Vehicle presentation control device, vehicle presentation control system, and vehicle presentation control method

Abstract

To smoothly perform switching from manual driving to automatic driving.SOLUTION: A presentation control device for a vehicle comprises: a requirement specification unit 103 which at least distinguishes a driver requirement with high possibility of being solved by a driver of the vehicle from an environmental requirement with low possibility of being solved by the driver to be specified as an automatic driving starting requirement which should be satisfied for starting the automatic driving; and a presentation control unit 100 which performs driver requirement presentation showing that the driver requirement is necessary for starting the automatic driving before starting the automatic driving as requirement presentation which is information presentation about a requirement necessary for starting the automatic driving on the basis of a fact that the automatic driving starting requirement specified by the requirement specification unit 103 is the driver requirement.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a presentation control device for a vehicle, a presentation control system for a vehicle, and a presentation control method for a vehicle. [Background technology]

[0002] Patent Document 1 discloses a technology for switching from manual driving to automatic driving at the start point of an area where automatic driving is possible, and switching from automatic driving to manual driving at the end point of the area where automatic driving is possible. Patent Document 1 discloses a handover notification as information presentation to notify the start of handover of driving operations from the automatic driving function to the driver. Patent Document 1 also discloses a handover notice as information presentation to notify the driver of the handover of driving operations from the automatic driving function to the driver. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] International Publication No. 2017 / 154396 Summary of the Invention [Problem to be solved by the invention]

[0004] Patent Document 1 discloses the presentation of information when switching from automatic driving to manual driving, but does not disclose details of the presentation of information when switching from manual driving to automatic driving. There are multiple requirements to be met in order to start automatic driving. Automatic driving cannot be started unless these requirements are met. It is considered that these requirements can be divided into requirements that are likely to be solved by the driver (hereinafter, driver requirements) and requirements that are unlikely to be solved by the driver (hereinafter, environmental requirements). It is considered that the response that the driver should take differs depending on whether the requirements to be met in order to start automatic driving are driver requirements or not. Therefore, in order to smoothly switch from manual driving to automatic driving, it is considered that information needs to be presented in a manner according to whether the requirements to be met in order to start automatic driving are driver requirements or not.

[0005] One object of this disclosure is to provide a vehicle presentation control device, a vehicle presentation control system, and a vehicle presentation control method that enable a smooth switch from manual driving to autonomous driving. [Means for solving the problem]

[0006] The above object is achieved by the combination of features recited in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The reference characters in parentheses in the claims indicate a correspondence with specific means described in the following embodiment as one aspect, and do not limit the technical scope of the present disclosure.

[0007] In order to achieve the above object, the present disclosure Car The dual-use presentation control device is a vehicle presentation control device that can be used in a vehicle capable of autonomous driving, and is capable of solving the autonomous driving start requirements that must be met to start autonomous driving without the driver's obligation to monitor, which is autonomous driving without the driver's obligation to monitor. Noa Driver requirements ofand a presentation control unit (100, 100a) that, based on the fact that the autonomous driving start requirement identified by the requirement identification unit is a driver requirement, causes a driver requirement presentation indicating that a driver requirement is necessary to start autonomous driving to be performed before autonomous driving is started, as a requirement presentation that is a presentation of information about the requirements necessary to start autonomous driving. 。

[0008] In order to achieve the above object, the present disclosure Car The dual-use presentation control method is a presentation control method for a vehicle that can be used in a vehicle capable of autonomous driving, and is executed by at least one processor. The dual-use presentation control method is a method for controlling a presentation of ... Noa Driver requirements of and a presentation control step of, based on the fact that the automated driving start requirement identified in the requirement identification step is a driver requirement, presenting a driver requirement indicating that a driver requirement is required to start automated driving before the automated driving is started, as a requirement presentation that is a presentation of information about the requirements necessary to start automated driving. 。

[0009] According to the above configuration, it is possible to distinguish between driver requirements, which are requirements that are likely to be solved by the driver of the vehicle, and environmental requirements, which are requirements that are unlikely to be solved by the driver, and to present a driver requirement indicating that a driver requirement is required to start automatic driving, based on the fact that the requirement necessary to start automatic driving is a driver requirement. Therefore, it is possible to present information according to the fact that the requirement necessary to start automatic driving is a driver requirement. In addition, since the driver requirement presentation is made before automatic driving is started, it is possible to prompt the driver to take the necessary measures to start automatic driving before the start of automatic driving, based on this driver requirement presentation. As a result, it is possible to smoothly switch from manual driving to automatic driving.

[0010] In order to achieve the above-mentioned objective, the vehicle presentation control system disclosed herein can be used in a vehicle capable of autonomous driving, and includes a presentation device (90) that presents information to a driver of the vehicle, and the aforementioned vehicle presentation control device (10, 10a).

[0011] According to this, since the vehicle presentation control device described above is included, it becomes possible to smoothly switch from manual driving to automatic driving. [Brief description of the drawings]

[0012] [Figure 1] 1 is a diagram showing an example of a schematic configuration of a vehicle system 1. FIG. [Diagram 2] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10. [Diagram 3] 13 is a flowchart showing an example of the flow of a presentation control-related process in the HCU 10. [Figure 4] 13 is a flowchart showing an example of a reservation process flow in the HCU10. [Diagram 5] 13 is a flowchart showing an example of a flow of processing in the HCU 10 when a reservation is not made. [Figure 6] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10a. [Figure 7] 13 is a flowchart showing an example of a flow of processing in the HCU 10a when a reservation is not made. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0013] A number of embodiments for disclosure will be described with reference to the drawings. For convenience of description, in a number of embodiments, parts having the same functions as parts shown in the drawings used in the previous description may be given the same reference numerals and their description may be omitted. For parts given the same reference numerals, the description in other embodiments may be referred to.

[0014] (Embodiment 1) <Overall configuration of vehicle system 1> Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings. A vehicle system 1 shown in FIG. 1 can be used in a vehicle capable of automatic driving (hereinafter, an automatic driving vehicle). As shown in FIG. 1, the vehicle system 1 includes an HCU (Human Machine Interface Control Unit) 10, a communication module 20, a locator 30, a map database (hereinafter, a map DB) 40, a vehicle state sensor 50, a surroundings monitoring sensor 60, a vehicle control ECU 70, an automatic driving ECU 80, a presentation device 90, a DSM (Driver Status Monitor) 93, and a user input device 94. This vehicle system 1 corresponds to a presentation control system for a vehicle. For example, the HCU 10, the communication module 20, the locator 30, the map DB 40, the vehicle state sensor 50, the surroundings monitoring sensor 60, the vehicle control ECU 70, and the automatic driving ECU 80 may be configured to be connected to an in-vehicle LAN (see the LAN in FIG. 1). Although the vehicle using the vehicular system 1 is not necessarily limited to an automobile, the following description will be given taking the case of using the vehicular system 1 in an automobile as an example.

[0015] There are multiple levels of autonomous driving for autonomous vehicles (hereinafter referred to as "automation levels"), as defined by the SAE, for example. Automation levels are classified into LV0 to 5, for example, as follows:

[0016] LV0 is the level at which the driver performs all driving tasks without the system intervening. The driving task may be rephrased as a dynamic driving task. The driving task may be, for example, steering, acceleration / deceleration, and surrounding monitoring. LV0 corresponds to so-called manual driving. LV1 is the level at which the system assists with either steering or acceleration / deceleration. LV1 corresponds to so-called driving assistance. LV2 is the level at which the system assists with both steering and acceleration / deceleration. LV2 corresponds to so-called partial driving automation. LV1-2 are also considered to be part of autonomous driving.

[0017] For example, LV1-2 autonomous driving is autonomous driving in which the driver has a duty to monitor safe driving (hereinafter, simply referred to as the duty to monitor). The duty to monitor includes visual monitoring of the surroundings. LV1-2 autonomous driving can be rephrased as autonomous driving in which a second task is not permitted. A second task is an act other than driving that is permitted for the driver and is a specific act that is specified in advance. A second task can also be rephrased as a secondary activity, other activity, etc. It is considered that a second task must not prevent the driver from responding to a request from the autonomous driving system to take over driving operations. As an example, actions such as watching content such as videos, operating a smartphone, reading, and eating are assumed to be second tasks.

[0018] LV3 autonomous driving is a level where the system can perform all driving tasks under certain conditions, and the driver takes over driving operations in an emergency. LV3 autonomous driving requires the driver to be able to respond quickly when the system requests a handover of driving. This handover of driving can also be said to be a transfer of the responsibility of monitoring the surroundings from the vehicle's system to the driver. LV3 corresponds to so-called conditional driving automation. LV3 includes area-limited LV3, which is limited to a specific area. The specific area referred to here may be a freeway or an expressway. The specific area may be, for example, a specific lane. LV3 also includes traffic jam-limited LV3, which is limited to traffic jams. Traffic jam-limited LV3 may be configured to be limited to traffic jams on a freeway or an expressway, for example.

[0019] Level 4 autonomous driving is a level where the system can perform all driving tasks except under certain circumstances such as on unmanageable roads and in extreme environments. Level 4 corresponds to what is known as highly automated driving. Level 5 autonomous driving is a level where the system can perform all driving tasks in any environment. Level 5 corresponds to what is known as fully automated driving.

[0020] For example, autonomous driving levels 3 to 5 are autonomous driving where the driver has no obligation to monitor. In other words, they are equivalent to autonomous driving without a monitoring obligation. Autonomous driving levels 3 to 5 can be rephrased as autonomous driving where a second task is permitted. Of autonomous driving levels 3 to 5, autonomous driving levels 4 and above are autonomous driving where the driver is permitted to sleep (hereinafter referred to as sleep-enabled autonomous driving). Of autonomous driving levels 3 to 5, autonomous driving level 3 is autonomous driving where the driver is not permitted to sleep (hereinafter referred to as sleep-disabled autonomous driving).

[0021] In the autonomous vehicle of this embodiment, the automation level is switchable. The automation level may be switchable only between some of LV0 to 5. In this embodiment, a case will be described as an example in which the autonomous vehicle can switch between LV3 autonomous driving, LV2 or lower autonomous driving, and LV0 manual driving.

[0022] The communication module 20 transmits and receives information to and from a center outside the vehicle via wireless communication. That is, it performs wide-area communication. The communication module 20 receives information about traffic congestion around the vehicle from the center via wide-area communication. The communication module 20 may transmit and receive information to and from other vehicles via wireless communication. That is, it may perform vehicle-to-vehicle communication. The communication module 20 may transmit and receive information to and from a roadside device installed on the roadside via wireless communication. That is, it may perform road-to-vehicle communication. When performing road-to-vehicle communication, the communication module 20 may receive information about surrounding vehicles transmitted from surrounding vehicles of the vehicle via the roadside device. Also, the communication module 20 may receive information about surrounding vehicles transmitted from surrounding vehicles of the vehicle via the center via wide-area communication.

[0023] Locator 30 includes a Global Navigation Satellite System (GNSS) receiver and an inertial sensor. The GNSS receiver receives positioning signals from a plurality of positioning satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. Locator 30 sequentially measures the position of the vehicle (hereinafter, the vehicle position) on which locator 30 is mounted, by combining the positioning signals received by the GNSS receiver with the measurement results of the inertial sensor. The vehicle position is represented, for example, by latitude and longitude coordinates. Note that the vehicle position may also be measured using a travel distance calculated from a signal sequentially output from a vehicle speed sensor mounted on the vehicle.

[0024] The map DB 40 is a non-volatile memory and stores high-precision map data. The high-precision map data is map data with higher precision than map data used for route guidance in the navigation function. The map DB 40 may also store map data used for route guidance. The high-precision map data includes information that can be used for automatic driving, such as three-dimensional shape information of roads, information on the number of lanes, and information indicating the travel direction permitted for each lane. In addition, the high-precision map data may include node point information indicating the positions of both ends of road markings such as dividing lines. The locator 30 may be configured not to use a GNSS receiver by using the three-dimensional shape information of the road. For example, the locator 30 may be configured to specify the vehicle position using the three-dimensional shape information of the road and the detection results of a perimeter monitoring sensor 60 such as a LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) or a perimeter monitoring camera that detects a point cloud of characteristic points of the road shape and structures. The three-dimensional shape information of the road may be generated based on a captured image by REM (Road Experience Management).

[0025] The communication module 20 may receive map data distributed from an external server, for example, by wide area communication, and store the data in the map DB 40. In this case, the map DB 40 may be a volatile memory, and the communication module 20 may successively acquire map data of an area corresponding to the vehicle position.

[0026] The vehicle state sensor 50 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 50 includes a vehicle speed sensor for detecting the vehicle speed, a steering sensor for detecting the steering angle, and the like. The vehicle state sensor 50 includes a remaining amount sensor for detecting the remaining amount of a driving energy source. The vehicle state sensor 50 includes an auto mode switch for detecting the on / off of the auto mode of the wipers. The vehicle state sensor 50 includes a light switch for detecting the on / off of the auto light function of the headlights. The vehicle state sensor 50 outputs the detected sensing information to an in-vehicle LAN. The sensing information detected by the vehicle state sensor 50 may be configured to be output to the in-vehicle LAN via an ECU mounted in the vehicle.

[0027] The perimeter monitoring sensor 60 monitors the environment around the vehicle. As an example, the perimeter monitoring sensor 60 detects obstacles around the vehicle, such as moving objects such as pedestrians and other vehicles, and stationary objects such as objects fallen on the road. In addition, the perimeter monitoring sensor 60 detects road markings such as lane markings around the vehicle. The perimeter monitoring sensor 60 is, for example, a perimeter monitoring camera that captures a predetermined range around the vehicle, a millimeter wave radar that transmits a search wave to a predetermined range around the vehicle, a sonar, a LIDAR, or other sensor. The perimeter monitoring camera sequentially outputs the captured images as sensing information to the automatic driving ECU 80. The sonar, millimeter wave radar, LIDAR, or other sensor that transmits a search wave sequentially outputs a scan result based on a received signal obtained when receiving a reflected wave reflected by an obstacle to the automatic driving ECU 80 as sensing information. The sensing information detected by the perimeter monitoring sensor 60 may be configured to be output to an in-vehicle LAN via the automatic driving ECU 80.

[0028] The vehicle control ECU 70 is an electronic control device that performs driving control of the vehicle. Examples of driving control include acceleration / deceleration control and / or steering control. The vehicle control ECU 70 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, and a brake ECU. The vehicle control ECU 70 performs driving control by outputting control signals to each driving control device mounted on the vehicle, such as an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor.

[0029] The autonomous driving ECU 80 includes, for example, a processor, a memory, an I / O, and a bus connecting these, and executes a control program stored in the memory to execute processes related to autonomous driving. The memory referred to here is a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data. The non-transitory tangible storage medium is realized by a semiconductor memory, a magnetic disk, or the like.

[0030] The autonomous driving ECU 80 includes a first autonomous driving ECU 81 and a second autonomous driving ECU 82. The following description will be given assuming that the first autonomous driving ECU 81 and the second autonomous driving ECU 82 each include a processor, memory, I / O, and a bus connecting these. Note that a configuration may be adopted in which a common processor performs the functions of the first autonomous driving ECU 81 and the second autonomous driving ECU 82 using virtualization technology.

[0031] The first automatic driving ECU81 is responsible for the function of automatic driving at LV2 or lower described above. In other words, the first automatic driving ECU81 enables automatic driving with a monitoring obligation. For example, the first automatic driving ECU81 can execute at least one of longitudinal control and lateral control of the host vehicle. The longitudinal direction is the direction that coincides with the front-rear direction of the host vehicle. The lateral direction is the direction that coincides with the width direction of the host vehicle. The first automatic driving ECU81 executes acceleration / deceleration control of the host vehicle as longitudinal control. The first automatic driving ECU81 executes steering control of the host vehicle as lateral control. The first automatic driving ECU81 includes a first environment recognition unit, an ACC control unit, an LTA control unit, an LCA control unit, and the like as functional blocks.

[0032] The first environment recognition unit recognizes the driving environment around the vehicle based on sensing information acquired from the surrounding monitoring sensor 60. As an example, the first environment recognition unit recognizes the detailed position of the vehicle in the driving lane from information such as the dividing lines on the left and right of the lane in which the vehicle is traveling (hereinafter, the vehicle lane). In addition, the first environment recognition unit recognizes the positions and speeds of obstacles such as vehicles around the vehicle. The first environment recognition unit recognizes the positions and speeds of obstacles such as vehicles in the vehicle lane. In addition, the first environment recognition unit recognizes the positions and speeds of obstacles such as vehicles in the surrounding lanes of the vehicle lane. The surrounding lanes may be, for example, lanes adjacent to the vehicle lane. In addition, the surrounding lanes may be lanes other than the vehicle lane in the road section in which the vehicle is located. The first environment recognition unit may have the same configuration as the second environment recognition unit described later.

[0033] The ACC control unit executes ACC (Adaptive Cruise Control) control that realizes constant speed driving of the host vehicle at a target speed or driving to follow a preceding vehicle. The ACC control unit executes ACC control by using the positions and speeds of vehicles around the host vehicle recognized by the first environment recognition unit. The ACC control unit executes ACC control by causing the vehicle control ECU 70 to perform acceleration / deceleration control.

[0034] The LTA control unit executes LTA (Lane Tracing Assist) control to keep the host vehicle traveling within the lane. The LTA control unit may execute the LTA control by using the detailed position of the host vehicle in the host vehicle lane recognized by the first environment recognition unit. The LTA control unit may execute the LTA control by causing the vehicle control ECU 70 to perform steering control. Note that the ACC control is an example of longitudinal control. The LTA control is an example of lateral control.

[0035] The LCA control unit executes LCA (Lane Change Assist) control to automatically change lanes of the host vehicle from the host vehicle's lane to an adjacent lane. The LCA control unit may execute LCA control using the positions and speeds of vehicles around the host vehicle recognized by the first environment recognition unit. For example, the LCA control may be executed when the speed of a vehicle preceding the host vehicle is low, equal to or lower than a predetermined value, and there are no surrounding vehicles approaching the host vehicle from the side or rear side. For example, the LCA control unit may execute LCA control by causing the vehicle control ECU 70 to perform acceleration / deceleration control and steering control.

[0036] The first automatic driving ECU 81 realizes LV2 automatic driving by executing both ACC control and LTA control. LCA control may be executable, for example, when ACC control and LTA control are being executed. The first automatic driving ECU 81 may realize LV1 automatic driving by executing either ACC control or LTA control.

[0037] On the other hand, the second automatic driving ECU 82 is responsible for the above-mentioned automatic driving function of LV3 or higher. In other words, the second automatic driving ECU 82 enables automatic driving without a monitoring obligation. The second automatic driving ECU 82 includes, as functional blocks, a second environment recognition unit, a behavior determination unit, a trajectory generation unit, and the like.

[0038] The second environment recognition unit recognizes the driving environment around the vehicle based on the sensing information acquired from the surrounding monitoring sensor 60, the vehicle position acquired from the locator 30, the map data acquired from the map DB 40, and the information on other vehicles acquired by the communication module 20. As an example, the second environment recognition unit uses these pieces of information to generate a virtual space that reproduces the actual driving environment.

[0039] The second environment recognition unit distinguishes between manual driving areas (hereinafter, MD areas) in the area where the vehicle is traveling. The second environment recognition unit distinguishes between automatic driving areas (hereinafter, AD areas) in the area where the vehicle is traveling. The second environment recognition unit distinguishes between ST sections and non-ST sections (described later) in the AD areas.

[0040] The MD area is an area where automated driving is prohibited. In other words, the MD area is an area where the driver is required to perform all of the vehicle's longitudinal control, lateral control, and periphery monitoring. For example, the MD area may be a general road.

[0041] An AD area is an area where autonomous driving is permitted. In other words, an AD area is an area where the vehicle can take over one or more of longitudinal control, lateral control, and periphery monitoring. For example, an AD area may be an expressway or a road for automobiles only. Autonomous driving limited to traffic jams LV3 may be permitted only when there is a traffic jam in the AD area, for example.

[0042] AD areas are divided into ST sections and non-ST sections. ST sections are sections where area-limited LV3 autonomous driving is permitted. Area-limited LV3 autonomous driving may be permitted only in specific lanes (hereinafter, ST lanes) in the ST section. Non-ST sections are sections where LV2 or lower autonomous driving is possible. In this embodiment, non-ST sections where LV1 autonomous driving is permitted and non-ST sections where LV2 autonomous driving is permitted are not separately distinguished. ST sections may be, for example, driving sections for which high-precision map data has been developed. Non-ST sections may be sections in AD areas that do not fall under the ST section.

[0043] The behavior determination unit determines a behavior planned for the vehicle (hereinafter, future behavior) based on the recognition result of the driving environment by the second environment recognition unit, etc. The behavior determination unit determines a future behavior for driving the vehicle by autonomous driving. The behavior determination unit may determine a type of behavior that the vehicle should take to arrive at the destination as the future behavior. Examples of this type include going straight, turning right, turning left, changing lanes, etc.

[0044] The trajectory generation unit generates a driving trajectory of the vehicle in a section where autonomous driving can be performed, based on the recognition result of the driving environment by the second environment recognition unit and the future action determined by the action determination unit. The driving trajectory includes, for example, a target position of the vehicle according to the progress and a target speed at each target position. The trajectory generation unit sequentially provides the generated driving trajectory to the vehicle control ECU 70 as a control command to be followed by the vehicle in autonomous driving.

[0045] The autonomous driving ECU 80 also includes a requirement determination unit that determines whether or not autonomous driving can be performed. The requirement determination unit may be provided in each of the first autonomous driving ECU 81 and the second autonomous driving ECU 82, or may be a common unit.

[0046] The requirement determination unit determines whether or not a situation exists in which autonomous driving can be performed. The requirement determination unit may determine whether or not a situation exists in which autonomous driving can be performed for each automation level. The requirement determination unit may determine whether or not a situation exists in which autonomous driving can be performed based on whether or not requirements that must be satisfied to start autonomous driving (hereinafter, autonomous driving start requirements) are satisfied. Hereinafter, the autonomous driving start requirements are referred to as AD start requirements. In this embodiment, the AD start requirements include, for example, the following requirements.

[0047] The first requirement is that the driving section is a section where autonomous driving is permitted. This first requirement is called a section requirement. As an example, the section requirement for enabling autonomous driving of congestion-limited LV3 and LV2 or lower may be that the driving section of the vehicle is an AD area. The section requirement for enabling area-limited LV3 autonomous driving may be that the driving section of the vehicle is an ST section of an AD area. The requirement determination unit may determine whether the section requirement is satisfied based on, for example, the vehicle position measured by the locator 30 and the map data in the map DB 40.

[0048] The second requirement is the presence of a structure (hereinafter, separation structure) that separates the lanes for each direction of travel. Examples of separation structures include a median strip and a pole. This second requirement is called the separation structure requirement. The separation structure requirement may be a requirement for LV3 autonomous driving. The separation structure requirement may be a requirement for level 4 or higher autonomous driving, or may be a requirement for level 2 autonomous driving. The separation structure requirement is set as a requirement for autonomous driving because the accuracy of recognition of the driving environment may decrease if a separation structure does not exist. The requirement determination unit may determine whether the separation structure requirement is met by, for example, image recognition of images captured by a surrounding monitoring camera.

[0049] The third requirement is that the vehicle speed of the vehicle is equal to or lower than a vehicle speed threshold. This third requirement is called a vehicle speed requirement. The vehicle speed requirement may be an automatic driving requirement of LV3. The vehicle speed requirement may be a requirement that allows automatic driving of level 4 or higher to be performed, or may be a requirement that allows automatic driving of level 2 or lower to be performed. The reason why the vehicle speed requirement is an automatic driving requirement is that if the vehicle speed becomes too high, the vehicle's system alone may not be able to monitor the surroundings sufficiently. The vehicle speed requirement may be configured to be set for each automation level. In addition, the vehicle speed requirement may be the same for a plurality of automation levels. For example, the vehicle speed threshold that allows automatic driving of LV3 to be performed may be configured to be smaller than the vehicle speed threshold that allows automatic driving of LV2 or lower to be performed. The requirement determination unit may determine whether the vehicle speed requirement is satisfied, for example, from the sensing result of a vehicle speed sensor of the vehicle state sensor 50.

[0050] As a fourth requirement, the road on which the vehicle runs may have a number of lanes equal to or greater than a prescribed number. As an example, the road on which the vehicle runs may have multiple lanes on one side. This fourth requirement is called the lane number requirement. The lane number requirement may be an automated driving requirement for LV3. The lane number requirement may be a requirement for automated driving at level 2 or lower. For example, the lane number requirement for level 2 or lower may be one lane or more on one side. The lane number requirement is set as an automated driving requirement because the accuracy of recognition of the driving environment may decrease if there are no multiple lanes on one side. The requirement determination unit may determine whether the lane number requirement is satisfied by, for example, image recognition of the image captured by the above-mentioned surrounding monitoring camera.

[0051] The fifth requirement may be that the distance between the vehicle itself and the preceding vehicle is appropriate. This fifth requirement is called the distance requirement. The distance requirement may be an automated driving requirement of LV3. The distance requirement may be a requirement that automated driving of level 2 or lower can be performed. The reason why the distance requirement is set as an automated driving requirement is that if the distance between the vehicle and the surrounding vehicles is too short, it may be difficult for the vehicle's system alone to respond to avoidance of the surrounding vehicles. The requirement determination unit may determine whether the distance requirement is satisfied from, for example, sensing information from the surrounding monitoring sensor 60.

[0052] The sixth requirement may be that there is a traffic jam around the vehicle. This sixth requirement is called the traffic jam requirement. The traffic jam requirement may be a requirement for automated driving limited to traffic jam LV3. The traffic jam requirement may also be a requirement for enabling level 2 automated driving. The reason why the traffic jam requirement is an automated driving requirement is that since both the vehicle and surrounding vehicles are moving at low speeds during traffic jams, it becomes easy for the vehicle's system alone to respond to avoidance of approaching surrounding vehicles. The requirement determination unit may determine whether the traffic jam requirement is met based on, for example, the number and speed of surrounding vehicles detected by the surrounding monitoring sensor 60.

[0053] The seventh requirement may be that the section is provided with a high-precision map. The seventh requirement may be referred to as a high-precision map requirement. The high-precision map requirement may be an LV3 autonomous driving requirement. The requirement determination unit may determine whether the high-precision map requirement is satisfied based on, for example, the vehicle position measured by the locator 30 and the high-precision map data in the map DB 40.

[0054] The eighth requirement may be that the driver's state is appropriate. This eighth requirement is called the driver state requirement. As an example, the requirement for LV3 autonomous driving may be that the driver is in a state that satisfies the monitoring obligation. The driver's state that satisfies the monitoring obligation may be an awake state, a state in which the face is facing forward, a state in which the posture is not disturbed, etc. The requirement determination unit may determine whether the driver state requirement is satisfied from the detection results of DSM93, which will be described later.

[0055] The ninth requirement may be that the steering wheel is gripped. This ninth requirement may be called the gripping requirement. The gripping requirement may be an autonomous driving requirement of LV2 or lower. The requirement determination unit may determine whether the gripping requirement is met based on the detection result of a sensor that detects gripping of the steering wheel.

[0056] The tenth requirement may be that the lane in which the vehicle is traveling is suitable for autonomous driving. This tenth requirement is called a driving lane requirement. As an example, the driving lane requirement for congestion limited LV3 may be that the lane in which the vehicle is traveling is congested. In addition, the driving lane requirement for area limited LV3 may be that the lane in which the vehicle is traveling is the ST lane described above. The requirement determination unit may determine whether the driving lane requirement is satisfied based on, for example, the vehicle position measured by the locator 30 and the high-precision map data in the map DB 40.

[0057] The eleventh requirement is that the wipers and headlights of the vehicle are set to the automatic mode. This eleventh requirement is called the automatic mode requirement. The automatic mode requirement is a requirement that allows LV3 automatic driving to be performed. The requirement determination unit may determine whether the automatic mode requirement is satisfied from the signals of the wiper auto mode switch and headlight light switch described above.

[0058] The twelfth requirement may be that the remaining amount of the vehicle's energy source for traveling is equal to or greater than a specified value. The specified value may be set arbitrarily. This twelfth requirement is called the energy requirement. Examples of the remaining amount of the energy source for traveling include the remaining amount of fuel and the remaining amount of charge. The energy requirement may be a requirement that allows LV3 autonomous driving to be performed. The requirement determination unit may determine whether the energy requirement is met based on the detection result of the remaining amount sensor described above.

[0059] The thirteenth requirement may be that the weather is not bad. This thirteenth requirement is called the weather requirement. Examples of bad weather include heavy rain, thick fog, and heavy snow. The weather requirement may be a requirement that allows autonomous driving of LV3 or lower to be performed. The weather requirement may also be a requirement that allows autonomous driving of LV4 or lower to be performed. The requirement determination unit may determine whether the weather requirement is satisfied by image recognition of the image captured by the aforementioned surrounding surveillance camera.

[0060] The fourteenth requirement may be that the perimeter monitoring sensor 60 is not in a state of being unable to detect (i.e., sensor lost). This fourteenth requirement is called a recognition requirement. The recognition requirement may be a requirement for being able to execute autonomous driving at LV1 or higher. The requirement determination unit may determine whether the recognition requirement is satisfied based on the sensing information of the perimeter monitoring sensor 60.

[0061] The fifteenth requirement may be that the automation level is appropriate. This fifteenth requirement is called the level requirement. As an example, in the case of a specification in which switching to LV3 autonomous driving is not possible without switching to LV2 autonomous driving, the level requirement for LV3 autonomous driving is that the current automation level is LV2. The requirement determination unit may determine whether or not the level requirement is met based on the automation level of the autonomous driving being performed by the autonomous driving ECU 80.

[0062] In this embodiment, the above requirements are used as examples for explanation, but are not necessarily limited to these. The autonomous driving requirements may be a part of the above requirements. In addition, the configuration may include requirements other than the above requirements.

[0063] The autonomous driving requirements can be divided into driver requirements and environmental requirements. The autonomous driving requirements can be rephrased as AD start requirements that must be satisfied in order to start autonomous driving. The driver requirements are requirements that are highly likely to be solved by the driver of the vehicle. The environmental requirements are requirements that are unlikely to be solved by the driver of the vehicle. Whether a requirement is highly likely to be solved by the driver of the vehicle or not can be determined by, for example, the ratio of factors that the driver can solve and factors that the driver cannot solve. As an example, the vehicle speed requirement, the vehicle distance requirement, the driver state requirement, the gripping requirement, the driving lane requirement, the automatic mode requirement, the energy requirement, and the level requirement can be classified as driver requirements. On the other hand, the section requirement, the separating structure requirement, the number of lanes requirement, the congestion requirement, the high-precision map requirement, the weather requirement, and the recognition requirement can be classified as environmental requirements. This classification may be changed as appropriate.

[0064] The autonomous driving system including the autonomous driving ECU 80 described above enables the host vehicle to perform autonomous driving at LV2 or lower and LV3 or higher. The autonomous driving ECU 80 also switches the automation level of the autonomous driving of the host vehicle as necessary. As an example, when the host vehicle moves from an MD area to a non-ST section of an AD area, it is sufficient to switch from manual driving to autonomous driving at level 2 or lower. When the host vehicle moves from an MD area to a ST section of an AD area, it is sufficient to switch from manual driving to autonomous driving at level 3. When the host vehicle moves from a non-ST section of an AD area to a ST section, it is sufficient to switch from autonomous driving at level 2 or lower to autonomous driving at level 3. When the host vehicle moves from a ST section of an AD area to a non-ST section, it is sufficient to switch from autonomous driving at level 3 to autonomous driving at level 2 or lower. When the host vehicle moves from a ST section of an AD area to an MD area, it is sufficient to switch from autonomous driving at level 3 to manual driving. When the host vehicle moves from a non-ST section of an AD area to an MD area, it is sufficient to switch from autonomous driving at level 2 or lower to manual driving.

[0065] The autonomous driving ECU 80 may be configured to switch to a higher automation level when requested or agreed to by the driver. On the other hand, the autonomous driving ECU 80 may be configured to switch to a lower automation level when, for example, the driver responds to a request from a system on the vehicle side. Hereinafter, a description of the process of switching to a lower automation level will be omitted. If the user input device 94 described below includes a switch for switching the automation level, the operation of this switch corresponds to a driver's request. The driver's consent will be described later.

[0066] The presentation device 90 is provided in the vehicle and presents information to the driver of the vehicle. The presentation device 90 presents information according to an instruction from the HCU 10. The presentation device 90 only needs to present information to at least the driver. The presentation device 90 may also present information to passengers other than the driver. The presentation device 90 includes a display 91 and an audio output device 92.

[0067] The display device 91 presents information by displaying information. For example, a meter MID (Multi Information Display), a CID (Center Information Display), or a HUD (Head-Up Display) can be used as the display device 91. The meter MID is a display device provided in front of the driver's seat inside the vehicle. As an example, the meter MID may be configured to be provided in a meter panel. The CID is a display device arranged in the center of the instrument panel of the vehicle. The HUD is provided in the vehicle interior, for example, on the instrument panel. The HUD projects a display image formed by a projector onto a projection area that is set on a front windshield as a projection member. The light of the image reflected by the front windshield into the vehicle interior is perceived by the driver sitting in the driver's seat. This allows the driver to view a virtual image of the display image formed in front of the front windshield, superimposed on a part of the foreground. The HUD may be configured to project a display image onto a combiner provided in front of the driver's seat instead of the front windshield. The audio output device 92 presents information by outputting audio. Examples of the audio output device 92 include a speaker.

[0068] The DSM93 is composed of a near-infrared light source, a near-infrared camera, and a control unit for controlling them. The DSM934 is arranged, for example, on the upper surface of the instrument panel with the near-infrared camera facing the driver's seat side of the vehicle. The DSM93 uses the near-infrared camera to capture an image of the driver irradiated with near-infrared light by the near-infrared light source. The capture range may be set to include at least the head of the driver. The image captured by the near-infrared camera is subjected to image analysis by the control unit. The control unit detects the driver's level of wakefulness, facial orientation, and posture loss based on the driver's features extracted by image analysis of the captured image. The detection of the level of wakefulness may be performed by distinguishing at least between an awake state and a sleeping state.

[0069] The user input device 94 receives input from the user. The user input device 94 may be an operation device that receives operation input from the user. The operation device may be a mechanical switch or a touch switch integrated with the display 91. Note that the user input device 94 is not limited to an operation device that receives operation input as long as it is a device that receives input from the user. For example, it may be a voice input device that receives input of a command by voice from the user.

[0070] The HCU 10 is mainly composed of a computer including a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting these. The HCU 10 is connected to the presentation device 90, the DSM 93, the user input device 94, and the in-vehicle LAN. The HCU 10 controls the information presentation on the presentation device 90 by executing a control program stored in the non-volatile memory. This HCU 10 corresponds to a vehicle presentation control device. In this embodiment, the case where the HCU 10 is used in a vehicle capable of at least non-monitored automatic driving as automatic driving will be described as an example. The configuration of the HCU 10 regarding the control of the information presentation on the presentation device 90 will be described in detail below.

[0071] <Schematic Configuration of HCU10> Subsequently, the schematic configuration of the HCU 10 will be described with reference to FIG. 2. Regarding the control of the information presentation on the presentation device 90, as shown in FIG. 2, the HCU 10 includes a presentation control unit 100, a level identification unit 101, a prediction unit 102, a requirement identification unit 103, a reservation necessity confirmation unit 104, a transition necessity confirmation unit 105, and a cancellation confirmation unit 106 as functional blocks. Also, the execution of the processing of each functional block of the HCU 10 by a computer corresponds to the execution of the vehicle presentation control method. Note that part or all of the functions executed by the HCU 10 may be configured hardware-wise by one or a plurality of ICs or the like. Also, part or all of the functional blocks included in the HCU 10 may be realized by a combination of software execution by a processor and hardware members.

[0072] The level identification unit 101 identifies the current automation level of the vehicle. The level identification unit 101 may identify the current automation level of the vehicle by monitoring the autonomous driving ECU 80.

[0073] The prediction unit 102 predicts that autonomous driving will be possible. Here, autonomous driving will be possible means reaching an area where autonomous driving is permitted (hereinafter, autonomous driving permitted area). For example, for area-limited LV3 autonomous driving, the ST section may be set as the autonomous driving permitted area. In this case, the prediction unit 102 can be said to predict that the section requirement among the environmental requirements will be satisfied. For congestion-limited LV3 autonomous driving, the congestion section may be set as the autonomous driving permitted area. In this case, the prediction unit 102 can be said to predict that the congestion requirement among the environmental requirements will be satisfied. For LV1 and LV2 autonomous driving, the AD section may be set as the autonomous driving permitted area. In this case, the prediction unit 102 can be said to predict that the section requirement among the environmental requirements will be satisfied.

[0074] Arrival at the autonomous driving permitted area may be predicted based on the distance to the autonomous driving permitted area becoming equal to or less than a set distance. If a predicted route for the vehicle exists, the prediction may be based on the distance to the autonomous driving permitted area on the predicted route becoming equal to or less than a set distance. The predicted route may be one that is searched for, for example, by a navigation function. If a predicted route for the vehicle does not exist, the prediction may be based on the distance to the autonomous driving permitted area becoming equal to or less than a set distance on a road with no branches to the autonomous driving permitted area. The set distance may be set arbitrarily. In other words, the prediction unit 102 predicts that at least some of the predetermined requirements of the environmental requirements will be satisfied. Examples of the predetermined requirements include the section requirements and congestion requirements described above.

[0075] The requirement specification unit 103 specifies the AD start requirements that should be satisfied in order to start the automatic driving. In other words, it specifies the AD start requirements that are not satisfied at the present time. The requirement specification unit 103 may specify the AD start requirements that are not satisfied at the present time based on the information used for the judgment in the requirement judgment unit of the automatic driving ECU 80. The requirement specification unit 103 specifies at least the driver requirements and the environmental requirements as the AD start requirements. In other words, it specifies the driver requirements and the environmental requirements that are not satisfied at the present time by distinguishing them from each other. The processing in the requirement specification unit 103 corresponds to the requirement specification process. The requirement specification unit 103 may target the automatic driving of the automation level predicted to be possible by the prediction unit 102. The requirement specification unit 103 may also specify whether all the AD start requirements are satisfied. The requirement specification unit 103 may also specify whether all the driver requirements are satisfied. The requirement specification unit 103 may also specify whether all the environmental requirements are satisfied.

[0076] The reservation necessity confirmation unit 104 confirms whether a reservation is necessary as a response from the driver to the reservation necessity presentation described below. For example, when an input to the effect that a reservation is necessary is received by the user input device 94, it confirms that a reservation is necessary. On the other hand, when an input to the effect that a reservation is not necessary is received by the user input device 94, it confirms that a reservation is not necessary. Note that it may also be confirmed that a reservation is not necessary when an input to the effect that a reservation is necessary is not received by the user input device 94 within a certain time period in response to the presentation of the reservation necessity. The case where the reservation necessity confirmation unit 104 confirms that a reservation for transition to autonomous driving is necessary corresponds to the case where the driver's consent has been given as described above.

[0077] The transition necessity confirmation unit 105 confirms the necessity of transition as a response from the driver to the transition necessity presentation described below. For example, when an input to the effect that a transition is necessary is received by the user input device 94, it confirms that a transition is necessary. On the other hand, when an input to the effect that a transition is not necessary is received by the user input device 94, it confirms that a transition is not necessary. Note that it may also be confirmed that a transition is not necessary when an input to the effect that a transition is necessary is not received by the user input device 94 within a certain time period in response to the transition necessity presentation. A case where the transition necessity confirmation unit 105 confirms that a transition to automated driving is necessary corresponds to a case where the driver's consent has been given as described above.

[0078] The cancellation confirmation unit 106 confirms whether cancellation is necessary as a response from the driver to the cancellation necessity notification described below. For example, when an input indicating that cancellation is necessary is received by the user input device 94, it confirms that cancellation is necessary. On the other hand, when an input indicating that cancellation is not necessary is received by the user input device 94, it confirms that cancellation is not necessary. Note that it may also be confirmed that cancellation is not necessary when an input indicating that cancellation is necessary is not received by the user input device 94 within a certain period of time in response to the cancellation necessity notification. The case where the cancellation confirmation unit 106 confirms that cancellation is not necessary corresponds to the case where the driver's consent has been given as described above.

[0079] The presentation control unit 100 controls the presentation of information on the presentation device 90. In the following, a case will be described as an example in which the presentation control unit 100 presents information by displaying it on the display device 91. Note that the presentation of information may be configured to be performed by audio output from an audio output device 92.

[0080] Based on the fact that the AD start requirement identified by the requirement identification unit 103 is a driver requirement, the presentation control unit 100 causes a driver requirement presentation indicating that a driver requirement is necessary for the start of automatic driving to be performed before automatic driving is started as information presentation on the requirements necessary for the start of automatic driving (hereinafter, requirement presentation). In other words, a driver requirement presentation for a driver requirement that is not satisfied for the automatic driving to be switched to is performed before automatic driving is started. The driver requirement presentation may be information presentation indicating the driver requirement that is not satisfied. For example, a list of the driver requirements that are not satisfied may be displayed as text or an icon. The driver requirement presentation may be information presentation that prompts the driver to satisfy the driver requirement that is not satisfied. For example, a text explaining that automatic driving will be possible if the requirements are satisfied may be displayed together with a list of the driver requirements that are not satisfied. In addition, a text explaining that automatic driving will not be possible unless the requirements are satisfied may be displayed together with a list of the driver requirements that are not satisfied. The processing in the presentation control unit 100 corresponds to a presentation control step.

[0081] The presentation control unit 100 may be configured not to present information indicating that an environmental requirement is necessary for the start of automatic driving as a requirement presentation, even if the requirement specification unit 103 specifies an environmental requirement as an AD start requirement. In other words, even if an environmental requirement that is not satisfied for the automatic driving to be switched to is specified, the presentation of information indicating that the environmental requirement is necessary for the start of automatic driving may be configured not to present information. In addition, the presentation control unit 100 may be configured to present a driver requirement when the AD start requirement specified by the requirement specification unit 103 is a driver requirement, while not presenting information indicating that the environmental requirement is necessary for the start of automatic driving when the AD start requirement specified by the requirement specification unit 103 is only an environmental requirement. Even if information is presented indicating that an environmental requirement that the driver cannot solve is necessary, the driver is likely to feel annoyed. In contrast, by not presenting such information, it is possible to make it difficult for a situation in which the driver feels annoyed to occur.

[0082] When the prediction unit 102 predicts that the above-mentioned predetermined requirement among the environmental requirements will be satisfied, the presentation control unit 100 preferably causes the driver requirement presentation to be performed before the predetermined requirement is satisfied, based on the fact that the AD start requirement identified by the requirement identification unit 103 is a driver requirement. In other words, when the presentation control unit 100 predicts that autonomous driving will be possible, it preferably causes the driver requirement presentation to be performed before all environmental requirements are satisfied. This makes it possible to prompt the driver to satisfy the driver requirements well in advance before reaching the autonomous driving permitted area.

[0083] When the prediction unit 102 predicts that the above-mentioned predetermined requirements are satisfied, the presentation control unit 100 may present information to inquire of the driver whether or not a reservation for switching to autonomous driving is necessary (hereinafter, "reservation necessity presentation"). Here, the timing of the reservation necessity presentation when the autonomous driving to be switched to is level 3 autonomous driving will be described.

[0084] For example, the presentation control unit 100 may be configured not to present the necessity of reservation until the vehicle reaches the AD section. This is to prevent unnecessary presentation of the necessity of reservation on general roads where it is considered difficult to satisfy the AD start requirements for LV3 autonomous driving. The presentation control unit 100 may be configured to present the necessity of reservation before the service area when the requirement specification unit 103 specifies the energy requirements. In other words, the presentation control unit 100 may be configured to present the necessity of reservation before the service area when the remaining amount of the running energy source of the vehicle is insufficient. This makes it possible to present the driver requirements indicating that the energy requirements are not satisfied before the service area, and to provide an opportunity to replenish the running energy source of the vehicle.

[0085] It is preferable that the presentation control unit 100 changes the timing of presenting the necessity of reservation depending on whether the autonomous driving predicted by the prediction unit 102 to satisfy the above-mentioned predetermined requirements is area-limited LV3 autonomous driving (hereinafter, area-limited autonomous driving) or traffic jam-limited LV3 autonomous driving (hereinafter, traffic jam-limited autonomous driving). This makes it possible to present the necessity of reservation depending on the timing at which the possibility of autonomous driving becomes high for each of area-limited autonomous driving and traffic jam-limited autonomous driving. In the case of area-limited autonomous driving, the necessity of reservation may be presented at a point a predetermined distance before the ST section. The predetermined distance may be, for example, 2 km. In the case of traffic jam-limited autonomous driving, the necessity of reservation may be presented at a point a predetermined distance before the traffic jam section that can be specified from the traffic jam information. The predetermined distance may be, for example, 2 km. In the case of traffic jam-limited autonomous driving, the necessity of reservation may be presented at a point where the vehicle reaches the AD section and the vehicle speed of the vehicle becomes equal to or lower than a predetermined value. The predetermined value may be, for example, 40 km / h.

[0086] Note that, when the autonomous driving to be switched to is autonomous driving at level 2 or lower, the following may be performed. For example, the presentation control unit 100 may present the necessity of reservation immediately after the prediction unit 102 predicts that the above-mentioned predetermined requirement will be satisfied. Alternatively, the presentation control unit 100 may present the necessity of reservation a predetermined time after the prediction unit 102 predicts that the above-mentioned predetermined requirement will be satisfied. The predetermined time may be, for example, a time estimated to be shorter than the time required to reach the autonomous driving permitted area.

[0087] It is preferable that the presentation control unit 100 presents driver requirements when the reservation necessity confirmation unit 104 confirms that a reservation for transition to autonomous driving is necessary and when the AD start requirement identified by the requirement identification unit 103 is a driver requirement. This makes it possible to present the driver requirements that the driver should meet to enable autonomous driving to a driver who has previously desired the transition to autonomous driving before the vehicle reaches the autonomous driving distance area. This makes it possible to transition to autonomous driving more smoothly.

[0088] It is preferable that the presentation control unit 100 changes at least one of the timing of presenting the driver requirements and the order of presenting the driver requirements when multiple types of driver requirements are identified, according to the driver requirements identified by the requirement identification unit 103. The time required to satisfy a driver requirement may differ depending on the type of driver requirement. In contrast, the above configuration makes it possible to present the driver requirements at a timing according to the time required to satisfy the driver requirements. As a result, it becomes possible for the driver to smoothly take actions that satisfy the driver requirements.

[0089] For example, when multiple types of driver requirements are specified, the presentation control unit 100 may present the driver requirements according to the driver requirements in the order of difficulty to meet the requirements. This is because the more difficult a requirement is to meet, the longer it takes to meet the requirement, and therefore it is preferable to present the driver requirements early. As an example, when the requirement specification unit 103 specifies a driving lane requirement, an energy requirement, and an automatic mode requirement, the presentation control unit 100 may present the driver requirements according to the driver requirements in the order of energy requirement, driving lane requirement, and automatic mode requirement.

[0090] In addition, the presentation control unit 100 may present the driver requirements at a timing according to the time estimated to be required to satisfy the requirements. This is because the longer the time required to satisfy the requirements, the earlier the presentation is preferable. As an example, in the case of energy requirements, the driver requirements may be presented at a timing before reaching a service area before the ST section. When the autonomous driving to be switched to is area-limited autonomous driving and the requirement specification unit 103 specifies the driving lane requirements, the driver requirements may be presented when the vehicle reaches a predetermined distance before the ST section. The predetermined distance may be, for example, 2 km. In the case of requirements that the driver can quickly respond to, such as automatic mode requirements, vehicle speed requirements, vehicle distance requirements, driver state requirements, and gripping requirements, the driver requirements may be presented just before reaching the autonomous driving permission area. In the case of level requirements, the lower the current automation level is compared to the required automation level, the earlier the driver requirements may be presented.

[0091] The driver requirement presentation for each driver requirement may be performed by displaying the driver requirements that are not met in a list and highlighting them at a timing appropriate for each driver requirement. Alternatively, the driver requirements that are not met may not be displayed in a list, and only the driver requirements may be displayed at a timing appropriate for each driver requirement.

[0092] The presentation control unit 100 may present information to inquire of the driver whether or not to transition to autonomous driving (hereinafter, transition necessity presentation). Whether or not to transition is necessary may be rephrased as whether or not there is a desire to transition. The presentation control unit 100 may be configured not to present whether or not to transition when the reservation necessity confirmation unit 104 confirms that a reservation for transition to autonomous driving is necessary. This is to reduce the annoyance of the driver caused by repeatedly confirming the desire to transition to autonomous driving. Note that the presentation control unit 100 may be configured to present whether or not to transition without presenting whether or not to reserve.

[0093] The presentation control unit 100 preferably causes the driver requirement presentation when the AD start requirement identified by the requirement identification unit 103 is only a driver requirement among the driver requirements and the environmental requirements, and when the transition necessity confirmation unit 105 confirms that transition to automated driving is necessary. This makes it possible to cause the driver requirement presentation to be performed when the driver wishes to transition to automated driving. In addition, since the driver requirement presentation is not performed when the AD start requirement includes an environmental requirement, it is possible to eliminate the waste of presenting the driver requirement when the problem cannot be solved by merely satisfying the driver requirement.

[0094] The presentation control unit 100 may be configured not to present whether or not to transition when the reservation necessity confirmation unit 104 confirms that a reservation for transition to autonomous driving is necessary, even when all AD start requirements are satisfied and a transition to autonomous driving is to be made. This makes it possible to reduce the hassle of presenting whether or not to transition even when it has been confirmed to the driver that a reservation for transition is necessary. On the other hand, when the reservation necessity confirmation unit 104 confirms that a reservation for transition to autonomous driving is not necessary, the presentation of whether or not to transition is made when all AD start requirements are satisfied. This makes it possible to confirm with the driver whether or not to transition is necessary before transitioning to autonomous driving, even if the reservation necessity confirmation unit 104 fails to confirm with the driver that a transition is necessary, by the reservation necessity presentation.

[0095] It is preferable that the presentation control unit 100 changes the timing of the driver requirement presentation depending on whether the reservation necessity confirmation unit 104 confirms that a reservation for transition to automatic driving is necessary or that a reservation for transition to automatic driving is not necessary. This makes it possible to present the driver requirement at a timing when it is confirmed that the driver desires to transition to automatic driving. Therefore, it is possible to reduce waste of presenting the driver requirement at a timing when the driver does not need it. For example, when the reservation necessity confirmation unit 104 confirms that a reservation for transition to automatic driving is necessary, the driver requirement presentation is made after the reservation for transition is confirmed. As an example, as described above, the driver requirement presentation may be made at a timing according to the driver requirement to be satisfied. On the other hand, when the reservation necessity confirmation unit 104 confirms that a reservation for transition to automatic driving is not necessary, the driver requirement presentation may be made at the same timing as the transition necessity presentation.

[0096] The presentation control unit 100 may present information to inquire of the driver whether or not to cancel the transition to autonomous driving (hereinafter, "cancel necessity presentation"). The presentation control unit 100 may be configured to present whether or not to cancel only when the reservation necessity confirmation unit 104 confirms that a reservation for the transition to autonomous driving is necessary. This is to provide an opportunity to confirm whether or not to confirm the reservation.

[0097] It is preferable that the presentation control unit 100 causes the driver requirement presentation when the AD start requirement identified by the requirement identification unit 103 is only the driver requirement among the driver requirement and the environmental requirement, but does not cause the driver requirement presentation when the AD start requirement identified by the requirement identification unit 103 includes the environmental requirement. This makes it possible to eliminate the waste of presenting the driver requirement when the problem cannot be solved by merely satisfying the driver requirement.

[0098] When the requirement specification unit 103 does not specify a driver requirement as an AD start requirement, the presentation control unit 100 preferably changes the manner of information presentation depending on whether or not an environmental requirement has been specified. For example, the presence or absence of information presentation may be changed. As an example, the following may be performed. When it is confirmed that a reservation for transition is necessary, if all the driver requirements are met and all the environmental requirements are also met, a cancellation necessity presentation may be performed. On the other hand, when all the driver requirements are met but the environmental requirements are not met, a cancellation necessity presentation may not be performed. Also, when it is confirmed that a reservation for transition is unnecessary, if all the driver requirements are met and all the environmental requirements are also met, a transition necessity presentation may be performed. On the other hand, when all the driver requirements are met but the environmental requirements are not met, a transition necessity presentation may not be performed.

[0099] It is preferable that the presentation control unit 100 also presents information indicating the current state at the stage before the autonomous driving becomes possible. For example, it is sufficient to present information indicating the current state at the stage before the autonomous driving to be switched to becomes possible. As an example, it may be as follows.

[0100] When the reservation necessity confirmation unit 104 confirms that a reservation for transition to automatic driving is necessary, the presentation control unit 100 may display an icon indicating that a reservation for transition to automatic driving is being made (hereinafter, a reservation icon) on the display 91. Also, when the presentation control unit 100 confirms that a reservation for transition to automatic driving is necessary and all the AD start requirements are satisfied, the presentation control unit 100 may display an icon indicating that preparation for reservation for transition to automatic driving is completed (hereinafter, a reservation preparation complete icon) on the display 91. The reservation icon may be configured to continue to be displayed until the reservation preparation complete icon is displayed. In the case of adopting a configuration in which the reservation preparation complete icon is not displayed, for example, the reservation icon may be configured to continue to be displayed until the cancellation confirmation unit 106 confirms whether or not cancellation is necessary. On the other hand, when the presentation control unit 100 confirms that a reservation for transition to automatic driving is necessary and the AD start requirements are not satisfied, the presentation control unit 100 may display an icon indicating that preparation for reservation for transition to automatic driving is not completed (hereinafter, a reservation preparation not complete icon) on the display 91. The reservation not yet ready icon may be displayed in place of the reservation icon, or may be displayed together with the reservation icon.

[0101] Furthermore, the presentation control unit 100 may display text such as "Autonomous driving not possible" or "LVX not possible" on the display 91 until all of the AD start requirements for the autonomous driving to be switched to are satisfied. The X in LVX may be assigned to the automation level of the autonomous driving to be switched to.

[0102] The presentation control unit 100 may change the manner of presenting information depending on whether or not it has been confirmed by the reservation necessity confirmation unit 104 that a reservation for transition to autonomous driving is necessary. As an example, the following may be performed.

[0103] When it is confirmed that a reservation for transition to autonomous driving is necessary and all the AD start requirements are satisfied, the presentation control unit 100 may not make a transition necessity presentation. In this case, transition to the target autonomous driving is performed without confirmation that the transition is necessary. However, it is preferable to make it possible to cancel the transition to autonomous driving by making a cancellation necessity presentation. On the other hand, when it is confirmed that a reservation for transition to autonomous driving is not necessary, a transition necessity presentation may be made and the necessity of transition may be confirmed. In addition, when only the driver requirement among the AD start requirements is not satisfied, a driver requirement presentation may be made to prompt the driver to satisfy the unsatisfied driver requirement.

[0104] When the prediction unit 102 predicts that autonomous driving will be possible, the presentation control unit 100 may present information (hereinafter, possibility presentation) to inform the user that autonomous driving may be possible. As an example, the following may be performed. When the autonomous driving to be switched to is area-limited autonomous driving, text such as "There is an area where autonomous driving is possible up ahead" may be displayed on the display 91. When the autonomous driving to be switched to is traffic jam-limited autonomous driving, text such as "Autonomous driving in traffic jams may be possible up ahead" may be displayed on the display 91.

[0105] When the requirement specification unit 103 specifies only the driver requirement among the driver requirement and the environmental requirement, the display control unit 100 may display information indicating that the switching target autonomous driving is possible if the driver requirement is satisfied (hereinafter, driver requirement waiting display). As an example, text such as "Autonomous driving will be possible if you satisfy the requirements" may be displayed on the display 91. The driver requirement waiting display does not include the display of information indicating a driver requirement that is not satisfied.

[0106] When switching to the target autonomous driving mode, the display control unit 100 may display information indicating that the target autonomous driving mode will be switched to (hereinafter, referred to as "switching display"). As an example, the display unit 91 may display text such as "Switching to autonomous driving mode."

[0107] <Processing related to presentation control in HCU10> Here, using the flowcharts of FIGS. 3 to 5, an example of the flow of processing related to the control of information presentation regarding the transition to automated driving in HCU10 (hereinafter, presentation control related processing) will be described. Here, an example in the case where the automated driving to be switched is level 3 automated driving will be described. The flowchart of FIG. 3 may be configured to start when, for example, a switch (hereinafter, power switch) for starting the internal combustion engine or motor generator of the host vehicle is turned on.

[0108] First, in step S1, when the prediction unit 102 predicts that automated driving will be possible (hereinafter, AD possibility) (YES in S1), it proceeds to step S5. On the other hand, when it does not predict the AD possibility (NO in S1), it proceeds to step S3. In step S3, when it is the end timing of the presentation control related processing (YES in S3), the presentation control related processing is terminated. On the other hand, when it is not the end timing of the presentation control related processing (NO in S3), it returns to S1 and repeats the processing. Examples of the end timing of the presentation control related processing include the power switch being turned off.

[0109] In step S5, the presentation control unit 100 causes a possibility presentation to be made and proceeds to step S7. In step S7, the presentation control unit 100 causes a reservation necessity presentation to be made and proceeds to step S9. In step S9, when the reservation necessity confirmation unit 104 confirms that a reservation is necessary (YES in S9), it proceeds to step S11. On the other hand, when the reservation necessity confirmation unit 104 confirms that a reservation is unnecessary (NO in S9), it proceeds to step S13.

[0110] In step S11, reservation-time processing is performed and it proceeds to step S15. Here, using the flowchart of FIG. 4, an example of the flow of reservation-time processing will be described.

[0111] First, in step S111, if the requirement identifying unit 103 identifies that all the driver requirements are met (YES in S111), the process proceeds to step S113. On the other hand, if the requirement identifying unit 103 identifies that the driver requirements are not met (NO in S111), the process proceeds to step S112.

[0112] In step S112, the presentation control unit 100 causes the driver requirements to be presented, and the process returns to step S111 to repeat the process. In addition, in S112, when there are multiple types of driver requirements that are not satisfied, as described above, the driver requirements may be presented for each driver requirement at a timing according to each driver requirement. In this case, as the number of satisfied driver requirements increases, the number of driver requirements presented in the driver requirement presentation decreases.

[0113] In step S113, if the requirement identifying unit 103 identifies that all of the AD start requirements are satisfied (YES in S113), the process proceeds to step S120. On the other hand, if the requirement identifying unit 103 identifies that the AD start requirements are not satisfied (NO in S113), the process proceeds to step S114.

[0114] In step S114, if the requirement specification unit 103 specifies only the driver requirement among the driver requirement and the environmental requirement (YES in S114), the process proceeds to step S115. On the other hand, if the requirement specification unit 103 specifies also the environmental requirement (NO in S114), the process returns to S113 and repeats the process.

[0115] In step S115, the presentation control unit 100 causes the driver requirements to be presented, and the process proceeds to step S116. In step S116, if the requirement identification unit 103 identifies that all the driver requirements are met (YES in S116), the process proceeds to step S120. On the other hand, if the requirement identification unit 103 identifies that the driver requirements are not met (NO in S116), the process proceeds to step S117.

[0116] In step S117, the presentation control unit 100 presents whether or not cancellation is necessary, and the process proceeds to step S118. In step S118, if the cancellation confirmation unit 106 confirms that cancellation is necessary (YES in S118), the process proceeds to step S119. On the other hand, if the cancellation confirmation unit 106 confirms that cancellation is not necessary (NO in S118), the process returns to S115 and is repeated. In step S119, the HCU 10 determines that the host vehicle will maintain the current automation level, and the process proceeds to step S15.

[0117] In step S120, the presentation control unit 100 presents whether or not cancellation is necessary, and the process proceeds to step S121. In step S121, if the cancellation confirmation unit 106 confirms that cancellation is necessary (YES in S121), the process proceeds to step S119. On the other hand, if the cancellation confirmation unit 106 confirms that cancellation is not necessary (NO in S121), the process proceeds to step S122. In step S122, the HCU 10 determines that the host vehicle will transition to LV3 autonomous driving, and the process proceeds to step S15. This allows the driver to confirm their desire to transition before transitioning to the autonomous driving mode to be switched to, even if the driver has previously reserved a transition to autonomous driving.

[0118] In addition, in S120, the presentation control unit 100 may be configured to also provide a transition presentation indicating that the autonomous driving to be switched to will be switched to. Alternatively, the presentation control unit 100 may be configured to provide information presentation indicating that the autonomous driving to be switched to will be switched to, instead of the cancellation necessity presentation. In this case, the autonomous driving to be switched to will be switched to without confirmation of the necessity of cancellation.

[0119] Returning to Fig. 3, in step S13, non-reservation processing is performed, and the process proceeds to step S15. Here, an example of the flow of non-reservation processing will be described with reference to the flowchart of Fig. 5.

[0120] In step S131, if the requirement identifying unit 103 identifies that all the AD start requirements are satisfied (YES in S131), the process proceeds to step S132. On the other hand, if the requirement identifying unit 103 identifies that the AD start requirements are not satisfied (NO in S131), the process proceeds to step S135.

[0121] In step S132, the presentation control unit 100 presents whether or not transition is necessary, and the process proceeds to step S133. In step S133, if the transition necessity confirmation unit 105 confirms that transition is necessary (i.e., transition is desired) (YES in S133), the process proceeds to step S134. On the other hand, if the transition necessity confirmation unit 105 confirms that transition is not necessary (NO in S133), the process proceeds to step S139.

[0122] In step S134, the HCU 10 determines that the host vehicle will transition to LV3 autonomous driving. In S134, the presentation control unit 100 causes a transition presentation to be made indicating that the host vehicle will transition to the autonomous driving mode to be switched to, and the process proceeds to step S15.

[0123] In step S135, if the requirement specification unit 103 specifies only the driver requirement among the driver requirement and the environmental requirement (YES in S135), the process proceeds to step S136. On the other hand, if the requirement specification unit 103 specifies also the environmental requirement (NO in S135), the process returns to S131 and is repeated. In step S136, the presentation control unit 100 causes a driver requirement waiting presentation to be made indicating that the switching target automated driving is possible if the driver requirement is satisfied, and the process proceeds to step S137.

[0124] In step S137, the presentation control unit 100 presents whether or not a transition is necessary, and the process proceeds to step S138. In step S138, if the transition necessity confirmation unit 105 confirms that a transition is necessary (i.e., a transition is desired) (YES in S138), the process proceeds to step S140. On the other hand, if the transition necessity confirmation unit 105 confirms that a transition is not necessary (NO in S138), the process proceeds to step S139. In step S139, the HCU 10 determines that the host vehicle will maintain the current automation level, and the process proceeds to step S15.

[0125] In the example of Figure 5, the driver requirements are not presented before the driver confirms the desire to switch to autonomous driving. This makes it possible to reduce the annoyance caused by the driver being presented with the requirements that the driver must meet to start autonomous driving, even if the driver does not wish to switch to autonomous driving.

[0126] In step S140, the presentation control unit 100 causes the driver requirements to be presented, and the process proceeds to step S141. In step S141, if the requirement identification unit 103 identifies that all of the AD start requirements are met (YES in S141), the process proceeds to step S134. On the other hand, if the requirement identification unit 103 identifies that the AD start requirements are not met (NO in S141), the process proceeds to step S142.

[0127] In step S142, if the requirement identifying unit 103 identifies only the driver requirement among the driver requirement and the environmental requirement (YES in S142), the process returns to S140 and is repeated. On the other hand, if the requirement identifying unit 103 also identifies the environmental requirement (NO in S142), the process of S142 is repeated.

[0128] 3, in step S15, if the HCU 10 determines that the vehicle will transition to LV3 automated driving (YES in S15), the presentation control-related processing ends. On the other hand, if the HCU 10 determines that the vehicle will maintain the current automated level (NO in S15), the processing returns to S1 and is repeated.

[0129] <Summary of the First Embodiment> According to the configuration of the first embodiment, based on the fact that the requirement required for the start of autonomous driving is a driver requirement, it is possible to present a driver requirement indicating that a driver requirement is required for the start of autonomous driving. Therefore, it is possible to present information according to the fact that the requirement required for the start of autonomous driving is a driver requirement. In addition, since the driver requirement is presented before the start of autonomous driving, it is possible to prompt the driver to take the necessary measures to start autonomous driving before the start of autonomous driving based on this driver requirement presentation. As a result, it is possible to smoothly switch from manual driving to autonomous driving.

[0130] In the first embodiment, the case where the autonomous driving to be switched to is an autonomous driving of LV3 has been described as an example, but this is not necessarily limited to this. The present invention can also be applied to cases where the autonomous driving to be switched to is an autonomous driving of other than LV3.

[0131] (Embodiment 2) In the first embodiment, a configuration is shown in which the driver's desire to transition is confirmed by presenting the transition necessity before presenting the driver requirements in the non-reserved process, but this is not necessarily limited to this. For example, a configuration as in the following second embodiment may be used. An example of the second embodiment will be described below with reference to the drawings. The vehicle system 1 of the second embodiment is similar to the vehicle system 1 of the first embodiment, except that it includes an HCU 10a instead of the HCU 10.

[0132] Next, a schematic configuration of the HCU 10a will be described with reference to Fig. 6. As shown in Fig. 6, the HCU 10a includes a presentation control unit 100a, a level identification unit 101, a prediction unit 102, a requirement identification unit 103, a reservation necessity confirmation unit 104, a transition necessity confirmation unit 105, and a cancellation confirmation unit 106 as functional blocks for controlling information presentation in the presentation device 90. The HCU 10a is similar to the HCU 10 of the first embodiment, except that the HCU 10a includes the presentation control unit 100a instead of the presentation control unit 100. This HCU 10a also corresponds to a presentation control device for a vehicle. In addition, the execution of the processing of each functional block of the HCU 10a by a computer also corresponds to the execution of a presentation control method for a vehicle.

[0133] The presentation control unit 100a is the same as the presentation control unit 100 of the first embodiment, except for a part of the processing related to the non-reserved time processing. When the AD start requirements identified by the requirement identification unit 103 are only the driver requirements among the driver requirements and the environmental requirements, the presentation control unit 100a also causes the driver requirements to be presented when the transition necessity is presented. Details will be described below. An example of the flow of the non-reserved time processing in the HCU 10a will be described below with reference to the flowchart of FIG. 7.

[0134] The processes from S131 to S136 may be the same as the process when no reservation is performed in the first embodiment. The difference is that the process of step S136 is followed by the process of step S137a. In step S137a, the presentation control unit 100 causes the driver requirements to be presented together with the transition necessity presentation, and then proceeds to S138. The driver requirements presentation here may be, for example, a list of driver requirements that are not met. The processes from S138 to S142 may be the same as the process when no reservation is performed in the first embodiment. In the driver requirements presentation, a display method other than the list display may be as follows. For example, a driver requirement that takes the most time to meet may be displayed, and each time a driver requirement is met, the driver requirements to be displayed may be displayed in order of time taken. In addition, when a list display is performed, a configuration may be used in which a plurality of driver requirements that take the most time to meet among the unmet driver requirements are displayed, and each time a driver requirement is met, the driver requirements that are not met are switched and displayed. The driver requirements do not have to be presented in text form, but may be presented in icon form or audio form.

[0135] According to the above configuration, it is possible for the driver to determine whether or not to shift to automated driving after confirming the amount of driver requirements to be satisfied. In the flowchart of FIG. 7, for example, the process of S136 may be omitted. The same applies to the flowchart of FIG. 6.

[0136] (Embodiment 3) In the above embodiment, a configuration in which the transition to autonomous driving can be reserved in advance has been shown, but this is not necessarily limited to this. A configuration in which the transition to autonomous driving is not reserved in advance may also be used. In this case, the processing of S7, S9, and S11 in the flowchart of FIG. 3 may be omitted, and the processing of S13 may be performed following the processing of S5. In addition, a configuration in which this reservation is possible when the autonomous driving to be switched to is area-limited autonomous driving, but this reservation is not possible when the autonomous driving to be switched to is traffic jam-limited autonomous driving may also be used. This is because it is difficult to predict when the environmental requirements will be met for traffic jam-limited autonomous driving.

[0137] In addition, when adopting a configuration in which the automation level can be changed to LV3 only from LV2, the display control unit 100, 100a may display the necessity of reservation, confirm the necessity of reservation, and perform processing according to the necessity, on the condition that the automation level of the vehicle is LV1 or lower. This is to allow the driver to satisfy the driver requirements with ample time to spare.

[0138] (Embodiment 4) Furthermore, when the presentation control unit 100, 100a presents the necessity of switching, the predicted duration of the autonomous driving to be switched to may also be presented. Alternatively, the predicted duration distance of the autonomous driving to be switched to may be presented. When the autonomous driving to be switched to is area-limited autonomous driving, the predicted duration and predicted duration can be estimated based on the length of the ST section. For example, the predicted duration can be estimated from the length of the ST section and the average vehicle speed of the vehicle. When the autonomous driving to be switched to is traffic jam-limited autonomous driving, the predicted duration and predicted duration can be estimated based on the length of the traffic jam section that can be identified from traffic jam information.

[0139] In addition, when a destination for route guidance is set, the expected arrival time to the destination when the switching target autonomous driving is used may be presented together with the need to switch. The expected arrival time may be estimated using the above-mentioned expected duration. The driving time outside the section subject to autonomous driving may be estimated from the link distance and the average vehicle speed of the vehicle. When presenting the expected duration, expected duration, and expected arrival time, it is preferable to present values ​​in a manner that allows comparison between the case where the switching target autonomous driving is used and the case where it is not used. This allows the driver to compare the presented values ​​and determine whether or not to use autonomous driving.

[0140] (Embodiment 5) In addition, when both area-limited autonomous driving and traffic jam-limited autonomous driving are available as LV3 autonomous driving, it is preferable that the presentation control unit 100, 100a presents whether the autonomous driving is area-limited autonomous driving or traffic jam-limited autonomous driving. This allows the driver to know under what conditions LV3 autonomous driving is possible. For example, taking the possibility presentation as an example, it is sufficient to present the possibility as follows. In the case of area-limited autonomous driving, it is sufficient to present the possibility of indicating the section where autonomous driving is possible, such as "Automatic driving is possible from XX to XX". In the case of traffic jam-limited autonomous driving, it is sufficient to present the possibility of presenting the possibility, such as "Automatic driving is possible in traffic jams".

[0141] (Embodiment 6) In the above embodiment, the autonomous driving ECU 80 is configured to include the requirement determination unit, but this is not necessarily limited to this. For example, the requirement specification unit 103 may also function as the requirement determination unit.

[0142] The present disclosure is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. The embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present disclosure. The control unit and the method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the device and the method described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the device and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by the computer. [Explanation of symbols]

[0143] 1 Vehicle system (vehicle presentation control system), 10, 10a HCU (vehicle display control device), 90 presentation device, 100, 100a presentation control unit, 102 prediction unit, 103 requirement identification unit, 104 reservation necessity confirmation unit, 105 transition necessity confirmation unit

Claims

1. A vehicle presentation control device that can be used in a vehicle capable of autonomous driving, A requirement identification unit (103) that identifies driver requirements that may be resolved by the driver of the vehicle as automated driving start requirements that must be satisfied in order to start automated driving without a monitoring obligation, which is automated driving without a driver's monitoring obligation; A presentation control device for a vehicle is provided with a presentation control unit (100, 100a) that, based on the fact that the autonomous driving start requirement identified by the requirement identification unit is the driver requirement, presents a driver requirement before autonomous driving is started, which is a requirement presentation that presents information about the requirements necessary to start autonomous driving, indicating that the driver requirement is necessary to start autonomous driving.

2. In claim 1, The presentation control unit is a presentation control device for a vehicle that also presents information indicating the current state at the stage until the autonomous driving becomes possible.

3. In claim 1 or 2, A presentation control device for a vehicle that can be used in a vehicle capable of automatic driving without a monitoring obligation, which is automatic driving without the driver's monitoring obligation.

4. It can be used in vehicles capable of autonomous driving, A presentation device (90) for presenting information to a driver of the vehicle; A presentation control system for a vehicle including the presentation control device for a vehicle (10, 10a) according to any one of claims 1 to 3.

5. A presentation control method for a vehicle that can be used in a vehicle capable of automatic driving, Executed by at least one processor, A requirement identification process for identifying driver requirements that may be resolved by the driver of the vehicle as automated driving start requirements that must be satisfied in order to start automated driving without a monitoring obligation, which is automated driving without a driver's monitoring obligation; A presentation control method for a vehicle includes a presentation control process of, based on the fact that the autonomous driving start requirement identified in the requirement identification process is a driver requirement, presenting a driver requirement before the autonomous driving is started, which is a requirement presentation that presents information about the requirements necessary to start the autonomous driving, indicating that the driver requirement is necessary to start the autonomous driving.

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