. DETAILED DESCRIPTION OF THE INVENTION

[0015] [First embodiment] The first embodiment will be described below with reference to the drawings.

[0016] In the following, a case where the feedback information presentation system and the feedback information presentation device are mounted on an automobile (an example of a moving body) will be described as an example.

[0017] <1.1: Configuration of the feedback information presentation system> FIG. 1 is a schematic configuration diagram of a feedback information presentation device 100 according to the first embodiment.

[0018] FIG. 2 is a diagram (a side view of the vehicle Vhcl1 in the direction of travel when the driver Drv1 is driving the vehicle Vhcl1) showing a schematic configuration of a feedback information presentation system 1000 when the feedback information presentation device 100 according to the first embodiment is mounted on a vehicle (an example of a moving body).

[0019] FIG. 3 is a diagram showing a driver's seat and a passenger seat of an automobile (an example of a moving body) equipped with the feedback information presentation device 100 according to the first embodiment, and further showing the central visual field and peripheral visual field of the driver.

[0020] FIG. 4 is a diagram for explaining the central visual field and peripheral visual field of a human being, and is a schematic plan view seen from above.

[0021] As shown in FIG. 1, the feedback information presentation device 100 includes a feedback information presentation control unit 1 and a feedback information presentation unit 2.

[0022] As shown in FIG. 2, the feedback information presentation system 1000 includes a GPS receiving unit Rx1, a front camera F_cam, a sensor Sen1, a map data storage unit Dev1, a feedback information presentation control unit 1, and a feedback information presentation unit 2 (not shown in FIG. 2).

[0023] The GPS receiver Rx1 receives GPS signals transmitted from GPS satellites and extracts predetermined parameters from the received GPS signals. The GPS receiver Rx1 then performs calculations using the extracted parameters to calculate the current position of the vehicle Vhcl1. The GPS receiver Rx1 then generates data D_GPS including information about the calculated current position of the vehicle Vhcl1 and outputs the generated data D_GPS to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0024] The front camera F_cam is installed, for example, at the front of the vehicle Vhcl1. The front camera F_cam is an imaging device configured with a camera using a solid-state imaging element such as a CMOS image sensor or a CCD image sensor, and captures the scenery ahead in the direction of travel of the vehicle. The front camera F_cam then outputs the captured image data as data D_F_cam to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0025] The sensor Sen1 is, for example, a sensor that can measure physical quantities related to the situation outside the vehicle Vhcl1, and is installed at a position where it can measure the physical quantities of the measurement target. The sensor Sen1 is, for example, a sensor that detects objects outside the vehicle Vhcl1 (e.g., obstacles, objects for recognizing the shape and width of the road, etc.), a distance sensor that measures the distance to objects outside the vehicle Vhcl1 (e.g., obstacles, objects for recognizing the shape and width of the road, etc.), or a sensor that detects the condition of the road on which the vehicle Vhcl1 is traveling (e.g., detects white lines on the road). Note that the sensor Sen1 may be composed of multiple sensors. The sensor Sen1 outputs data including the acquired physical quantities (measurement result data by the sensor) as data D_sensor to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0026] The map data storage unit Dev1 is a storage unit for storing map data (e.g., map road data). The map data is stored in the map data storage unit Dev1, for example, by downloading it from a map data distribution center or by obtaining it from a recording medium such as a DVD or a memory card. In accordance with a request (request command) from the feedback information presentation control unit 1, the map data storage unit Dev1 reads out predetermined map data specified by the request. The map data storage unit Dev1 then outputs the read map data as data D_map to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0027] The feedback information presentation control unit 1 of the feedback information presentation device 100 includes a data interface unit 11 , a driving environment data acquisition unit 12 , a mobile object data acquisition unit 13 , a feedback information presentation data acquisition processing unit 14 , and a drive control unit 15 .

[0028] The data interface unit 11 is an interface that is connected to one or more functional units mounted on the vehicle Vhcl1 so as to be able to communicate data with the functional units, and is capable of performing predetermined data communication with the functional units. The data interface unit 11 receives data D_GPS output from the GPS receiver Rx1, data D_F_cam output from the front camera F_cam, data D_sensor output from the sensor Sen1, and data D_map output from the map data storage unit Dev1. The data interface unit 11 can also output a read request Req_map to the map data storage unit Dev1 for predetermined map data (for example, map data for the area in which the vehicle Vhcl1 is traveling), and can read out the map data specified in the read request Req_map.

[0029] The data interface unit 11 extracts from the input data data necessary for the driving environment data acquisition unit 12 to acquire data about the driving environment of the vehicle Vhcl1, and outputs the extracted data as data D1a to the driving environment data acquisition unit 12. The data interface unit 11 also extracts from the input data data necessary for the mobile object data acquisition unit 13 to identify (acquire) the position of the mobile object (vehicle Vhcl1), and outputs the extracted data as data D1b to the mobile object data acquisition unit 13.

[0030] The driving environment data acquisition unit 12 receives the data D1a output from the data interface unit 11. Based on the data D1a, the driving environment data acquisition unit 12 acquires information about the road on which the automobile Vhcl1 is currently traveling.

[0031] For example, data D1a contains (1) Information about the current location of the vehicle Vhcl1 obtained from data D_GPS; (2) Map information of the road you are currently driving on obtained from data D_map, (3) The shape of the road on which the vehicle Vhcl1 is currently traveling (e.g., road width, lane width, etc.) obtained from the data D_sensor; (4) A captured image (captured video) of the scenery ahead of the vehicle Vhcl1 on the road currently being driven, obtained from the data D_F_cam. Based on this information, the driving environment data acquisition unit 12 acquires information about the road along which the vehicle Vhcl1 is currently traveling (for example, road shape, road width, lane width, etc.) as driving environment data. The driving environment data acquisition unit 12 then outputs data including the acquired driving environment data as data D2a to the feedback information presentation data acquisition processing unit 14.

[0032] The mobile object data acquisition unit 13 receives data D1b output from the data interface unit 11. Based on the data D1b, the mobile object data acquisition unit 13 acquires data such as the position of the vehicle Vhcl1 on the travel route (road) and the shape of the vehicle Vhcl1 (for example, vehicle width).

[0033] For example, data D1b contains (1) Information about the current location of the vehicle Vhcl1 obtained from data D_GPS; (2) Map information of the road you are currently driving on obtained from data D_map, (3) The relative position of the vehicle Vhcl1 from the white line on the road on which it is currently traveling, acquired from the data D_sensor (position information specifying how far the vehicle Vhcl1 is located from the white line on the road), and (4) A captured image (captured video) of the scenery ahead of the vehicle Vhcl1 on the road currently being driven, obtained from the data D_F_cam. Based on this information, the mobile object data acquisition unit 13 acquires data on the position of the automobile Vhcl1 on the travel route (road).

[0034] The mobile object data acquisition unit 13 outputs the data (mobile object data) including the data on the position of the vehicle Vhcl1 on the travel route (road) acquired as described above to the feedback information presentation data acquisition processing unit 14 as data D2b.

[0035] The feedback information presentation data acquisition processing unit 14 receives data D2a output from the traveling environment data acquisition unit 12 and data D2b output from the mobile object data acquisition unit 13. The feedback information presentation data acquisition processing unit 14 performs processing to acquire data for presenting feedback information (feedback information presentation data acquisition processing) (details of which will be described later) based on the data D2a and the data D2b. The feedback information presentation data acquisition processing unit 14 then outputs data including the data acquired by the feedback information presentation data acquisition processing to the drive control unit 15 as data D3.

[0036] The drive control unit 15 receives data D3 output from the feedback information presentation data acquisition processing unit 14. Then, the drive control unit 15 generates a drive signal sig_Drv for driving the feedback information presentation unit 2 based on the data D3, and drives the feedback information presentation unit 2 with the generated drive signal sig_Drv.

[0037] The feedback information presentation unit 2 is a functional unit that presents feedback information to the driver Drv1 (a user who performs a movement operation on the moving body) of the vehicle Vhcl1. The feedback information presentation unit 2 is installed in a position (a position within the peripheral vision area of ​​the driver Drv1 and at a predetermined position inside the vehicle Vhcl1) that does not obstruct the central field of vision of the driver Drv1 when the driver Drv1 (a user who performs a movement operation on the moving body) of the vehicle Vhcl1 performs a driving operation on the vehicle Vhcl1. The feedback information presentation unit 2 is realized, for example, using an LED display device (a display device including a plurality of light-emitting elements (e.g., LEDs) arranged in a row). In the present embodiment, the following description will be given assuming that the feedback information presentation unit 2 is realized by two LED display devices, a right LED display device 21_R and a left LED display device 21_L, each having a long and narrow rectangular display area, that are installed at predetermined positions on both the left and right sides inside the vehicle Vhcl1, as shown in FIG. 3. In addition, the feedback information presentation unit 2 may be realized by a display device (a display device including multiple light-emitting elements arranged in one or multiple columns) using an LCD panel (liquid crystal panel), an EL panel, a light bulb, etc.

[0038] As shown in Figure 3, when a driver Drv1 (a user who performs movement operations on a moving body) of a vehicle Vhcl1 performs driving operations on the vehicle Vhcl1, that is, when the driver Drv1 sits in the driver's seat of the vehicle Vhcl1 and looks straight ahead in the direction of travel, the area of ​​the central visual field is defined as the area CentV (the area within the dotted line indicated by CentV) shown in Figure 3, and the area of ​​the peripheral visual field is defined as the area PeriV (the area within the dotted line indicated by PeriV) shown in Figure 3, the right LED display device 21_R and the left LED display device 21_L that constitute the feedback information presentation unit 2 are installed (1) in an area other than the area CentV of the central visual field of the driver Drv1, and (2) at a position within the area PeriV of the peripheral visual field of the driver Drv1, and (3) at a position inside the vehicle Vhcl1. In the case of Figure 3, the right-side LED display device 21_R is installed on the inside of the door on the right side of the driver's seat of the automobile Vhcl1, and the left-side LED display device 21_L is installed on the inside of the door on the left side of the passenger's seat of the automobile Vhcl1.

[0039] The right-side LED display device 21_R, which constitutes the feedback information presentation unit 2, has a long, narrow rectangular display area, and this display area is driven and controlled by the drive signal sig_Drv output from the drive control unit 15 (the drive signal sig_Drv controls so that a predetermined area of ​​the display area is lit).

[0040] The left LED display device 21_L constituting the feedback information presentation unit 2 has a long, narrow rectangular display area, and this display area is driven and controlled by the drive signal sig_Drv output from the drive control unit 15 (the drive signal sig_Drv controls so that a predetermined area of ​​the display area lights up).

[0041] Note that (1) the central visual field of driver Drv1 (human) may be, as shown in FIG. 4, for example, the area within a cone with an apex of 5° (2.5° to −2.5° when the axis Ax1 in FIG. 4 is used as the reference and the clockwise direction is a positive angle) with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex (area Area_CentV in FIG. 4), and (2) the peripheral visual field of driver Drv1 (human) may be, as shown in FIG. 4, for example, the area within a cone with an apex of 120° (60° to −60° when the axis Ax1 in FIG. 4 is used as the reference and the clockwise direction is a positive angle) with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex (area Area_PeriV in FIG. 4).

[0042] Furthermore, as shown in FIG. 4, the peripheral visual field area of ​​driver Drv1 (human) may be an area defined by a sector with an angle (central angle) of 220° (angles from 110° to −110° when the clockwise direction is defined as a positive angle using axis Ax1 in FIG. 4 as the reference) with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex (an area within a cylinder with a base (cross section) of a sector with an angle (central angle) of 220° with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex).

[0043] <1.2: Operation of the feedback information presentation system> The operations of the feedback information presentation system 1000 and the feedback information presentation device 100 configured as above will be described below. It is known that human behavior occurs before consciousness, and if artificial feedback can be used to induce "unconscious" or "automatic" movement control (for example, movement control of a car), effective movement control assistance can be realized. The feedback information presentation system 1000 has a configuration that can realize the above, and its operation will be described below.

[0044] FIG. 5 is a flowchart of the process executed by the feedback information presentation system 1000 of the first embodiment.

[0045] FIG. 6 is a diagram that schematically shows the vehicle Vhcl1 and the lane in which the vehicle Vhcl1 is traveling.

[0046] FIG. 7 is a graph of a function for determining the display area of ​​the feedback information presenting unit 2. In FIG.

[0047] 8 and 9 are diagrams for explaining a method for controlling the lighting area of ​​the display area of ​​the feedback information presenting unit 2 in the first embodiment.

[0048] The operation of the feedback information presentation system 1000 will be described below with reference to the flowchart of FIG.

[0049] (Step S1): In step S1, a driving environment data acquisition process is executed. Specifically, the following process is executed.

[0050] The GPS receiving unit Rx1 generates data D_GPS including information on the calculated current position of the automobile Vhcl1, and outputs the generated data D_GPS to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0051] The feedback information presentation control unit 1 requests the map data storage unit Dev1 to read map data for the area in which the vehicle Vhcl1 is currently traveling, and in response to the request, the map data storage unit Dev1 outputs the map data for the area in which the vehicle Vhcl1 is currently traveling to the data interface unit 11 of the feedback information presentation control unit 1.

[0052] The sensor Sen1 measures the shape of the road on which the automobile Vhcl1 is currently traveling (e.g., the surface condition of the road, etc.), and outputs the measurement data as data D_sensor to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0053] The front camera F_cam captures an image of the scenery ahead in the traveling direction of the vehicle, and outputs the captured image data as data D_F_cam to the data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100.

[0054] The data interface unit 11 of the feedback information presentation control unit 1 of the feedback information presentation device 100 inputs data D_GPS output from the GPS receiving unit Rx1, data D_F_cam output from the front camera F_cam, data D_sensor output from the sensor Sen1, and data D_map output from the map data storage unit Dev1.

[0055] Then, the data interface unit 11 extracts data necessary for the driving environment data acquisition unit 12 to acquire data about the driving environment of the vehicle Vhcl1 from the above input data, and outputs the extracted data to the driving environment data acquisition unit 12 as data D1a.

[0056] The driving environment data acquisition unit 12 acquires information about the road on which the automobile Vhcl1 is currently traveling based on the data D1a output from the data interface unit 11. The data D1a includes: (1) Information about the current location of the vehicle Vhcl1 obtained from data D_GPS; (2) Map information of the road you are currently driving on obtained from data D_map, (3) The shape of the road on which the vehicle Vhcl1 is currently traveling (e.g., road width, lane width, etc.) obtained from the data D_sensor; (4) A captured image (captured video) of the scenery ahead of the vehicle Vhcl1 on the road currently being driven, obtained from the data D_F_cam. Based on this information, the driving environment data acquisition unit 12 acquires information about the road on which the vehicle Vhcl1 is currently traveling (for example, road shape, road width, lane width, etc.) as driving environment data. In order to use the above data (1) to (4) in a unified manner, it is preferable to convert the coordinate system data in which the above data (1) to (4) are defined as appropriate, and handle the above data (1) to (4) as data in a unified coordinate system (for example, a three-dimensional coordinate system with a predetermined position of the vehicle Vhcl1 as the origin) (it is preferable to handle the data after coordinate conversion).

[0057] Then, the driving environment data acquisition unit 12 outputs data including the acquired driving environment data as data D2a to the feedback information presentation data acquisition processing unit 14. Note that the driving environment data acquisition unit 12 may output data including the driving environment data as data D2a to the feedback information presentation data acquisition processing unit 14 only when the driving environment data has changed or when there has been a change of a predetermined amount or more.

[0058] (Step S2): In step S2, a mobile object data acquisition process is executed. Specifically, the following process is executed.

[0059] Based on the data D1b output from the data interface unit 11, the mobile object data acquisition unit 13 acquires data such as the position of the vehicle Vhcl1 on the travel route (road) and the shape of the vehicle Vhcl1 (for example, vehicle width).

[0060] For example, data D1b contains (1) Information about the current location of the vehicle Vhcl1 obtained from data D_GPS; (2) Map information of the road you are currently driving on obtained from data D_map, (3) The relative position of the vehicle Vhcl1 from the white line on the road on which it is currently traveling, acquired from the data D_sensor (position information specifying how far the vehicle Vhcl1 is located from the white line on the road), and (4) A captured image (captured video) of the scenery ahead of the vehicle Vhcl1 on the road currently being driven, obtained from the data D_F_cam. Based on this information, the mobile object data acquisition unit 13 acquires data on the position of the vehicle Vhcl1 on the travel route (road). In order to use the above data (1) to (4) in a unified manner, it is preferable to convert the coordinate system data in which the above data (1) to (4) are defined as appropriate, and handle the above data (1) to (4) as data in a unified coordinate system (for example, a three-dimensional coordinate system with a predetermined position of the vehicle Vhcl1 as the origin) (it is preferable to handle the data after coordinate conversion).

[0061] The mobile object data acquisition unit 13 then outputs the data (mobile object data) including the data on the travel route (road) of the vehicle Vhcl1 acquired as described above as data D2b to the feedback information presentation data acquisition processing unit 14. Note that the mobile object data acquisition unit 13 may output the mobile object data as data D2b to the feedback information presentation data acquisition processing unit 14 only when the data (mobile object data) on the travel route (road) of the vehicle Vhcl1 acquired as described above has changed, or when there has been a change of a predetermined amount or more.

[0062] The process of step S2 is executed in parallel with the process of step S1. Note that the process of step S1 and the process of step S2 may be executed serially (sequentially).

[0063] Also, (Step S3): In step S3, a feedback information presentation data acquisition process is executed. Specifically, the following process is executed.

[0064] The feedback information presentation data acquisition processing unit 14, based on the data D2a output from the driving environment data acquisition unit 12 and the data D2b output from the moving body data acquisition unit 13, determines (1) the position of the vehicle Vhcl1 (moving body), (2) the width w of the lane in which the vehicle Vhcl1 is traveling, c (3) The distance d from the center of the vehicle Vhcl1 (the center line Line_center in Figure 6) to the left edge of the lane in which the vehicle Vhcl1 is traveling L , and (4) the distance d from the center of the vehicle Vhcl1 (the center line Line_center in Figure 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R Get.

[0065] Then, the feedback information presentation data acquisition processing unit 14 performs processing to determine the lighting areas of the display areas of the left LED display device 21_L and the right LED display device 21_R of the feedback information presentation unit 2 using the data acquired as described above.

[0066] Specifically, the display areas of the left LED display device 21_L and the right LED display device 21_R of the feedback information presenting unit 2 are elongated rectangular display areas as shown in the right diagram of FIG. 6, and the length (in the longitudinal direction) of the display areas is L disp The axis (one-dimensional axis) that defines the position for determining the display area is set as "0" at the bottom of the display area, the positive direction is the upward direction, and the top of the display area is set as L disp When the above definition is given, the feedback information presentation data acquisition processing unit 14 determines whether or not the left LED display device 21_L is illuminated in a predetermined area (the width of the illuminated area is assumed to be b) as the position of the automobile Vhcl1 (moving body) approaches the left edge of the lane in which the automobile Vhcl1 is traveling. <L disp ) is raised within the display area, and (2) as the position of the automobile Vhcl1 (moving body) approaches the right edge of the lane in which the automobile Vhcl1 (moving body) is traveling, the right LED display device 21_R has a lighting area having a predetermined width (the width of the lighting area is assumed to be b. b <L disp ) within the display area.

[0067] Hereinafter, (A) the process for determining the display area of ​​the left LED display device 21_L and (B) the process for determining the display area of ​​the right LED display device 21_R will be described with reference to FIGS. (A) When determining the display area of ​​the left LED display device 21_L (a1)d L >w c If / 2 d L >w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the left edge of the lane in which the vehicle Vhcl1 is traveling. L However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is longer than half the distance, the feedback information presentation data acquisition processing unit 14 outputs data indicating that the left LED display device 21_L is to be turned off (a state in which there is no display area to be lit) as data D3 to the drive control unit 15, and the drive control unit 15 generates a drive signal sig_Drv that turns off the left LED display device 21_L (a state in which there is no display area to be lit), and drives and controls the left LED display device 21_L using the drive signal sig_Drv to turn off the left LED display device 21_L (a state in which there is no display area to be lit) (state A0 in Figure 8). (a2) 0≦d L ≦w c If / 2 0≦d L ≦w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the left edge of the lane in which the vehicle Vhcl1 is traveling. L However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is less than half the distance, the feedback information presentation data acquisition processing unit 14 performs processing corresponding to the following formula to determine the variable X (in the case of the left LED display device 21_L, X=X L ) value.

number

[0068] (A1) For example, in the case of state A1 in Figure 8, that is, d L =w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs processing according to the above formula, and L = 0. That is, in the case of state A1, the feedback information presentation data acquisition processing unit 14 acquires data for lighting up a display area of ​​width b from the bottom end (position of "0") of the display area of ​​the left LED display device 21_L, outputs the acquired data as data D3 to the drive control unit 15, and the drive control unit 15 generates a drive signal sig_Drv that sets the left LED display device 21_L to state A1 (the area from 0 to b in the display area (a state in which the area Area_bright in state A1 of FIG. 8 is lit)), and drives and controls the left LED display device 21_L with the drive signal sig_Drv, thereby setting the left LED display device 21_L to state A1 (state A1 of FIG. 8).

[0069] (A2) Also, in the case of state A2 in Figure 8, that is, 0 <d L <w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs processing according to the above formula, and LThat is, in the state A2, the feedback information presentation data acquisition processing unit 14 acquires the bottom edge (X L position), and the display area of ​​width b (X L ~X L +b) of the display area, and outputs the acquired data as data D3 to the drive control unit 15. The drive control unit 15 then turns on the left LED display device 21_L in state A2 (the X L ~X L A drive signal sig_Drv is generated to set the left LED display device 21_L to the +b area (a state in which the area Area_bright in state A2 of Figure 8 is lit), and the drive signal sig_Drv is used to drive and control the left LED display device 21_L to set it to state A2 (state A2 of Figure 8).

[0070] (A3) Also, in the case of state A3 in Figure 8, that is, d L If X = 0, the feedback information presentation data acquisition processing unit 14 performs processing according to the above formula, L That is, in the state A3, the feedback information presentation data acquisition processing unit 14 acquires the bottom edge (L disp -b) to the display area of ​​width b (L disp -b~L disp The drive control unit 15 outputs the acquired data as data D3 to the drive control unit 15, and the drive control unit 15 turns on the left LED display device 21_L in state A3 (the L area of ​​the display area). disp -b~L disp The drive signal sig_Drv is generated to set the left LED display device 21_L to state A3 (state A3 in FIG. 8 , where area Area_bright is lit), and the drive signal sig_Drv is used to drive and control the left LED display device 21_L, thereby setting the left LED display device 21_L to state A3 (state A3 in FIG. 8 ). (B) When determining the display area of ​​the right LED display device 21_R (b1)d R >w c If / 2 d R >wc / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is longer than half the distance, the feedback information presentation data acquisition processing unit 14 outputs data indicating that the right-side LED display device 21_R is to be turned off (a state in which there is no display area to be lit) as data D3 to the drive control unit 15, and the drive control unit 15 generates a drive signal sig_Drv that turns off the right-side LED display device 21_R (a state in which there is no display area to be lit), and drives and controls the right-side LED display device 21_R using the drive signal sig_Drv, thereby turning off the right-side LED display device 21_R (a state in which there is no display area to be lit) (state B0 in Figure 9). (b2) 0≦d R ≦w c If / 2 0≦d R ≦w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is less than half the distance, the feedback information presentation data acquisition processing unit 14 performs processing equivalent to (Equation 1) to obtain a variable X (in the case of the right LED display device 21_R, X=X R ) value.

[0071] When processing the right LED display device 21_R, d=d in (Equation 1) R Let's say.

[0072] (B1) For example, in the case of state B1 in Figure 9, that is, d R =w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and obtains X R= 0. That is, in the case of state B1, the feedback information presentation data acquisition processing unit 14 acquires data for lighting up a display area of ​​width b from the bottom end (position of "0") of the display area of ​​the right-side LED display device 21_R, outputs the acquired data as data D3 to the drive control unit 15, and the drive control unit 15 generates a drive signal sig_Drv that sets the right-side LED display device 21_R to state B1 (the area from 0 to b in the display area (a state in which the area Area_bright in state B1 of FIG. 9 is lit)), and drives and controls the right-side LED display device 21_L with the drive signal sig_Drv, thereby setting the right-side LED display device 21_R to state B1 (state B1 of FIG. 9).

[0073] (B2) Also, in the case of state B2 in Figure 9, that is, 0 <d R <w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and obtains X R That is, in the state B2, the feedback information presentation data acquisition processing unit 14 acquires the bottom edge (X R position), and the display area of ​​width b (X R ~X R +b) of the display area, and outputs the acquired data as data D3 to the drive control unit 15. The drive control unit 15 then changes the right LED display device 21_R to the state B2 (X R ~X R A drive signal sig_Drv is generated to set the right LED display device 21_R to the +b area (a state in which the area Area_bright in state B2 of Figure 9 is lit), and the drive signal sig_Drv is used to drive and control the right LED display device 21_R, thereby setting the right LED display device 21_R to state B2 (state B2 of Figure 9).

[0074] (B3) Also, in the case of state B3 in Figure 9, that is, d R If X = 0, the feedback information presentation data acquisition processing unit 14 performs processing according to the above formula, RThat is, in the state B2, the feedback information presentation data acquisition processing unit 14 acquires the bottom edge (L disp -b) to the display area of ​​width b (L disp -b~L disp The drive control unit 15 then outputs the acquired data as data D3 to the drive control unit 15, and the right LED display device 21_R is put into state B2 (the L area of ​​the display area). disp -b~L disp The drive signal sig_Drv is generated to set the right-side LED display device 21_R to state B2 (state B3 in FIG. 9 ), and the drive signal sig_Drv is used to drive and control the right-side LED display device 21_R.

[0075] As described above, the feedback information presentation data acquisition processing unit 14 executes (A) a process for determining the display area of ​​the left LED display device 21_L, and (B) a process for determining the display area of ​​the right LED display device 21_R, and outputs the data acquired by the above processes to the drive control unit 15 as data D3.

[0076] (Step S4): In step S4, a process is executed to drive the feedback information presenting unit 2. Specifically, the following process is executed.

[0077] Based on the data D3 output from the feedback information presentation data acquisition processing unit 14, the drive control unit 15 generates a drive signal sig_Drv for driving the feedback information presentation unit 2 (a drive signal for lighting up the area indicated by the data D3 in the display area of ​​the left LED display device 21_L of the feedback information presentation unit 2 and for lighting up the area indicated by the data D3 in the display area of ​​the right LED display device 21_R), and drives the feedback information presentation unit 2 (the left LED display device 21_L and the right LED display device 21_R) with the generated drive signal sig_Drv.

[0078] (Step S5): In step S5, a determination process is performed as to whether or not there has been an instruction to end the process of presenting the feedback information (for example, an instruction by a control signal output from a control unit (not shown) that controls each functional unit of the feedback information presentation device 100). If it is determined that there has been no instruction to end the process of presenting the feedback information, the process returns to steps S1 and S2, and the processes of steps S1 to S4 are continued. On the other hand, if it is determined that there has been an instruction to end the process of presenting the feedback information, the process of presenting the feedback information is ended.

[0079] <Summary> As described above, in the feedback information presentation system 1000, the feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) is installed at a predetermined position inside the vehicle Vhcl1 in the area of ​​the driver Drv1's peripheral vision, an area that does not obstruct the central vision of the driver Drv1 when the driver Drv1 is seated in the driver's seat, and is controlled so that the position of the lighting area of ​​the feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) is moved to a position where the distance between the lighting area and the viewpoint (eye position) of the driver Drv1 becomes shorter (in this embodiment, the position of the lighting area is raised) as the vehicle Vhcl1 approaches the left or right edge of the lane in which the vehicle Vhcl1 is traveling. This allows the driver Drv1 to intuitively recognize (through the visual sense of peripheral vision) that the vehicle is approaching the left edge of the lane in which the vehicle is traveling or the right edge of the lane in which the vehicle is traveling by checking the position of the lit area of ​​the feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R). The feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) is installed in a position that can be recognized by the peripheral vision of the driver Drv1. Therefore, for example, while driving, the driver Drv1 can check (recognize through the visual sense of peripheral vision) the position of the lit area of ​​the feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) without blocking the central vision (the visual area that the driver Drv1 is gazing at). In other words, the feedback information presentation system 1000 can present stronger feedback information the closer the vehicle Vhcl1 approaches the left or right edge of the lane in which it is traveling, thereby artificially strengthening the sensory feedback available during travel (in this embodiment, feedback information that can be perceived intuitively through peripheral vision).By artificially strengthening the sensory feedback using the feedback information presentation system 1000, it is possible to appropriately support the movement control (e.g., vehicle movement control) that people normally perform unconsciously using sensory feedback.

[0080] In other words, the feedback information presentation system 1000 can present feedback information that optimizes a person's movement control without obstructing the central field of vision of the person moving by artificially enhancing the sensory feedback available during movement.

[0081] <First Modification> Next, a first modified example of the first embodiment will be described. Note that the same parts as those in the above-described embodiment will be given the same reference numerals, and detailed description thereof will be omitted.

[0082] 10 and 11 are diagrams for explaining a method for controlling the lighting area of ​​the display area of ​​the feedback information presenting unit 2 in the first modified example of the first embodiment.

[0083] In the feedback information presentation system 1000 of the first embodiment, in the feedback information presentation data acquisition process, control is performed to light up an area of ​​a predetermined lighting width (lighting width b) in the display area of ​​the feedback information presentation unit 2 (control is performed to change the position of the lighting area), but in the feedback information presentation system of the first modification of the first embodiment, control is performed to change the size of the lighting area in the display area of ​​the feedback information presentation unit 2 in the feedback information presentation data acquisition process. This is the difference between the feedback information presentation system 1000 of the first embodiment and the feedback information presentation system of this modification. Otherwise, the feedback information presentation system of this modification is similar to the feedback information presentation system 1000 of the first embodiment.

[0084] The feedback information presentation data acquisition process (step S3) and the drive process of the feedback information presentation unit 2 (step S4) of the feedback information presentation system of this modified example will be described below.

[0085] (Step S3): In step S3, a feedback information presentation data acquisition process is executed. Specifically, the following process is executed.

[0086] The feedback information presentation data acquisition processing unit 14, based on the data D2a output from the driving environment data acquisition unit 12 and the data D2b output from the moving body data acquisition unit 13, determines (1) the position of the vehicle Vhcl1 (moving body), (2) the width w of the lane in which the vehicle Vhcl1 is traveling, c (3) The distance d from the center of the vehicle Vhcl1 (the center line Line_center in Figure 6) to the left edge of the lane in which the vehicle Vhcl1 is traveling L , and (4) the distance d from the center of the vehicle Vhcl1 (the center line Line_center in Figure 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R Get.

[0087] Then, the feedback information presentation data acquisition processing unit 14 performs processing to determine the lighting areas of the display areas of the left LED display device 21_L and the right LED display device 21_R of the feedback information presentation unit 2 using the data acquired as described above.

[0088] Specifically, the display areas of the left LED display device 21_L and the right LED display device 21_R of the feedback information presenting unit 2 are elongated rectangular display areas as shown in the right diagram of FIG. 6, and the length (in the longitudinal direction) of the display areas is L disp The axis (one-dimensional axis) that defines the position for determining the display area is set as "0" at the bottom of the display area, the positive direction is the upward direction, and the top of the display area is set as L disp When this is defined as above, the feedback information presentation data acquisition processing unit 14 generates data for controlling the display area of ​​the feedback information presentation unit 2 so that (1) the size of the lit area of ​​the left LED display device 21_L increases as the position of the automobile Vhcl1 (moving body) approaches the left edge of the lane in which it is traveling, and (2) the size of the lit area of ​​the right LED display device 21_R increases as the position of the automobile Vhcl1 (moving body) approaches the right edge of the lane in which it is traveling.

[0089] Hereinafter, (C) the process for determining the display area of ​​the left LED display device 21_L and (D) the process for determining the display area of ​​the right LED display device 21_R will be described with reference to FIGS. (C) When determining the display area of ​​the left LED display device 21_L (c1)d L >w c If / 2 d L >w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the left edge of the lane in which the vehicle Vhcl1 is traveling. L However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is longer than half the distance, the feedback information presentation data acquisition processing unit 14 outputs data indicating that the left LED display device 21_L is to be turned off (a state in which there is no display area to be lit) as data D3 to the drive control unit 15, and the drive control unit 15 generates a drive signal sig_Drv that turns off the left LED display device 21_L (a state in which there is no display area to be lit), and drives and controls the left LED display device 21_L using the drive signal sig_Drv to turn off the left LED display device 21_L (a state in which there is no display area to be lit) (state C0 in Figure 10). (c2) 0≦d L ≦w c If / 2 0≦d L ≦w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the left edge of the lane in which the vehicle Vhcl1 is traveling. L However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is less than half the distance of the left LED display device 21_L, the feedback information presentation data acquisition processing unit 14 performs processing equivalent to (Equation 1) to obtain a variable X (in the case of the left LED display device 21_L, X=X L ) value.

[0090] When processing the left LED display device 21_L, d=d in (Equation 1) L Let's say.

[0091] (C1) For example, in the case of state C1 in Figure 10, that is, d L =w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and obtains X L That is, in the state C1, the feedback information presentation data acquisition processing unit 14 acquires the reference value X for determining the lighting area of ​​the display area of ​​the left LED display device 21_L. L offset by width b from X L The area below the +b position is the lighting area (0~X L +b area is set as the lighting area), and the acquired data is output to the drive control unit 15 as data D3. The drive control unit 15 then sets the left LED display device 21_L in state C1 (0 to X of the display area L A drive signal sig_Drv is generated to set the left LED display device 21_L to the +b area (a state in which the area Area_bright in state C1 of Figure 10 is lit), and the drive signal sig_Drv is used to drive and control the left LED display device 21_L to set it to state C1 (state C1 of Figure 10).

[0092] (C2) Also, in the case of state C2 in Figure 10, that is, 0 <d L <w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and obtains X L That is, in the state C2, the feedback information presentation data acquisition processing unit 14 acquires the reference value X L offset by width b from X L The area below the +b position is the lighting area (0~X L+b area is set as the lighting area), and the acquired data is output to the drive control unit 15 as data D3. The drive control unit 15 then sets the left LED display device 21_L in state C2 (0 to X of the display area). L A drive signal sig_Drv is generated to set the left LED display device 21_L to the +b area (a state in which the area Area_bright in state C2 of Figure 10 is lit), and the drive signal sig_Drv is used to drive and control the left LED display device 21_L, thereby setting the left LED display device 21_L to state C2 (state C2 of Figure 10).

[0093] (C3) Also, in the case of state C3 in Figure 10, that is, d L If X = 0, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and L That is, in the state C3, the feedback information presentation data acquisition processing unit 14 acquires the reference value X for determining the lighting area of ​​the display area of ​​the left LED display device 21_L. L offset by width b from X L The area below the +b position is the lighting area (0~X L The drive control unit 15 outputs the acquired data as data D3 to the drive control unit 15, and the drive control unit 15 sets the left LED display device 21_L in state C3 (the L of the display area disp A drive signal sig_Drv is generated to set the area to 0 (entire display area) (a state in which the area Area_bright in state C3 of Figure 10 is lit)), and the left LED display device 21_L is driven and controlled by the drive signal sig_Drv, thereby setting the left LED display device 21_L to state C3 (state C3 of Figure 10). (D) When determining the display area of ​​the right LED display device 21_R (d1)d R >w c If / 2 d R >w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. RHowever, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is longer than half the distance, the feedback information presentation data acquisition processing unit 14 outputs data indicating that the right-side LED display device 21_R is to be turned off (a state in which there is no display area to be lit) as data D3 to the drive control unit 15, and the drive control unit 15 generates a drive signal sig_Drv that turns off the right-side LED display device 21_R (a state in which there is no display area to be lit), and drives and controls the right-side LED display device 21_R using the drive signal sig_Drv, thereby turning off the right-side LED display device 21_R (a state in which there is no display area to be lit) (state D0 in Figure 11). (d2)0≦d R ≦w c If / 2 0≦d R ≦w c / 2, that is, the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R However, the width of the lane in which the car Vhcl1 is traveling is w c If the distance is less than half the distance of the right LED display device 21_R, the feedback information presentation data acquisition processing unit 14 performs processing equivalent to (Equation 1) to obtain a variable X (in the case of the right LED display device 21_R, X=X R ) value.

[0094] When processing the right LED display device 21_R, d=d in (Equation 1) R Let's say.

[0095] (D1) For example, in the case of state D1 in Figure 11, that is, d R =w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and obtains X R That is, in the state D1, the feedback information presentation data acquisition processing unit 14 acquires the reference value X for determining the lighting area of ​​the display area of ​​the right LED display device 21_R. Roffset by width b from X R The area below the +b position is the lighting area (0~X R +b area is set as the lighting area), and the acquired data is output to the drive control unit 15 as data D3. The drive control unit 15 then sets the right LED display device 21_R in state D1 (0 to X of the display area). R A drive signal sig_Drv is generated to set the right-side LED display device 21_R to the +b area (a state in which the area Area_bright in state D1 of Figure 11 is lit), and the drive signal sig_Drv is used to drive and control the right-side LED display device 21_R, thereby setting the right-side LED display device 21_R to state D1 (state D1 of Figure 11).

[0096] (D2) Also, in the case of state D2 in Figure 11, that is, 0 <d R <w c In the case of / 2, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and obtains X R That is, in the state D2, the feedback information presentation data acquisition processing unit 14 acquires the reference value X for determining the lighting area of ​​the display area of ​​the right LED display device 21_R. R offset by width b from X R The area below the +b position is the lighting area (0~X R +b area is set as the lighting area), and the acquired data is output to the drive control unit 15 as data D3. The drive control unit 15 then sets the right LED display device 21_R in state D2 (the area from 0 to X in the display area R A drive signal sig_Drv is generated to set the right LED display device 21_R to the +b area (a state in which the area Area_bright in state D2 of Figure 11 is lit), and the drive signal sig_Drv is used to drive and control the right LED display device 21_R, thereby setting the right LED display device 21_R to state D2 (state D2 of Figure 11).

[0097] (D3) Also, in the case of state D3 in Figure 11, that is, d R If X = 0, the feedback information presentation data acquisition processing unit 14 performs the process according to (Equation 1) and RThat is, in the state D3, the feedback information presentation data acquisition processing unit 14 acquires the reference value X for determining the lighting area of ​​the display area of ​​the right LED display device 21_R. R offset by width b from X R The area below the +b position is the lighting area (0~X R The drive control unit 15 outputs the acquired data as data D3 to the drive control unit 15, and the drive control unit 15 sets the right LED display device 21_R in the state D3 (the L of the display area disp A drive signal sig_Drv is generated to set the right LED display device 21_R to the area of ​​~0 (entire display area) (a state in which the area Area_bright in state D3 of Figure 11 is lit)), and the drive signal sig_Drv is used to drive and control the right LED display device 21_R, thereby setting the right LED display device 21_R to state D3 (state D3 of Figure 11).

[0098] As described above, the feedback information presentation data acquisition processing unit 14 executes (A) a process for determining the display area of ​​the left LED display device 21_L, and (B) a process for determining the display area of ​​the right LED display device 21_R, and outputs the data acquired by the above processes to the drive control unit 15 as data D3.

[0099] (Step S4): In step S4, a process is executed to drive the feedback information presenting unit 2. Specifically, the following process is executed.

[0100] Based on the data D3 output from the feedback information presentation data acquisition processing unit 14, the drive control unit 15 generates a drive signal sig_Drv for driving the feedback information presentation unit 2 (a drive signal for lighting up the area indicated by the data D3 in the display area of ​​the left LED display device 21_L of the feedback information presentation unit 2 and for lighting up the area indicated by the data D3 in the display area of ​​the right LED display device 21_R), and drives the feedback information presentation unit 2 (the left LED display device 21_L and the right LED display device 21_R) with the generated drive signal sig_Drv.

[0101] <Summary> As described above, in the feedback information presentation system of the first modified example of the first embodiment, the feedback information presentation units 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) are installed at predetermined positions inside the vehicle Vhcl1 in the peripheral visual field of the driver Drv1, an area that does not obstruct the central visual field of the driver Drv1 when the driver Drv1 is seated in the driver's seat. The feedback information presentation units 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) are controlled so that the size of the illuminated area of ​​the feedback information presentation units 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) increases as the vehicle approaches the left or right edge of the lane in which the vehicle Vhcl1 is traveling. This allows the driver Drv1 to intuitively recognize (through the visual sense of the peripheral visual field) that the vehicle has approached the left edge or the right edge of the lane in which the vehicle is traveling by checking the size (or change in the size of the illuminated area) of the feedback information presentation units 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R). The feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) is installed at a position where it can be recognized by the peripheral vision of the driver Drv1. Therefore, for example, while driving, the driver Drv1 can confirm (recognize through peripheral vision) the size of the illuminated area (or a change in the size of the illuminated area) of the feedback information presentation unit 2 (in this embodiment, the left LED display device 21_L and the right LED display device 21_R) without obstructing the central vision (the visual area that the driver Drv1 is gazing at). In other words, the feedback information presentation system 1000 can present feedback information with increasing intensity as the vehicle Vhcl1 approaches the left or right edge of the lane in which the vehicle Vhcl1 is traveling. This makes it possible to artificially enhance sensory feedback available during travel (feedback information that can be intuitively recognized through peripheral vision in this embodiment). Furthermore, by artificially enhancing sensory feedback using the feedback information presentation system of the first modification of the first embodiment, it is possible to appropriately support movement control (e.g., vehicle movement control) that people usually perform unconsciously using sensory feedback.

[0102] In other words, the feedback information presentation system 1000 can present feedback information that optimizes a person's movement control without obstructing the central field of vision of the person moving by artificially enhancing the sensory feedback available during movement.

[0103] [Second embodiment] Next, a second embodiment will be described. Note that the same parts as those in the above embodiment (including the modified examples) are given the same reference numerals, and detailed description thereof will be omitted.

[0104] <2.1: Configuration of the feedback information presentation system> FIG. 12 is a diagram showing a schematic configuration of a feedback information presentation system 2000 according to the second embodiment (a diagram showing the vehicle Vhcl1 as viewed from the side in the direction of travel when the driver Drv1 is driving the vehicle Vhcl1).

[0105] FIG. 13 is a schematic configuration diagram of a feedback information presentation device 100A according to the second embodiment.

[0106] Figure 14 is a diagram showing a schematic view of the driver's seat and passenger seat of an automobile (an example of a moving body) equipped with a feedback information presentation device 100A according to the second embodiment, and further showing a schematic view of the driver's central visual field and peripheral visual field.

[0107] As shown in Figures 12 and 13, the feedback information presentation system 2000 of the second embodiment has a configuration in which the feedback information presentation control unit 1 in the feedback information presentation system 1000 of the first embodiment is replaced with a feedback information presentation control unit 1A, and the feedback information presentation unit 2 is replaced with a feedback information presentation unit 2A.

[0108] As shown in FIG. 13, the feedback information presentation control unit 1A has a configuration in which, in the feedback information presentation control unit 1 of the first embodiment, the data interface unit 11 is replaced with a data interface unit 11A, the mobile body data acquisition unit 13 is replaced with a mobile body data acquisition unit 13A, the feedback information presentation data acquisition processing unit 14 is replaced with a feedback information presentation data acquisition processing unit 14A, and further, a viewpoint setting unit 16 is added.

[0109] The data interface unit 11A has the same functions as the data interface unit 11 of the first embodiment, and further inputs data on the speed (traveling speed) of the vehicle Vhcl1 as data D_spd, for example, from a speedometer (not shown) of the vehicle Vhcl1. The data interface unit 11A then extracts data necessary for the mobile object data acquisition unit 13A to identify (acquire) the position and speed (traveling speed) of the mobile object (vehicle Vhcl1) from the data input to the data interface unit 11A, and outputs the extracted data to the mobile object data acquisition unit 13A as data D1b.

[0110] The mobile object data acquisition unit 13A receives data D1b output from the data interface unit 11A. Based on the data D1b, the mobile object data acquisition unit 13A acquires data such as the position of the vehicle Vhcl1 on the travel route (road), the shape of the vehicle Vhcl1 (for example, vehicle width), and the speed (travel speed) of the vehicle Vhcl1.

[0111] For example, data D1b contains (1) Information about the current location of the vehicle Vhcl1 obtained from data D_GPS; (2) Map information of the road you are currently driving on obtained from data D_map, (3) The relative position of the vehicle Vhcl1 from the white line on the road on which it is currently traveling, acquired from the data D_sensor (position information specifying how far the vehicle Vhcl1 is located from the white line on the road), and (4) A captured image (captured video) of the scenery ahead of the vehicle Vhcl1 on the road currently being driven, obtained from the data D_F_cam, and (5) The speed (travel speed) of the vehicle Vhcl1 obtained from the data D_spd, Based on this information, the mobile object data acquisition unit 13A acquires data on the position of the vehicle Vhcl1 on the travel route (road) and data on the speed of the vehicle Vhcl1. The mobile object data acquisition unit 13A also acquires data on the shape of the vehicle Vhcl1 (for example, vehicle width). Because the shape (for example, vehicle width) of the vehicle Vhcl1 is known, the data on the shape (for example, vehicle width) of the vehicle Vhcl1 is stored in advance in the mobile object data acquisition unit 13A (for example, a storage unit (not shown) is provided in the mobile object data acquisition unit 13, and the data on the shape (for example, vehicle width) of the vehicle Vhcl1 is stored in this storage unit). The mobile object data acquisition unit 13A then acquires the data on the shape (for example, vehicle width) of the vehicle Vhcl1, for example, by reading it from the storage unit that stores the data.

[0112] The mobile object data acquisition unit 13A outputs data (mobile object data) including the position of the vehicle Vhcl1 on the driving route (road), the shape of the vehicle Vhcl1 (e.g., vehicle width), the speed of the vehicle Vhcl1, etc. acquired as described above to the feedback information presentation data acquisition processing unit 14A as data D2b.

[0113] The viewpoint setting unit 16 is a functional unit for setting the viewpoint position of the driver Drv1 of the automobile Vhcl1. Because the structure (placement, shape, etc.) of the driver's seat of the automobile Vhcl1 is known, the viewpoint position (approximate viewpoint position) of the driver when seated in the driver's seat of the automobile Vhcl1 can be identified in advance. Therefore, data on the viewpoint position (approximate viewpoint position) of the driver when seated in the driver's seat of the automobile Vhcl1 is stored in advance in the viewpoint setting unit 16 (for example, a memory unit (not shown) is provided in the viewpoint setting unit 16, and data on the viewpoint position (approximate viewpoint position) of the driver when seated in the driver's seat is stored in the memory unit). Then, the viewpoint setting unit 16 reads the data on the viewpoint position (approximate viewpoint position) of the driver when seated in the driver's seat from, for example, the memory unit of the viewpoint setting unit 16 that stores the data, and outputs the read data (viewpoint position data) to the feedback information presentation data acquisition processing unit 14A as data D2c.

[0114] The feedback information presentation data acquisition processing unit 14A receives data D2a output from the traveling environment data acquisition unit 12, data D2b output from the mobile object data acquisition unit 13A, and data D2c output from the viewpoint setting unit 16. The feedback information presentation data acquisition processing unit 14A performs processing to acquire data for presenting feedback information (feedback information presentation data acquisition processing) (details of which will be described later) based on the data D2a, D2b, and D2c. The feedback information presentation data acquisition processing unit 14A then outputs data including the data acquired by the feedback information presentation data acquisition processing to the drive control unit 15 as data D3.

[0115] The feedback information presentation unit 2A is a functional unit that presents feedback information to the driver Drv1 (a user who performs a movement operation on the moving body) of the vehicle Vhcl1. The feedback information presentation unit 2A is installed in a position (a position within the peripheral vision area of ​​the driver Drv1 and at a predetermined position inside the vehicle Vhcl1) that does not obstruct the central field of vision of the driver Drv1 when the driver Drv1 (a user who performs a movement operation on the moving body) of the vehicle Vhcl1 performs a driving operation on the vehicle Vhcl1. The feedback information presentation unit 2A is realized, for example, using an LED display device. In the present embodiment, as shown in FIG. 14, the following description will be given assuming that the feedback information presentation unit 2A is realized by two LED display devices, a right LED display device 22_R and a left LED display device 22_L, each having a long and narrow rectangular display area, that are installed at predetermined positions on both the left and right sides inside the vehicle Vhcl1. Note that the feedback information presentation unit 2 may also be realized by a display device that uses an LCD panel (liquid crystal panel), an EL panel, a light bulb, or the like.

[0116] As shown in Figure 14, when a driver Drv1 (a user who performs movement operations on a moving body) of a vehicle Vhcl1 performs driving operations on the vehicle Vhcl1, that is, when the driver Drv1 sits in the driver's seat of the vehicle Vhcl1 and looks straight ahead in the direction of travel, the area of ​​the central visual field is taken as the area CentV (the area within the dotted line indicated by CentV) shown in Figure 14, and the area of ​​the peripheral visual field is taken as the area PeriV (the area within the dotted line indicated by PeriV) shown in Figure 14, the right LED display device 22_R and the left LED display device 22_L that constitute the feedback information presentation unit 2A are installed (1) in an area other than the area CentV of the central visual field of the driver Drv1, and (2) at a position within the area PeriV of the peripheral visual field of the driver Drv1, and (3) at a position inside the vehicle Vhcl1. In the case of Figure 14, the right-side LED display device 22_R has an elongated rectangular display area and is installed on the inside side of the door on the right side of the driver's seat of the vehicle Vhcl1 so that the longitudinal direction of the display area is approximately parallel (approximately horizontal) to the road surface on which the vehicle Vhcl1 is traveling, and the left-side LED display device 21_L has an elongated rectangular display area and is installed on the inside side of the door on the left side of the passenger's seat of the vehicle Vhcl1 so that the longitudinal direction of the display area is approximately parallel (approximately horizontal) to the road surface on which the vehicle Vhcl1 is traveling.

[0117] The right-side LED display device 22_R that constitutes the feedback information presentation unit 2A has a long, narrow rectangular display area, and this display area is driven and controlled by the drive signal sig_Drv output from the drive control unit 15 (the drive signal sig_Drv controls so that a predetermined area of ​​the display area is lit).

[0118] The left LED display device 22_L constituting the feedback information presentation unit 2A has a long, narrow rectangular display area, which is driven and controlled by the drive signal sig_Drv output from the drive control unit 15 (the drive signal sig_Drv controls so that a predetermined area of ​​the display area lights up).

[0119] Note that (1) the central visual field of driver Drv1 (human) may be, as shown in FIG. 4, for example, the area within a cone with an apex of 5° (2.5° to −2.5° when the axis Ax1 in FIG. 4 is used as the reference and the clockwise direction is a positive angle) with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex (area Area_CentV in FIG. 4), and (2) the peripheral visual field of driver Drv1 (human) may be, as shown in FIG. 4, for example, the area within a cone with an apex of 120° (60° to −60° when the axis Ax1 in FIG. 4 is used as the reference and the clockwise direction is a positive angle) with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex (area Area_PeriV in FIG. 4).

[0120] Furthermore, as shown in FIG. 4, the peripheral visual field area of ​​driver Drv1 (human) may be an area defined by a sector with an angle (central angle) of 220° (angles from 110° to −110° when the clockwise direction is defined as a positive angle using axis Ax1 in FIG. 4 as the reference) with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex (an area within a cylinder with a base (cross section) of a sector with an angle (central angle) of 220° with the center point of the line connecting the positions of driver Drv1's left and right eyes as its vertex).

[0121] <2.2: Operation of the feedback information presentation system> The operations of the feedback information presentation system 2000 and the feedback information presentation device 100A configured as above will be described below. Note that detailed descriptions of the same contents as those in the above embodiment (including the modified examples) will be omitted.

[0122] FIG. 15 is a flowchart of the process executed by the feedback information presentation system 2000 of the second embodiment.

[0123] FIG. 16 is a diagram that schematically shows the automobile Vhcl1 and the lane in which the automobile Vhcl1 is traveling.

[0124] The operation of the feedback information presentation system 1000 will be described below with reference to the flowchart of FIG.

[0125] (Step S1): In step S1, a driving environment data acquisition process is executed. The process executed in step S1 is the same as the process executed in step S1 in the first embodiment.

[0126] (Step S2A): In step S2A, a mobile object data acquisition process is executed. Specifically, the following process is executed.

[0127] The mobile object data acquisition unit 13A acquires data such as the position of the vehicle Vhcl1 on the travel route (road), the shape of the vehicle Vhcl1 (for example, vehicle width), and the speed (traveling speed) of the vehicle Vhcl1 based on the data D1b output from the data interface unit 11A.

[0128] For example, data D1b contains (1) Information about the current location of the vehicle Vhcl1 obtained from data D_GPS; (2) Map information of the road you are currently driving on obtained from data D_map, (3) The relative position of the vehicle Vhcl1 from the white line on the road on which it is currently traveling, acquired from the data D_sensor (position information specifying how far the vehicle Vhcl1 is located from the white line on the road), and (4) A captured image (captured video) of the scenery ahead of the vehicle Vhcl1 on the road currently being driven, obtained from the data D_F_cam, and (5) The speed (travel speed) of the vehicle Vhcl1 obtained from the data D_spd, Based on this information, the mobile object data acquisition unit 13 acquires data on the position of the vehicle Vhcl1 on the travel route (road). The mobile object data acquisition unit 13A also acquires data on the shape of the vehicle Vhcl1 (for example, vehicle width). Since the shape (for example, vehicle width) of the vehicle Vhcl1 is known, the data on the shape (for example, vehicle width) of the vehicle Vhcl1 is stored in advance in the mobile object data acquisition unit 13A (for example, a storage unit (not shown) is provided in the mobile object data acquisition unit 13, and the data on the shape (for example, vehicle width) of the vehicle Vhcl1 is stored in this storage unit). The mobile object data acquisition unit 13A then acquires the data on the shape (for example, vehicle width) of the vehicle Vhcl1, for example, by reading it from the storage unit that stores the data.

[0129] In order to use the data (1) to (4) above in a unified manner, it is preferable to convert the data in the coordinate system in which the data (1) to (4) above are defined as appropriate, and handle the data (1) to (4) above as data in a unified coordinate system (for example, a three-dimensional coordinate system with a predetermined position of the automobile Vhcl1 as the origin) (it is preferable to handle the data after coordinate conversion).

[0130] Then, the mobile data acquisition unit 13A outputs data (mobile data) including the position of the vehicle Vhcl1 on the driving route (road), the shape of the vehicle Vhcl1 (e.g., vehicle width), the speed of the vehicle Vhcl1, etc. acquired as described above to the feedback information presentation data acquisition processing unit 14A as data D2b.

[0131] In addition, the mobile body data acquisition unit 13A may output the mobile body data to the feedback information presentation data acquisition processing unit 14 as data D2b only when the data (mobile body data) such as the position of the vehicle Vhcl1 on the driving route (road) and the speed of the vehicle Vhcl1 acquired as described above has changed, or when there has been a change of more than a predetermined amount.

[0132] The process of step S2A is executed in parallel with the process of step S1. Note that the process of step S1 and the process of step S2A may be executed serially (sequentially).

[0133] (Step S3A): In step S3A, a feedback information presentation data acquisition process is executed. Specifically, the following process is executed.

[0134] The feedback information presentation data acquisition processing unit 14A, based on the data D2a output from the driving environment data acquisition unit 12, the data D2b output from the moving body data acquisition unit 13A, and the data D2c output from the viewpoint setting unit 16, determines (1) the position of the vehicle Vhcl1 (moving body), (2) the position of the viewpoint of the driver Drv1, (3) the vehicle width w of the vehicle Vhcl1, and (4) the width w of the lane in which the vehicle Vhcl1 is traveling. c (5) Distance d from the center of vehicle Vhcl1 (center line Line_center in Figure 6) to the left edge of the lane in which vehicle Vhcl1 is traveling L , and (6) the distance d from the center of the vehicle Vhcl1 (the center line Line_center in Figure 6) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R Get.

[0135] Then, the feedback information presentation data acquisition processing unit 14A uses the data acquired as described above to perform processing to determine the lighting areas of the display areas of the left LED display device 22_L and the right LED display device 22_R of the feedback information presentation unit 2A.

[0136] Specifically, the display areas of the left LED display device 22_L and the right LED display device 22_R of the feedback information presenting unit 2A are elongated rectangular display areas as shown in the upper diagram of FIG. 17, and the length (in the longitudinal direction) of the display areas is L. dispThe axis (one-dimensional axis) that defines the position for determining the display area is set to "0" at the front end of the display area (the front end in the direction of travel of the car Vhcl1), the direction from the front to the rear in the direction of travel of the car Vhcl1 is set to the positive direction, and the rear end of the display area is set to L disp When this is defined as above, the feedback information presentation data acquisition processing unit 14A generates data for controlling the display area of ​​the feedback information presentation unit 2A so that (1) the closer the position of the automobile Vhcl1 (moving body) is to the left edge of the lane in which it is traveling, the faster the moving speed from front to rear of the lit area (area_braight in FIG. 17) of the left LED display device 22_L, and (2) the closer the position of the automobile Vhcl1 (moving body) is to the right edge of the lane in which it is traveling, the faster the moving speed from front to rear of the lit area (area_braight in FIG. 17) of the right LED display device 22_R.

[0137] The following describes the control process for the lighting areas of the display areas of the left LED display device 22_L and the right LED display device 22_R.

[0138] The feedback information presentation data acquisition processing unit 14A identifies the position of the driver Drv1's viewpoint (the position of the center point of both eyes) from the data D2c, and calculates the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 16) to the position of the driver Drv1's viewpoint (the position of the center point of both eyes). ep Furthermore, the feedback information presentation data acquisition processing unit 14A acquires the distance d from the center of the vehicle Vhcl1 (the center line Line_center in FIG. 16) to the right edge of the lane in which the vehicle Vhcl1 is traveling, by the same process as in the first embodiment. L , and the distance d from the center of the vehicle Vhcl1 (the center line Line_center in Figure 16) to the right edge of the lane in which the vehicle Vhcl1 is traveling. R Get.

[0139] Then, the feedback information presentation data acquisition processing unit 14A calculates the distance d from the viewpoint position of the driver Drv1 (the center position of both eyes) to the left edge of the lane in which the vehicle Vhcl1 is traveling. Le of, d Le =d L +d ep Obtained by.

[0140] The feedback information presentation data acquisition processing unit 14A also calculates the distance d from the viewpoint of the driver Drv1 (the center position of both eyes) to the right edge of the lane in which the vehicle Vhcl1 is traveling. Re of, d Re =d R -d ep Obtained by.

[0141] The feedback information presentation data acquisition processing unit 14A also calculates the distance w from the driver Drv1's viewpoint (the center point of both eyes) to the position of the left LED display device 22_L (the side of the left door of the vehicle Vhcl1). L of, w L =0.5×w+d ep w: width of vehicle Vhcl1 (vehicle width) Obtained by.

[0142] The feedback information presentation data acquisition processing unit 14A also calculates the distance w from the driver Drv1's viewpoint (the center of both eyes) to the position of the right LED display device 22_R (the side of the right door of the vehicle Vhcl1). R of, w R =0.5×wd ep w: width of vehicle Vhcl1 (vehicle width) Obtained by.

[0143] Furthermore, the feedback information presentation data acquisition processing unit 14A acquires the speed s [m / s] of the vehicle Vhcl1 from the data D2b (when the speed of the vehicle Vhcl1 acquired from the data D2b is S [km / h], the speed s [m / s] of the vehicle Vhcl1 is acquired by s = S × 1000 / 3600), and calculates the moving speed s from the front to the rear of the lighting area (area Area_bright) on the display area of ​​the right LED display device 22_R. L [m / s], s L =s×w L / d Le Obtained by.

[0144] The feedback information presentation data acquisition processing unit 14A also calculates the moving speed s from the front to the rear of the lighting area (area Area_bright) on the display area of ​​the left LED display device 22_L. L [m / s], s R =s×w R / d Re Obtained by.

[0145] Then, the feedback information presentation data acquisition processing unit 14A calculates the display frequency f L but f L =s L / L disp That is, the position of the lighting area (area Area_bright) on the display area of ​​the left LED display device 22_L is calculated as x(0≦x≦L disp ), the feedback information presentation data acquisition processing unit 14A calculates the lighting time t at the position x on the display area of ​​the left LED display device 22_L. L (x)[s] is t L (x)=n×T L +x / s L T L =1 / f L n: an integer greater than or equal to 0 The drive signal sig_Drv for driving the left LED display device 22_L is generated so that the left LED display device 22_L is driven and controlled by the drive signal sig_Drv, whereby the lit area in the display area of ​​the left LED display device 22_L moves from the front to the rear at a speed s L It can be displayed as moving (see Figure 17).

[0146] The feedback information presentation data acquisition processing unit 14A also calculates the display frequency f R but f R =s R / L disp That is, the position of the lighting area (area Area_bright) on the display area of ​​the right LED display device 22_R is calculated as x(0≦x≦L disp ), the feedback information presentation data acquisition processing unit 14A calculates the lighting time t at the position x on the display area of ​​the right LED display device 22_R. R (x)[s] is t R (x)=n×T R +x / s R T R =1 / f R n: an integer greater than or equal to 0 The drive signal sig_Drv for driving the right LED display device 22_R is generated so that the right LED display device 22_R is driven and controlled by the drive signal sig_Drv, so that the lit area in the display area of ​​the right LED display device 22_R moves from the front to the rear at a speed s R It can be displayed as moving (see Figure 17).

[0147] As described above, the feedback information presentation data acquisition processing unit 14A acquires data that determines the lighting areas of the display areas of the left LED display device 22_L and the right LED display device 22_R through the above processing, and outputs the acquired data to the drive control unit 15 as data D3.

[0148] (Step S4A): In step S4A, a drive process for the feedback information presenter 2A is executed. Specifically, the following process is executed.

[0149] Based on the data D3 output from the feedback information presentation data acquisition processing unit 14A, the drive control unit 15 generates a drive signal sig_Drv for driving the feedback information presentation unit 2A (a drive signal for lighting up the area indicated by the data D3 in the display area of ​​the left LED display device 22_L of the feedback information presentation unit 2A and for lighting up the area indicated by the data D3 in the display area of ​​the right LED display device 22_R), and drives the feedback information presentation unit 2A (the left LED display device 22_L and the right LED display device 22_R) with the generated drive signal sig_Drv.

[0150] <Summary> As described above, in the feedback information presentation system 2000, the feedback information presentation unit 2A (in this embodiment, the left LED display device 22_L and the right LED display device 22_R) installed at a predetermined position inside the vehicle Vhcl1 in the peripheral visual field of the driver Drv1 when the driver Drv1 is seated in the driver's seat is an area that does not obstruct the central visual field of the driver Drv1. The feedback information presentation unit 2A (in this embodiment, the left LED display device 22_L and the right LED display device 22_R) is controlled so that the forward-to-rearward moving speed on the display area of ​​the lit area of ​​the feedback information presentation unit 2A (in this embodiment, the left LED display device 22_L and the right LED display device 22_R) increases as the vehicle approaches the left or right edge of the lane in which the vehicle Vhcl1 is traveling. This allows the driver Drv1 to intuitively recognize (through the visual sense of the peripheral visual field) that the vehicle's position is approaching the left edge or the right edge of the lane in which the vehicle is traveling by checking the forward-to-rearward moving speed on the display area of ​​the lit area of ​​the feedback information presentation unit 2A (in this embodiment, the left LED display device 22_L and the right LED display device 22_R). The feedback information presentation unit 2A (in this embodiment, the left LED display device 22_L and the right LED display device 22_R) is installed at a position where it can be recognized by the peripheral vision of the driver Drv1. Therefore, while driving, for example, the driver Drv1 can confirm (recognize through peripheral vision) the moving speed from the front to the rear of the illuminated area of ​​the feedback information presentation unit 2A (in this embodiment, the left LED display device 22_L and the right LED display device 22_R) without obstructing the central vision (the visual area that the driver Drv1 is gazing at). In other words, the feedback information presentation system 2000 can present feedback information with increasing intensity as the vehicle Vhcl1 approaches the left or right edge of the lane in which it is traveling. This makes it possible to artificially enhance the sensory feedback available during movement (in this embodiment, feedback information that can be intuitively recognized through peripheral vision). Furthermore, by artificially enhancing the sensory feedback using the feedback information presentation system 2000, it is possible to appropriately support the movement control (e.g., the movement control of a vehicle) that a person normally performs unconsciously using sensory feedback.

[0151] In other words, the feedback information presentation system 2000 can present feedback information that optimizes a person's movement control without obstructing the central field of vision of the person moving by artificially enhancing the sensory feedback available during movement.

[0152] In addition, in the feedback information presentation system 2000, the lighting area of ​​the left LED display device 22_L or the right LED display device 22_R is controlled to move at a speed that matches the speed of an object moving at the same speed as the vehicle Vhcl1 (an object moving from front to rear in the direction of travel, with the position of the vehicle as the reference point) at the right or left edge of the lane, when projected onto the side of the right door of the vehicle Vhcl1 (the installation position of the right LED display device 22_R) or the side of the left door (the installation position of the left LED display device 22_L).Therefore, the moving state (position, moving speed) of the lighting area of ​​the left LED display device 22_L or the right LED display device 22_R appears natural to the driver Drv1 (it provides sensory feedback that does not cause discomfort).

[0153] [Other embodiments] In the above embodiment (including the modified example), the mobile body is an automobile, but the present invention is not limited to this, and the mobile body may be anything other than an automobile as long as it can be moved by a user performing a movement operation. For example, the mobile body may be a bicycle.

[0154] Furthermore, in the above embodiment (including the modified examples), the case where the feedback information presenting units 2, 2A (the left LED display device 21_L and the right LED display device 21_R, or the left LED display device 22_L and the right LED display device 22_R) are arranged on either side of the user (driver Drv1) has been described. However, this is not limited to this. For example, the feedback information presenting unit (either the left LED display device 21_L or the right LED display device 21_R, or the left LED display device 22_L or the right LED display device 22_R) may be arranged on only one side (the right or left side). In this case as well, it is possible to present artificially reinforced feedback information to the user (the user operating the vehicle).

[0155] Furthermore, in the above embodiment (including the modified examples), the position of the viewpoint of the driver Drv1 is described as being determined from the structure (placement, shape, etc.) of the driver's seat of the vehicle Vhcl1. However, this is not limited to this. For example, the vehicle Vhcl1 may be equipped with a device that detects the viewpoint of the driver Drv1, and the position of the viewpoint of the driver Drv1 may be detected (determined) by this device.

[0156] Furthermore, the methods of acquiring data such as the position, width, speed, and viewpoint of the driver Drv1 of the vehicle Vhcl1 described in the above embodiment (including modified examples) are merely examples and are not limited to these. Data such as the position, width, speed, and viewpoint of the driver Drv1 of the vehicle Vhcl1 may be acquired by methods other than those described above (for example, a method of determining the position, speed, etc. of the vehicle by performing video analysis processing on data such as video captured from the vehicle Vhcl1, or a method of determining the position, speed, etc. of the vehicle by analyzing data detected by a special sensor (for example, a distance sensor or a sensor that acquires a specified physical quantity)).

[0157] Furthermore, in the first embodiment (including the first modified example), a case where the feedback information presentation data acquisition process is performed using (Formula 1) has been described. However, the formula used in the feedback information presentation data acquisition process is not limited to (Formula 1). For example, instead of (Formula 1), a formula using a domain (0≦d≦w c / 2), the value X may be obtained using a monotonically decreasing function (a monotonically decreasing function is not limited to a function that is differentiable in the domain, but may also be a function that is not differentiable in the domain, such as a function that is approximated by multiple broken lines (or a function expressed by multiple broken lines)).

[0158] Furthermore, in the feedback information presentation system and feedback information presentation device described in the above embodiments (including modified examples), each block may be individually integrated into a single chip using a semiconductor device such as an LSI, or may be integrated into a single chip to include some or all of the blocks.

[0159] Although we have referred to it as an LSI here, it may also be called an IC, system LSI, super LSI, or ultra LSI depending on the level of integration.

[0160] Furthermore, the method of integration is not limited to LSI, but may be realized by dedicated circuits or general-purpose processors. It is also possible to use FPGAs (Field Programmable Gate Arrays), which can be programmed after the LSI is manufactured, or reconfigurable processors, which allow the connections and settings of circuit cells inside the LSI to be reconfigured.

[0161] Furthermore, part or all of the processing of each functional block in each of the above embodiments (including modified examples) may be realized by a program. And part or all of the processing of each functional block in each of the above embodiments (including modified examples) is performed by a central processing unit (CPU) in a computer. Furthermore, the programs for performing each processing are stored in a storage device such as a hard disk or ROM, and are executed in the ROM or by being read into the RAM.

[0162] Furthermore, each process of the above-described embodiments (including modifications) may be realized by hardware or software (including cases where it is realized together with an OS (operating system), middleware, or a predetermined library). Furthermore, it may be realized by a combination of software and hardware. Some or all of the processes of the above-described embodiments (including modifications) may be realized (executed) using, for example, one or more processors and / or one or more memories accessible from one or more processors. The processor may be realized using, for example, a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), or the like. The processor may also be a multiprocessor including two or more independent processors (two or more cores). The processor may also include a memory.

[0163] For example, when each functional unit of the above embodiment (including the modified example) is realized by software, each functional unit may be realized by software processing using the hardware configuration shown in FIG. 18 (for example, a hardware configuration in which a CPU (or GPU), ROM, RAM, input unit, output unit, etc. are connected by a bus). Furthermore, when each functional unit of the above embodiment (including modified examples) is realized by software, the software may be realized using a single computer having the hardware configuration shown in Figure 18, or may be realized by distributed processing using multiple computers.

[0164] Furthermore, the execution order of the processing method in the above embodiment (including modified examples) is not necessarily limited to that described in the above embodiment, and the execution order can be changed within the scope of the gist of the invention. Furthermore, in the processing method in the above embodiment (including modified examples), some steps may be executed in parallel with other steps within the scope of the gist of the invention.

[0165] The scope of the present invention includes a computer program for causing a computer to execute the above-described method and a computer-readable recording medium having the program recorded thereon, including, for example, a flexible disk, a hard disk, a CD-ROM, an MO, a DVD, a DVD-ROM, a DVD-RAM, a large-capacity DVD, a next-generation DVD, and a semiconductor memory.

[0166] The computer program is not limited to one recorded on the recording medium, but may be one transmitted via a telecommunications line, a wireless or wired communication line, a network such as the Internet, or the like.

[0167] The specific configuration of the present invention is not limited to the above-described embodiment (including the modified examples), and various changes and modifications are possible without departing from the gist of the invention.

[0168] [Note] The present invention can also be expressed as follows.

[0169] A first invention is a feedback information presentation device for presenting feedback information to a user operating a mobile body, comprising a feedback information presentation unit, a driving environment data acquisition unit, a mobile body data acquisition unit, a feedback information presentation data acquisition processing unit, and a drive control unit.

[0170] The feedback information presentation unit is installed at a position within the moving body that does not obstruct the user's central visual field and is included in the user's peripheral visual field when performing an operation to move the moving body.

[0171] The traveling environment data acquisition unit acquires traveling environment data, which is data about the traveling environment of the mobile object.

[0172] The mobile object data acquisition unit acquires mobile object data, which is data including data about the position of a mobile object.

[0173] The feedback information presentation data acquisition processing unit acquires feedback information presentation data, which is data for presenting feedback information, based on the traveling environment data and the mobile object data.

[0174] The drive control unit drives the feedback information presentation unit based on the feedback information presentation data.

[0175] The feedback information presentation data acquisition processing unit acquires feedback information presentation data so that the closer the moving body approaches the end of the route on which the moving body is traveling, the higher the intensity of the presentation stimulus of the feedback information presented by the feedback information presentation unit becomes.

[0176] In this feedback information presentation device, a feedback information presentation unit is installed at a predetermined position within the user's peripheral visual field, in an area that does not obstruct the user's central visual field, and control is performed so that the closer the mobile object is to the edge of the path (e.g., a lane) on which it is traveling, the stronger the presentation stimulus of the feedback information presented by the feedback information presentation unit.

[0177] This allows the user to intuitively recognize that the position of the moving object is approaching the end of the route (e.g., lane) it is traveling on by checking the stimulus presented by the feedback information presentation unit (e.g., the position, size, movement speed, etc. of the lit area in a specified display area, or the amount of change therein). The "stimulus presented as feedback information" is a stimulus that the user can perceive with at least one of the five senses, and the stronger the user feels (perceives) the stimulus, the higher its intensity becomes.

[0178] Since the feedback information presentation unit is installed in a position that can be recognized by the user's peripheral vision, the user can confirm (recognize by peripheral vision) the stimulus presented by the feedback information presentation unit, for example, while operating the mobile object (while driving) without blocking the central vision (the visual area the user is gazing at). In other words, this feedback information presentation device can present stronger feedback information as the mobile object approaches the edge of the path (e.g., lane), so it is possible to artificially strengthen the sensory feedback available during movement (e.g., feedback information that humans can intuitively recognize by peripheral vision).

[0179] In other words, this feedback information presentation device artificially enhances the sensory feedback available during movement, making it possible to present feedback information that optimizes a person's movement control without obstructing the central field of vision of the person moving.

[0180] A second invention is the first invention, in which the feedback information presenting unit has a display area and can light up a predetermined area within the display area.

[0181] The feedback information presentation data acquisition processing unit acquires feedback information presentation data such that the closer the moving body approaches the end of the route on which the moving body is traveling, the closer the position of the lighting area, which is the area that is lit up by the feedback information presentation unit, becomes to the central visual field area, which is the area in three-dimensional space that corresponds to the user's central visual field.

[0182] Based on the feedback information presentation data, the drive control unit drives and controls the feedback information presentation unit so that the position of the lighting area of ​​the feedback information presentation unit approaches the central visual field area as the moving body approaches the end of the route on which the moving body is traveling. This allows the presentation stimulus presented to the feedback information presentation unit to be the position (or the amount of change) of the lighting area presented to the feedback information presentation unit, and by using this presentation stimulus, the feedback information presentation device can artificially enhance the sensory feedback available when moving, and present feedback information that optimizes the person's movement control without obstructing the central field of vision of the person moving. The "central visual field area" refers to an area in three-dimensional space that corresponds to the user's central visual field, and is an area in three-dimensional space that the user can recognize in their central visual field.

[0183] A third invention is the first invention, in which the feedback information presenting unit has a display area and can light up a predetermined area within the display area.

[0184] The feedback information presentation data acquisition processing unit acquires feedback information presentation data that increases the size of the lighting area, which is the area that is lit up by the feedback information presentation unit, as the moving body approaches the end of the route on which the moving body is traveling.

[0185] The drive control unit drives and controls the feedback information presentation unit based on the feedback information presentation data so that the size of the lighting area of ​​the feedback information presentation unit increases as the moving body approaches the end of the route on which the moving body is traveling.

[0186] This allows the presentation stimulus presented to the feedback information presentation unit to be the size (or the amount of change) of the illuminated area presented to the feedback information presentation unit, and by using this presentation stimulus, the feedback information presentation device can artificially enhance the sensory feedback available when moving, and present feedback information that optimizes the person's movement control without obstructing the central field of vision of the person moving.

[0187] A fourth aspect of the present invention is the first aspect of the present invention, wherein the moving body data acquisition unit acquires a moving speed of the moving body.

[0188] The feedback information presentation data acquisition processing unit acquires feedback information presentation data that causes the moving speed on the display area at the position of the lighting area, which is the area lit up by the feedback information presentation unit, to increase as the moving body approaches the end of the route on which the moving body is traveling.

[0189] The drive control unit drives and controls the feedback information presentation unit based on the feedback information presentation data so that the closer the moving body approaches the end of the route on which the moving body is traveling, the faster the moving speed on the display area at the position of the lighting area of ​​the feedback information presentation unit becomes.

[0190] This allows the presentation stimulus presented to the feedback information presentation unit to be the movement speed (or the amount of change therein) on the display area of ​​the illuminated area presented to the feedback information presentation unit, and by using this presentation stimulus, the feedback information presentation device can artificially enhance the sensory feedback available during movement and present feedback information that optimizes the person's movement control without obstructing the central field of vision of the person moving.

[0191] A fifth aspect of the present invention is any one of the first to fourth aspects of the present invention, wherein the feedback information presenting unit includes a first feedback information presenting unit and a second feedback information presenting unit.

[0192] If the first direction is a direction perpendicular to the traveling direction of the moving object and has the user's viewpoint position when operating the moving object as a reference point, and the second direction is a direction opposite to the first direction, (1) the first feedback information presentation unit is installed within an area on the side of the user's viewpoint in the first direction; (2) The second feedback information presentation unit is installed within an area on the side of the user's viewpoint in the second direction.

[0193] The feedback information presentation data acquisition processing unit acquires feedback information presentation data for the first feedback information presentation unit so that the intensity of the presentation stimulus of the feedback information presented by the first feedback information presentation unit increases as the moving body approaches the end of the route on which the moving body is traveling that is the end on the first direction side, and acquires feedback information presentation data for the second feedback information presentation unit so that the intensity of the presentation stimulus of the feedback information presented by the second feedback information presentation unit increases as the moving body approaches the end of the route on which the moving body is traveling that is the end on the second direction side.

[0194] The drive control unit drives and controls the first feedback information presentation unit based on feedback information presentation data for the first feedback information presentation unit so that the intensity of the presentation stimulus of the feedback information presented by the first feedback information presentation unit increases as the moving body approaches the end of the path on which the moving body is traveling that is the end on the first direction side, and drives and controls the second feedback information presentation unit based on feedback information presentation data for the second feedback information presentation unit so that the intensity of the presentation stimulus of the feedback information presented by the second feedback information presentation unit increases as the moving body approaches the end of the path on which the moving body is traveling that is the end on the second direction side.

[0195] This allows the user operating the moving object to receive feedback information presented by the first feedback information presenting unit and the first feedback information presenting unit. By setting the first feedback information presenting unit and the first feedback information presenting unit at predetermined positions, for example, on the left and right sides of the user, the user can appropriately receive (recognize) feedback information from both the left and right sides of the moving object's direction of travel.

[0196] A sixth invention is a feedback information presentation method for presenting feedback information to a user operating a mobile body that has a feedback information presentation unit installed at a position within the mobile body that does not obstruct the user's central field of vision and is included in the user's peripheral field of vision when performing an operation to move the mobile body, and includes a driving environment data acquisition step, a mobile body data acquisition step, a feedback information presentation data acquisition processing step, and a drive control step.

[0197] The traveling environment data acquisition step acquires traveling environment data that is data about the traveling environment of the mobile object.

[0198] The mobile body data acquisition step acquires mobile body data that is data including data about the position of the mobile body.

[0199] The feedback information presentation data acquisition process step acquires feedback information presentation data, which is data for presenting feedback information, based on the traveling environment data and the mobile body data.

[0200] The drive control step drives the feedback information presentation unit based on the feedback information presentation data.

[0201] The feedback information presentation data acquisition processing step acquires feedback information presentation data so that the closer the mobile body approaches the end of the route on which the mobile body is traveling, the higher the intensity of the presentation stimulus of the feedback information presented by the feedback information presentation unit.

[0202] This makes it possible to realize a feedback information presenting method that has the same effect as the first aspect of the invention.

[0203] A seventh aspect of the present invention is a program for causing a computer to execute the feedback information presentation method of the sixth aspect of the present invention.

[0204] This makes it possible to realize a program for causing a computer to execute a feedback information presenting method that has the same effect as the sixth aspect of the present invention. [Explanation of symbols]

[0205] 1000, 2000 Feedback information presentation system 100, 100A Feedback information presentation device 1, 1A Feedback information presentation control unit 12 Driving environment data acquisition unit 13, 13A Mobile data acquisition unit 14, 14A Feedback information presentation data acquisition processing unit 15 Drive control unit 2, 2A Feedback information presentation section 21_L, 22_L Left side LED display device (first feedback information presentation section) 21_R, 22_R Right side LED display device (second feedback information presentation unit)

Claims

1. A feedback information presentation device for presenting feedback information to a user operating a mobile object, comprising: a feedback information presentation unit that is installed in a position within the moving body that does not obstruct the user's central visual field and is included in the user's peripheral visual field when an operation to move the moving body is performed; a traveling environment data acquisition unit that acquires traveling environment data that is data about the traveling environment of the moving object; a mobile object data acquisition unit that acquires mobile object data including data on the position of the mobile object; a feedback information presentation data acquisition processing unit that acquires feedback information presentation data, which is data for presenting feedback information, based on the traveling environment data and the moving object data; a drive control unit that drives the feedback information presentation unit based on the feedback information presentation data; Equipped with The feedback information presentation data acquisition processing unit acquiring the feedback information presentation data such that the intensity of the presentation stimulus of the feedback information presented by the feedback information presenting unit increases as the moving object approaches an end of a route on which the moving object is traveling; Feedback information presentation device.

2. The feedback information presenting unit The display device has a display area, and is capable of lighting up a predetermined area within the display area; The feedback information presentation data acquisition processing unit acquires the feedback information presentation data such that, as the moving object approaches an end of a route on which the moving object is traveling, a position of a lighting area, which is an area to be lit by the feedback information presentation unit, approaches a central visual field area, which is an area in three-dimensional space corresponding to the central visual field of the user; The drive control unit driving and controlling the feedback information presentation unit based on the feedback information presentation data so that as the moving object approaches an end of a route on which the moving object is traveling, the position of the lighting area of ​​the feedback information presentation unit approaches the central visual field area; The feedback information presentation device according to claim 1 .

3. The feedback information presenting unit The display device has a display area, and is capable of lighting up a predetermined area within the display area; The feedback information presentation data acquisition processing unit acquires the feedback information presentation data such that the size of a lighting area, which is an area to be lit up by the feedback information presentation unit, increases as the moving object approaches an end of a route on which the moving object is traveling; The drive control unit driving and controlling the feedback information presentation unit based on the feedback information presentation data so that the size of the lighting area of ​​the feedback information presentation unit increases as the moving object approaches an end of a route on which the moving object is traveling; The feedback information presentation device according to claim 1 .

4. the moving body data acquisition unit acquires a moving speed of the moving body; The feedback information presentation data acquisition processing unit acquires the feedback information presentation data such that the moving speed of the moving object on the display area at the position of a lighting area, which is a lighting area of ​​the feedback information presentation unit, becomes faster as the moving object approaches an end of a route on which the moving object is traveling; The drive control unit driving and controlling the feedback information presentation unit based on the feedback information presentation data so that the moving speed of the position of the lighting area of ​​the feedback information presentation unit on the display area becomes faster as the moving object approaches an end of a route on which the moving object is traveling. The feedback information presentation device according to claim 1 .

5. the feedback information presenting unit includes a first feedback information presenting unit and a second feedback information presenting unit; a first direction is a direction perpendicular to a traveling direction of the moving object and has a reference point set to a viewpoint position of a user when operating the moving object; If the second direction is the opposite direction to the first direction, (1) the first feedback information presentation unit is installed within an area on a side of the user's viewpoint in the first direction, (2) the second feedback information presentation unit is installed in an area on the side of the user's viewpoint in the second direction, The feedback information presentation data acquisition processing unit acquiring the feedback information presentation data for the first feedback information presentation unit such that the intensity of the presentation stimulus of the feedback information presented by the first feedback information presentation unit increases as the moving object approaches an end of a route on which the moving object is traveling that is on the first direction side; acquiring the feedback information presentation data for the second feedback information presentation unit such that the intensity of the presentation stimulus of the feedback information presented by the second feedback information presentation unit increases as the moving object approaches an end of a route on which the moving object is traveling that is on the second direction side; The drive control unit drive-controlling the first feedback information presentation unit based on the feedback information presentation data for the first feedback information presentation unit so that the intensity of a presentation stimulus of the feedback information presented by the first feedback information presentation unit increases as the moving object approaches an end of a route on which the moving object is traveling that is on the first direction side; driving and controlling the second feedback information presentation unit based on the feedback information presentation data for the second feedback information presentation unit so that the intensity of a presentation stimulus of the feedback information presented by the second feedback information presentation unit increases as the moving object approaches an end of a route on which the moving object is traveling that is on the second direction side; The feedback information presentation device according to claim 1 .

6. 1. A feedback information presentation method for presenting feedback information to a user who operates a moving object, the method comprising: providing a feedback information presentation unit that is installed within the moving object at a position that does not obstruct the user's central visual field and is included in the user's peripheral visual field when the user performs an operation to move the moving object; a traveling environment data acquisition step of acquiring traveling environment data which is data about the traveling environment of the moving body; a mobile object data acquisition step of acquiring mobile object data including data on the position of the mobile object; a feedback information presentation data acquisition processing step of acquiring feedback information presentation data, which is data for presenting feedback information, based on the traveling environment data and the mobile object data; a drive control step of driving the feedback information presentation unit based on the feedback information presentation data; Equipped with The feedback information presentation data acquisition processing step includes: acquiring the feedback information presentation data such that the intensity of the presentation stimulus of the feedback information presented by the feedback information presenting unit increases as the moving object approaches an end of a route on which the moving object is traveling; How feedback information is presented.

7. A program for causing a computer to execute the feedback information presentation method according to claim 6.

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