Vehicle notification control device and vehicle notification control method

Abstract

To enable facilitated assistance from a driver as necessary even when automatic driving is performed at intersections.SOLUTION: A vehicle notification control device includes an operation specification unit 121 that specifies the right and left turns of an own vehicle at intersections, and a notification control unit 103 that allows a notification device 18 installed in the cabin of the own vehicle to send a notification. The notification control unit 103, when the right and left turns at an intersection are specified by the operation specification unit 121 during automatic operation of the own vehicle, allows for sending a monitoring facilitation notification, which is a notification for encouraging the driver of the own vehicle to monitor the surrounding area, as a notification related to the right and left turns in order to encourage the driver of the own vehicle to provide assistance with respect to the passage through the intersection.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a vehicle notification control device and a vehicle notification control method. [Background technology]

[0002] Automated driving, which automates the driving operation of a vehicle, is known. Patent Document 1 discloses a technology for performing automated driving on general roads where intersections exist. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2005-324661 A Summary of the Invention [Problem to be solved by the invention]

[0004] In Patent Document 1, it is not assumed that the driver will be prompted to monitor the surroundings when autonomous driving is performed at an intersection. Since intersections are prone to disturbances, even if autonomous driving is possible at the intersection, there are cases where it is preferable for the driver to assist. This applies even if the autonomous driving does not require the driver to monitor the surroundings.

[0005] One object of this disclosure is to provide a vehicle notification control device and a vehicle notification control method that make it easier to receive assistance from the driver as needed, even when autonomous driving is performed at an intersection. [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, a first vehicle notification control device of the present disclosure is a vehicle notification control device that can be used in a vehicle that performs autonomous driving, and includes an action identification unit (121, 121a) that identifies a predetermined action of the vehicle at an intersection, and a notification control unit (103, 103a, 103b, 103c, 103d, 103e, 103f, 103g, 103h, 103i, 103j, 103k) that causes a notification device (18, 18e) provided in a passenger compartment of the vehicle to issue a notification, and when the action identification unit identifies the predetermined action at the intersection during autonomous driving of the vehicle, the notification control unit In this case, the notification control unit (103) issues a notification related to the specified action to encourage the driver of the vehicle to assist in passing through the intersection, and when the action identification unit (121) identifies a right or left turn at an intersection as the specified action during automatic driving of the vehicle, the notification control unit issues a monitoring promotion notification, which is a notification that encourages the driver of the vehicle to monitor the surroundings, and when the action identification unit identifies a right or left turn at an intersection as the specified action during automatic driving of the vehicle and it is necessary to temporarily stop the vehicle within the intersection, the notification control unit issues a monitoring promotion notification. In order to achieve the above object, a second vehicle notification control device disclosed herein is a vehicle notification control device that can be used in a vehicle that performs autonomous driving, and includes an action identification unit (121, 121a) that identifies a predetermined action of the vehicle at an intersection, and a notification control unit (103, 103a, 103b, 103c, 103d, 103e, 103f, 103g, 103h, 103i, 103j, 103k) that causes a notification device (18, 18e) provided in a passenger compartment of the vehicle to issue a notification, and when the action identification unit identifies the predetermined action at the intersection during autonomous driving of the vehicle, the notification control unit In this case, the notification control unit (103) issues a notification related to the predetermined action to prompt the driver of the vehicle to receive assistance in passing through the intersection, and when the action specification unit (121) specifies a right or left turn at an intersection as the predetermined action during automatic driving of the vehicle, the notification control unit issues a monitoring promotion notification, which is a notification that prompts the driver of the vehicle to monitor the surroundings, and when the action specification unit specifies a right or left turn at an intersection as the predetermined action during automatic driving of the vehicle and a driving operation is temporarily requested of the driver, the notification control unit issues a monitoring promotion notification. 。

[0008] In order to achieve the above object, a first vehicle notification control method of the present disclosure is a vehicle notification control method that can be used in a vehicle that performs autonomous driving, and includes an action identification step executed by at least one processor for identifying a predetermined action of the vehicle at an intersection, and a notification control step for causing a notification device (18, 18e) provided in the passenger compartment of the vehicle to issue a notification. In the notification control step, when a predetermined action at an intersection is identified in the action identification step during autonomous driving of the vehicle, a notification related to the predetermined action is issued to encourage the driver of the vehicle to assist in passing through the intersection. In the notification control step, when a right or left turn at an intersection is identified as the predetermined action during autonomous driving of the vehicle, a monitoring promotion notification is issued, which is a notification that encourages the driver of the vehicle to monitor their surroundings. In the notification control step, when a right or left turn at an intersection is identified as the predetermined action during autonomous driving of the vehicle in the action identification step and it is necessary to temporarily stop the vehicle within the intersection, a monitoring promotion notification is issued. In order to achieve the above object, a second vehicle notification control method of the present disclosure is a vehicle notification control method usable in a vehicle performing autonomous driving, and includes an action identification step of identifying a predetermined action of the vehicle at an intersection, executed by at least one processor, and an alarm control step of causing an alarm device (18, 18e) provided in the cabin of the vehicle to issue an alarm. In the alarm control step, when a predetermined action at an intersection is identified in the action identification step during autonomous driving of the vehicle, an alarm related to the predetermined action is issued to encourage the driver of the vehicle to assist in passing through the intersection. In the alarm control step, when a right or left turn at an intersection is identified as the predetermined action during autonomous driving of the vehicle, a monitoring promotion alarm is issued, which is an alarm that encourages the driver of the vehicle to monitor their surroundings. In the alarm control step, when a right or left turn at an intersection is identified as the predetermined action during autonomous driving of the vehicle in the action identification step and a driving operation is temporarily requested of the driver, a monitoring promotion alarm is issued. 。

[0009] According to the above configuration, when a vehicle performs a predetermined operation during autonomous driving at an intersection, a notification related to the predetermined operation is issued to the driver of the vehicle to encourage assistance with passing through the intersection. Therefore, it becomes easier to receive assistance from the driver according to the predetermined operation of the vehicle. As a result, even when autonomous driving is performed at an intersection, it becomes easier to receive assistance from the driver as needed. [Brief description of the drawings]

[0010] [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] FIG. 2 is a diagram for explaining an example of a surrounding situation image. [Figure 4] FIG. 11 is a diagram for explaining an example of a monitoring promotion notification. [Diagram 5]11 is a flowchart showing an example of a flow of a monitoring promotion notification related process in the HCU 10 according to the first embodiment. [Figure 6] 11 is a flowchart showing an example of a flow of a monitoring promotion notification-related process in an HCU 10 according to the second embodiment. [Figure 7] 13 is a flowchart showing an example of a flow of a monitoring promotion notification-related process in an HCU 10 according to the third embodiment. [Figure 8] 13 is a flowchart showing an example of a flow of monitoring promotion notification related processing in an HCU 10 according to the fourth embodiment. [Figure 9] FIG. 2 illustrates an example of a schematic configuration of an HCU 10a. [Figure 10] FIG. 11 is a diagram for explaining an example of a temporary stop notification. [Figure 11] 11 is a diagram for explaining an example of a change in visibility of a planned route image. FIG. [Figure 12] 11 is a diagram for explaining an example of a change in visibility of a planned route image. FIG. [Figure 13] 13 is a flowchart showing an example of the flow of a temporary stop notification-related process in an HCU 10a according to the fifth embodiment. [Figure 14] FIG. 2 illustrates an example of a schematic configuration of an HCU 10b. [Figure 15] FIG. 13 is a diagram for explaining an example of an obstruction factor notification. [Figure 16] 11A and 11B are diagrams for explaining an example of how to use obstruction factor notifications in response to right or left turns of the host vehicle. [Figure 17] 11A and 11B are diagrams for explaining an example of switching of obstruction factor notification in response to switching of obstruction objects; [Figure 18] 13 is a diagram for explaining an example of switching of obstruction factor notification in response to a change in obstruction object in a planned entrance lane. FIG. [Figure 19] 23 is a flowchart showing an example of the flow of an impediment factor notification-related process in an HCU 10b according to the sixth embodiment. [Figure 20] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1c. [Figure 21] FIG. 2 illustrates an example of a schematic configuration of an HCU 10c. [Figure 22] FIG. 13 is a diagram for explaining an example of a display of a surrounding situation image. [Figure 23] 13 is a diagram for explaining an example in which a planned route image corresponding to an area through which the vehicle has passed is changed to a non-display state. FIG. [Figure 24] 13 is a diagram for explaining an example of highlighting by changing the display mode of an intersecting target vehicle itself; FIG. [Diagram 25] FIG. 11 is a diagram for explaining an example of a display of a turn signal image. [Figure 26] FIG. 13 is a diagram for explaining an example of fixed display. [Figure 27] FIG. 11 is a diagram for explaining an example of a rotation display. [Figure 28] 11A and 11B are diagrams for explaining an example of switching between rotated display and fixed display according to an automation level. [Figure 29] FIG. 2 illustrates an example of a schematic configuration of an HCU 10d. [Diagram 30] 11A and 11B are diagrams for explaining an example of switching between rotating display and fixed display depending on the presence or absence of a target moving object. [Diagram 31] FIG. 2 is a diagram showing an example of a schematic configuration of a vehicle system 1e. [Diagram 32] FIG. 2 illustrates an example of a schematic configuration of an HCU 10e. [Diagram 33] 18 is a diagram for explaining an example of how the driver's display 1811 and the passenger's display 1812 are used to selectively use a rotating display and a fixed display. [Diagram 34] FIG. 2 illustrates an example of a schematic configuration of an HCU 10f. [Diagram 35] FIG. 13 is a diagram for explaining an example of a display of a surrounding situation image. [Diagram 36] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10g. [Figure 37] FIG. 13 is a diagram for explaining an example of a display of a surrounding situation image. [Figure 38] 13 is a diagram for explaining an example of a display of a surrounding situation image when the host vehicle makes a right turn onto the lane of an intersecting vehicle; FIG. [Figure 39] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10h. [Diagram 40] A figure for explaining an example of changes in the display mode of a planned route image and a target moving object image according to an automation level. [Diagram 41] FIG. 2 illustrates an example of a schematic configuration of an HCU 10i. [Diagram 42] FIG. 13 is a diagram for explaining an example of a display of a surrounding situation image. [Diagram 43] FIG. 2 illustrates an example of a schematic configuration of an HCU 10j. [Diagram 44] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU 10k. [Diagram 45] 11 is a diagram for explaining an example of a display of a surrounding situation image before a traffic obstruction is detected; FIG. [Diagram 46] 11 is a diagram for explaining an example of a display of a surrounding situation image after a traffic obstruction is detected; FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 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.

[0012] (Embodiment 1) <Overall configuration of vehicle system 1> Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings. The 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 11, a locator 12, a map database (hereinafter, a map DB) 13, a vehicle state sensor 14, a surroundings monitoring sensor 15, a vehicle control ECU 16, an automatic driving ECU 17, and an alarm device 18. For example, the HCU 10, the communication module 11, the locator 12, the map DB 13, the vehicle state sensor 14, the surroundings monitoring sensor 15, the vehicle control ECU 16, and the automatic driving ECU 17 may be configured to be connected to an in-vehicle LAN (see the LAN in FIG. 1). The vehicle using the vehicle system 1 is not necessarily limited to an automobile, but the following description will be given taking the case of using the vehicle system 1 in an automobile as an example.

[0013] 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:

[0014] 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.

[0015] 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.

[0016] 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 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 an expressway, for example. The expressway may include a motorway.

[0017] Level 4 autonomous driving is a level where the system can perform all driving tasks except under certain circumstances such as on unmanageable roads or 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 fully automated driving. Level 4 and Level 5 autonomous driving can be implemented, for example, on driving sections where high-precision map data has been developed. High-precision map data will be discussed later.

[0018] For example, autonomous driving at LV3 to 5 is autonomous driving where the driver does not have the responsibility to monitor the surroundings. In other words, it corresponds to autonomous driving without the responsibility to monitor. Autonomous driving at LV3 to 5 can be said as autonomous driving where a second task is permitted. Among the autonomous driving at LV3 to 5, autonomous driving at LV4 or higher corresponds to autonomous driving where the driver is permitted to sleep. Autonomous driving at LV4 or higher can be said as autonomous driving where the driver does not need to take over driving even in an emergency. The autonomous driving vehicle of this embodiment is assumed to be capable of switching the automation level. The automation level may be configured to be switchable only between some of the levels LV0 to 5. The autonomous driving vehicle of this embodiment is assumed to be capable of at least implementing autonomous driving.

[0019] The communication module 11 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 11 receives traffic congestion information and the like from the center via wide-area communication. The communication module 11 may transmit and receive information to and from other vehicles via wireless communication. That is, it may perform vehicle-to-vehicle communication. The other vehicles are vehicles other than the vehicle itself. The communication module 11 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 11 may receive information on surrounding vehicles transmitted from surrounding vehicles of the vehicle via the roadside device. Also, the communication module 11 may receive information on surrounding vehicles transmitted from surrounding vehicles of the vehicle via the center via wide-area communication.

[0020] Locator 12 includes a GNSS (Global Navigation Satellite System) 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 12 sequentially measures the position of the vehicle (hereinafter, the vehicle position) on which locator 12 is mounted, by combining the positioning signals received by the GNSS receiver with the measurement results of the inertial sensor. The vehicle position may be expressed, for example, in 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, which will be described later.

[0021] The map DB 13 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 13 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 12 may be configured not to use a GNSS receiver by using the three-dimensional shape information of the road. For example, the locator 12 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 15 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).

[0022] Map data distributed from an external server may be received by wide area communication via the communication module 11 and stored in the map DB 13. In this case, the map DB 13 may be a volatile memory, and the communication module 11 may successively acquire map data of an area corresponding to the vehicle position.

[0023] The vehicle state sensor 14 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 14 includes a vehicle speed sensor, a steering sensor, and the like. The vehicle speed sensor outputs a vehicle speed pulse. The steering sensor detects a steering angle. The vehicle state sensor 14 outputs the detected sensing information to an in-vehicle LAN. The sensing information detected by the vehicle state sensor 14 may be configured to be output to the in-vehicle LAN via an ECU mounted in the vehicle.

[0024] The perimeter monitoring sensor 15 monitors the environment around the vehicle. As an example, the perimeter monitoring sensor 15 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 15 detects road markings such as lane markings around the vehicle. The perimeter monitoring sensor 15 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 17. 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 17 as sensing information. The sensing information detected by the perimeter monitoring sensor 15 may be configured to be output to the automatic driving ECU 17 without going through an in-vehicle LAN.

[0025] The vehicle control ECU 16 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 16 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 16 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.

[0026] The autonomous driving ECU 17 includes, for example, a processor, a memory, an I / O, and a bus connecting these, and executes processes related to autonomous driving by executing a control program stored in the memory. 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 or a magnetic disk. The autonomous driving ECU 17 includes, as functional blocks, a driving environment recognition unit, an action determination unit, and a control execution unit.

[0027] The driving environment recognition unit recognizes the driving environment of the vehicle from the vehicle position acquired from locator 12, map data acquired from map DB 13, and sensing information acquired from surrounding monitoring sensor 15. As an example, the driving environment recognition unit uses these pieces of information to recognize the positions, shapes, and movement states of objects around the vehicle, and generates a virtual space that reproduces the actual driving environment. The driving environment recognition unit may recognize the vehicle position on the map from the vehicle position and map data. When the driving environment recognition unit can acquire position information, speed information, and the like of surrounding vehicles, etc. via communication module 11, it may also use these pieces of information to recognize the driving environment.

[0028] The driving environment recognition unit may also determine whether the driving area is a manual driving area (hereinafter, MD area) in the driving area of ​​the vehicle. The driving environment recognition unit may also determine whether the driving area is an automatic driving area (hereinafter, AD area) in the driving area of ​​the vehicle. The driving environment recognition unit may also determine whether the AD area is an ST section and a non-ST section, which will be described later.

[0029] An MD area is an area where automated driving is prohibited. In other words, an MD area is an area where the driver is required to perform all of the vehicle's longitudinal control, lateral control, and surrounding monitoring. The longitudinal direction is the direction that corresponds to the front-to-rear direction of the vehicle. The lateral direction is the direction that corresponds to the width direction of the vehicle. The longitudinal control corresponds to the acceleration / deceleration control of the vehicle. The lateral control corresponds to the steering control of the vehicle. For example, an MD area may be a driving section of a general road where high-precision map data is not available.

[0030] An AD area is an area where autonomous driving is permitted. In other words, an AD area is an area where it is specified that the vehicle can take over one or more of longitudinal control, lateral control, and periphery monitoring. For example, an AD area may be a highway or a driving section where high-precision map data is available. For example, area-limited LV3 autonomous driving (hereinafter, area-limited autonomous driving) may be permitted only on highways. Traffic jam-limited LV3 autonomous driving (hereinafter, traffic jam-limited autonomous driving) may be permitted only when there is a traffic jam in an AD area.

[0031] AD areas are divided into ST sections and non-ST sections. ST sections are sections where area-limited automated driving is permitted. Non-ST sections may be sections where automated driving of LV2 or lower and traffic jam-limited automated driving are possible. In this embodiment, there is no distinction between non-ST sections where LV1 automated driving is permitted and non-ST sections where LV2 automated driving is permitted. Non-ST sections may be sections of AD areas that do not fall under the ST section category.

[0032] The behavior determination unit switches the control entity of the driving operation between the driver and the system of the vehicle. When the control authority of the driving operation is on the system side, the behavior determination unit determines a driving plan for driving the vehicle based on the recognition result of the driving environment by the driving environment recognition unit. As the driving plan, a long-term and mid-term driving plan and a short-term driving plan are generated. In the long-term and mid-term driving plan, a planned route for directing the vehicle to a set destination is generated. The behavior determination unit may generate this planned route in the same manner as the route search of the navigation function. In the short-term driving plan, the behavior that the vehicle should take to realize driving according to the long-term and mid-term driving plan (i.e., the planned route) is determined using the generated virtual space around the vehicle. Examples of the behavior include going straight, turning right, turning left, stopping, changing lanes, etc.

[0033] When passing through an intersection in autonomous driving, if there is an object (hereinafter, a traffic obstruction) that obstructs the passage of the vehicle, the behavior determination unit determines to stop the vehicle. The autonomous driving referred to here may be autonomous driving that automatically turns right or left. The traffic obstruction may be, for example, a moving body such as another vehicle or a pedestrian. When the vehicle turns right or left at an intersection, the traffic obstruction corresponds to an oncoming vehicle, a pedestrian at the crosswalk ahead of the turn, etc. When the vehicle travels straight through an intersection, the traffic obstruction corresponds to a stopped vehicle ahead, an oncoming vehicle, etc. The traffic obstruction may be recognized by the driving environment recognition unit.

[0034] When passing through an intersection in an autonomous driving situation and, after turning right or left at the intersection, identifying a traffic obstruction in a lane into which the vehicle will turn, the behavior determination unit determines whether to avoid the traffic obstruction. For example, the behavior determination unit may determine whether the vehicle will stop or change course.

[0035] In addition, the behavior determination unit switches the automation level of the autonomous driving of the vehicle as necessary. The behavior determination unit determines whether or not the automation level can be increased. For example, when the vehicle moves from an MD area to a non-ST section of an AD area, it may determine that it is possible to switch from LV0 manual driving to LV2 or lower autonomous driving. When the vehicle moves from an MD area to a ST section of an AD area, it may determine that it is possible to switch from LV0 manual driving to area-limited autonomous driving. When the vehicle moves from a non-ST section of an AD area to a ST section, it may determine that it is possible to switch from LV2 or lower autonomous driving to LV3 autonomous driving. When the vehicle is located in an AD area and the automation level is LV2 or lower, and all the conditions for congestion-limited LV3 are met, it may determine that it is possible to switch from LV2 or lower autonomous driving to congestion-limited autonomous driving. In addition, when the start conditions for LV4 are met, it may determine that it is possible to switch from LV3 or lower to LV4. When the behavior determination unit determines that it is possible to increase the automation level, and the increase in the automation level is approved by the driver, it may increase the automation level.

[0036] The behavior judgment unit may lower the automation level when it determines that a lowering of the automation level is necessary. Scenario for determining that a lowering of the automation level is necessary includes when an override is detected, when a planned driving changeover occurs, and when an unplanned driving changeover occurs. An override is an operation by which the driver of the vehicle voluntarily acquires control of the vehicle. In other words, an override is an operational intervention by the driver of the vehicle. A planned driving changeover is a planned driving changeover determined by the system. An unplanned driving changeover is an unplanned, sudden driving changeover determined by the system.

[0037] The behavior determination unit may switch to manual driving when it is determined that a changeover from automatic driving to manual driving is preferable even if the changeover from automatic driving to manual driving is not essential, and when the driver approves the changeover. An example of a situation in which a changeover from automatic driving to manual driving is preferable is a situation in which the vehicle is temporarily stopped at an intersection due to the presence of a traffic obstruction as described above. Hereinafter, the traffic obstruction that is the cause of the temporary stop is referred to as a stopping object. If the driver does not approve the changeover, the behavior determination unit may wait for the cause of the temporary stop to be resolved before deciding to continue automatic driving.

[0038] When the control authority of the driving operation is in the vehicle's system, the control execution unit executes acceleration / deceleration control, steering control, etc. of the vehicle in accordance with the driving plan determined by the action determination unit in cooperation with the vehicle control ECU 16.

[0039] The notification device 18 is provided in the vehicle cabin. The notification device 18 issues a notification to the vehicle cabin. The notification device 18 issues a notification according to an instruction from the HCU 10. The notification device 18 may be configured to issue a notification to at least the driver. The notification device 18 may also issue a notification to passengers other than the driver. The notification device 18 includes a display 181 and an audio output device 182.

[0040] The display 181 performs notification by displaying information. As the display 181, for example, a meter MID (Multi Information Display), CID (Center Information Display), HUD (Head-Up Display), etc. can be used. The meter MID is provided in front of the driver's seat in the interior of the host vehicle. As an example, the meter MID may be configured to be provided on the meter panel. The CID is arranged in the center of the instrument panel of the host vehicle. The HUD is provided, for example, on the instrument panel in the vehicle interior. The HUD projects a display image formed by a projector onto a predetermined projection area on the front windshield as a projection member. The light of the image reflected to the vehicle interior side by the front windshield is perceived by the driver seated in the driver's seat. Thereby, the driver can visually recognize the virtual image of the display image formed in front of the front windshield by overlapping it with a part of the foreground. The HUD may be configured to project the display image onto a combiner provided in front of the driver's seat instead of the front windshield. Hereinafter, the case where the display 181 is the meter MID will be taken as an example and the description will continue. The audio output device 182 performs notification by outputting audio. Examples of the audio output device 182 include a speaker and the like.

[0041] The HCU 10 is mainly configured by 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 notification device 18 and the in-vehicle LAN. The HCU 10 controls the notification in the notification device 18 by executing a control program stored in the non-volatile memory. This HCU 10 corresponds to a vehicle notification control device. In the present embodiment, the case where the HCU 10 is used in at least a vehicle capable of autonomous driving will be taken as an example and described. The configuration of the HCU 10 regarding the control of the notification in the notification device 18 will be described in detail below.

[0042] <Schematic Configuration of HCU 10> Next, a schematic configuration of the HCU 10 will be described with reference to Fig. 2. As shown in Fig. 2, the HCU 10 includes an information acquisition unit 101, a situation identification unit 102, and a notification control unit 103 as functional blocks for controlling notification by the notification device 18. Execution of processing of each functional block of the HCU 10 by a computer corresponds to execution of a vehicle notification control method. Note that some or all of the functions executed by the HCU 10 may be configured as hardware using one or more ICs or the like. Also, some 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.

[0043] The information acquisition unit 101 acquires information input from outside the HCU 10. The information acquisition unit 101 acquires information via, for example, an in-vehicle LAN. The information acquisition unit 101 acquires, for example, a recognition result from a driving environment recognition unit of the autonomous driving ECU 17. The information acquisition unit 101 acquires a judgment result from a behavior judgment unit of the autonomous driving ECU 17.

[0044] The situation identification unit 102 identifies the situation of the host vehicle. The situation identification unit 102 identifies the situation of the host vehicle from the information acquired by the information acquisition unit 101. The situation identification unit 102 may identify the current automation level of the host vehicle based on the judgment result by the action determination unit acquired from the autonomous driving ECU 17. More specifically, the situation identification unit 102 may identify the current automation level of the host vehicle based on information on switching of the automation level by the action determination unit.

[0045] The situation identification unit 102 includes an action identification unit 121 as a sub-functional block. The action identification unit 121 identifies a predetermined action of the host vehicle at an intersection. The processing in the action identification unit 121 corresponds to an action identification step. The action identification unit 121 identifies a right or left turn of the host vehicle at an intersection. The action identification unit 121 may identify a right or left turn of the host vehicle at a planned intersection. The action identification unit 121 may identify a right or left turn of the host vehicle at a planned intersection before entering the intersection. The action identification unit 121 may identify a right or left turn of the host vehicle at an intersection from a judgment result in the action judgment unit.

[0046] The notification control unit 103 controls notifications in the notification device 18. The notification control unit 103 controls display in the display unit 181. The notification control unit 103 controls audio output in the audio output device 182. The notification control unit 103 causes the display surface of the display unit 181 to display an image showing the surrounding conditions of the vehicle (hereinafter, a surrounding conditions image).

[0047] Here, an example of the surrounding situation image will be described with reference to FIG. 3. FIG. 3 is a display example of the surrounding situation image. The surrounding situation image may be an overhead image of the vehicle and its surroundings seen from a virtual viewpoint above the vehicle. This virtual viewpoint may be directly above the vehicle, or may be a position shifted from directly above the vehicle. For example, it may be an overhead view seen from a virtual viewpoint above and behind the vehicle. The surrounding situation image may be a virtual image for showing the surrounding situation of the vehicle, or may be a processed image taken by the surrounding monitoring camera of the surrounding monitoring sensor 15. Sc in the figure indicates the display screen of the display 181. PLI indicates an image showing the lane markings (hereinafter, the marking line image). HVI indicates an image showing the vehicle (hereinafter, the vehicle image). OVI indicates an image showing vehicles surrounding the vehicle (hereinafter, the surrounding vehicle image). The surrounding situation image may also display an image showing the vehicle speed of the vehicle, an image showing the operating state of the automatic driving function, and the like.

[0048] In addition, it is preferable that the notification control unit 103 also causes the display 181 to display a surrounding situation image and a planned route image in the surrounding situation image when the vehicle is traveling through an intersection. The planned route image is an image showing the planned route of the vehicle. Traveling through an intersection here may include not only traveling within the intersection, but also traveling a certain distance before entering the intersection and after passing through it. The certain distance may be set arbitrarily. The certain distance may be different before entering and after passing through it. The notification control unit 103 may also cause the display of the surrounding situation image and the planned route image to be displayed in cases other than traveling through an intersection.

[0049] When the action specification unit 121 specifies a predetermined action at an intersection during the autonomous driving of the vehicle, the notification control unit 103 causes the notification control unit 103 to issue a notification related to the predetermined action to prompt the driver of the vehicle to receive assistance regarding passing through the intersection. This processing by the notification control unit 103 corresponds to a notification control step. When the action specification unit 121 specifies a right or left turn at an intersection during the autonomous driving of the vehicle, the notification control unit 103 causes the notification control unit 103 to issue a notification (hereinafter, a monitoring promotion notification) to prompt the driver of the vehicle to monitor the surroundings as the above-mentioned notification. According to this, when the vehicle turns right or left at an intersection during autonomous driving, a notification is issued to prompt the driver of the vehicle to monitor the surroundings. Since there are many disturbances at an intersection, even if the intersection can be traveled by autonomous driving, it is preferable to have the driver support the monitoring of the surroundings. In contrast, when the vehicle turns right or left at an intersection, a notification is issued to prompt the driver to monitor the surroundings, so that it becomes easier to receive support for monitoring the surroundings from the driver. As a result, even when autonomous driving is performed at an intersection, it becomes easier to receive support from the driver as necessary.

[0050] The monitoring prompt notification may be made by display on the display 181. Examples of the display of the monitoring prompt notification may include display of an icon or text. As an example, an icon of a schematic eye may be displayed. The monitoring prompt notification may be made by audio output from the audio output device 182.

[0051] An example of a monitoring promotion notification will now be described with reference to Fig. 4. Fig. 4 shows an example in which a monitoring promotion notification is made by displaying an icon in a surrounding situation image. SIc in the figure indicates an icon image corresponding to the monitoring promotion notification. CI indicates a planned route image. As shown in Fig. 4, the planned route image indicates a right turn at an intersection, and the icon image urges the driver to monitor the surroundings.

[0052] When the notification control unit 103 determines that the vehicle is making a right or left turn at an intersection during autonomous driving, it may issue a monitoring promotion notification before entering the intersection. According to this, in the case of a right or left turn at an intersection, it becomes easier for the driver to receive assistance in monitoring the surroundings from before entering the intersection.

[0053] When the notification control unit 103 starts the monitoring promotion notification, it is preferable to continue the monitoring promotion notification until the host vehicle finishes making a right or left turn at the intersection and starts straight-ahead driving. According to this, until the right or left turn at the intersection is completed, it becomes easier for the driver to receive assistance in monitoring the surroundings. The situation identification unit 102 may identify that the host vehicle has finished making a right or left turn at the intersection and started straight-ahead driving. The situation identification unit 102 may determine whether the host vehicle has started straight-ahead driving based on the steering angle of the host vehicle detected by the steering sensor. Note that the notification control unit 103 may be configured to end the monitoring promotion notification without waiting for the host vehicle to finish making a right or left turn at the intersection and start straight-ahead driving when the monitoring promotion notification is started.

[0054] <Monitoring Promotion Notification Related Processing in HCU10> Here, using the flowchart of FIG. 5, an example of the flow of processing related to the control of the monitoring promotion notification in HCU10 (hereinafter, monitoring promotion notification related processing) will be described. The flowchart of FIG. 5 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.

[0055] First, in step S1, when the situation identification unit 102 determines that the automation level of the host vehicle is LV3 or higher (YES in S1), the process proceeds to step S2. That is, when the situation identification unit 102 determines that the host vehicle is in autonomous driving without the obligation to monitor, the process proceeds to step S2. On the other hand, when the situation identification unit 102 determines that the automation level of the host vehicle is less than LV3 (NO in S1), the process proceeds to step S7.

[0056] In step S2, if the motion identification unit 121 identifies a right or left turn of the vehicle at the intersection (YES in S2), the process proceeds to step S3. If the motion identification unit 121 does not identify a right or left turn of the vehicle at the intersection (NO in S2), the process proceeds to step S7.

[0057] In step S3, if the situation identification unit 102 identifies that the distance from the vehicle to the intersection (hereinafter, intersection distance) is less than the threshold (YES in S3), the process proceeds to step S4. On the other hand, if the situation identification unit 102 does not identify that the intersection distance is less than the threshold (NO in S3), the process of S3 is repeated. The threshold here is a distance equal to or greater than 0, and may be set arbitrarily.

[0058] In step S4, the notification control unit 103 starts a monitoring promotion notification. In step S5, if the situation identification unit 102 determines that the vehicle has finished turning right or left at the intersection and started traveling straight ahead (YES in S5), the process proceeds to step S6. On the other hand, if the situation identification unit 102 has not determined that the vehicle has finished turning right or left at the intersection and started traveling straight ahead (NO in S5), the process of S5 is repeated.

[0059] In step S6, the notification control unit 103 ends the monitoring promotion notification. In step S7, if it is time to end the monitoring promotion notification-related process (YES in S7), the monitoring promotion notification-related process ends. On the other hand, if it is not time to end the monitoring promotion notification-related process (NO in S7), the process returns to S1 and is repeated. An example of the timing to end the monitoring promotion notification-related process is when the power switch is turned off.

[0060] In FIG. 5, when the host vehicle is identified in S1 as being autonomously driving without a monitoring obligation, the process proceeds to S2, but this is not necessarily limited to this. For example, when the host vehicle's automation level is identified in S1 as being 1 or higher, the process proceeds to S2. That is, when the host vehicle is identified in S1 as being autonomously driving, the process proceeds to S2. In addition, when the host vehicle's automation level is identified in S1 as being 2 or higher, the process proceeds to S2.

[0061] (Embodiment 2) In the first embodiment, a configuration is shown in which a monitoring prompt notification is given before entering an intersection, but this is not necessarily limited to this. For example, the following configuration of the second embodiment may be used. The second embodiment is similar to the first embodiment except for some differences in the processing in the notification control unit 103. The following describes the differences from the first embodiment.

[0062] The notification control unit 103 issues a monitoring promotion notification when the operation identification unit 121 identifies a right or left turn at an intersection during automatic driving of the vehicle and when the vehicle needs to stop at the intersection. This makes it easier to receive assistance from the driver in avoiding factors that require the vehicle to stop temporarily.

[0063] A case where the host vehicle needs to stop temporarily within an intersection may be a case where the action determination unit determines to stop the host vehicle, as described in the first embodiment. A case where the host vehicle needs to stop temporarily within an intersection is a case where an obstacle is present when passing through an intersection in autonomous driving. The situation determination unit 102 may determine that the host vehicle needs to stop temporarily within an intersection. In the second embodiment, the operation determination unit 121 may determine whether the host vehicle will turn right or left at the intersection as planned after entering the intersection.

[0064] Here, an example of the flow of the monitoring promotion notification related process in the second embodiment will be described with reference to the flowchart in Fig. 6. The flowchart in Fig. 6 may also be configured to be started when the power switch of the host vehicle is turned on, for example.

[0065] First, in step S21, if the situation identification unit 102 identifies that the automation level of the vehicle is LV3 or higher (YES in S21), the process proceeds to step S22. On the other hand, if the situation identification unit 102 identifies that the automation level of the vehicle is lower than LV3 (NO in S21), the process proceeds to step S28.

[0066] In step S22, if the motion identification unit 121 identifies a right or left turn of the vehicle at the intersection (YES in S22), the process proceeds to step S23. If the motion identification unit 121 does not identify a right or left turn of the vehicle at the intersection (NO in S22), the process proceeds to step S28.

[0067] In step S23, if the situation identification unit 102 identifies that the vehicle needs to stop temporarily at the intersection (YES in S23), the process proceeds to step S25. On the other hand, if the situation identification unit 102 does not identify that the vehicle needs to stop temporarily at the intersection (NO in S23), the process proceeds to step S24.

[0068] In step S24, if the situation identification unit 102 determines that the vehicle has finished turning right or left at the intersection and started traveling straight ahead (YES in S24), the process proceeds to step S28. On the other hand, if the situation identification unit 102 does not determine that the vehicle has finished turning right or left at the intersection and started traveling straight ahead (NO in S24), the process returns to S23 and is repeated.

[0069] In step S25, the notification control unit 103 starts a monitoring promotion notification. In step S26, if the situation identification unit 102 determines that the host vehicle has finished turning right or left at the intersection and started traveling straight ahead (YES in S26), the process proceeds to step S27. On the other hand, if the situation identification unit 102 has not determined that the host vehicle has finished turning right or left at the intersection and started traveling straight ahead (NO in S26), the process of S26 is repeated.

[0070] In step S27, the notification control unit 103 ends the monitoring promotion notification. In step S28, if it is time to end the monitoring promotion notification-related process (YES in S28), the notification control unit 103 ends the monitoring promotion notification-related process. On the other hand, if it is not time to end the monitoring promotion notification-related process (NO in S28), the process returns to S21 and is repeated.

[0071] 6 shows a configuration in which the process proceeds to S22 when the host vehicle is identified in S21 as being in autonomous driving without a monitoring obligation, but this is not necessarily limited to this. For example, the process may proceed to S22 when the host vehicle's automation level is identified in S21 as being 1 or higher. Alternatively, the process may proceed to S22 when the host vehicle's automation level is identified in S21 as being 2 or higher.

[0072] (Embodiment 3) In the first embodiment, a configuration is shown in which a monitoring prompt notification is given before entering an intersection, but this is not necessarily limited to this. For example, the following configuration of the third embodiment may be used. The third embodiment is similar to the first embodiment except for some differences in the processing in the notification control unit 103. The following describes the differences from the first embodiment.

[0073] The notification control unit 103 issues a monitoring promotion notification when the operation identification unit 121 identifies a right or left turn at an intersection during automatic driving of the vehicle and when a request is made to the driver to perform a driving operation temporarily. This makes it easier for the driver to receive assistance in avoiding factors that would cause a request to the driver to perform a driving operation. In addition, when a driver is handed over to another driver, the driver is encouraged to monitor the surroundings before the handover, making it possible to smoothly transition to the handover.

[0074] The request for driving operation is a request for switching to manual driving. When a request for driving operation by the driver is temporarily made, the notification control unit 103 may issue a monitoring promotion notification even when the situation requiring the request for driving operation is resolved and the request for driving operation is terminated. The notification control unit 103 may issue a monitoring promotion notification regardless of whether the driver has switched driving in response to the request for driving operation. The notification control unit 103 may issue a request for driving operation when the situation identification unit 102 identifies that the host vehicle needs to be temporarily stopped in an intersection, for example. The request for driving operation may be made by displaying an icon or text on the display unit 181, or by outputting a voice from the voice output device 182. In the third embodiment, the operation identification unit 121 may identify a right or left turn of the host vehicle at the intersection as planned after entering the intersection.

[0075] Here, an example of the flow of the monitoring promotion notification related process in the third embodiment will be described with reference to the flowchart in Fig. 7. The flowchart in Fig. 7 may also be configured to be started when the power switch of the host vehicle is turned on, for example.

[0076] First, in step S31, if the situation identification unit 102 identifies that the automation level of the host vehicle is LV3 or higher (YES in S31), the process proceeds to step S32. On the other hand, if the situation identification unit 102 identifies that the automation level of the host vehicle is lower than LV3 (NO in S31), the process proceeds to step S38.

[0077] In step S32, if the motion identification unit 121 identifies a right or left turn of the vehicle at the intersection (YES in S32), the process proceeds to step S33. If the motion identification unit 121 does not identify a right or left turn of the vehicle at the intersection (NO in S32), the process proceeds to step S38.

[0078] In step S33, if the situation identification unit 102 identifies that the vehicle needs to stop temporarily at the intersection and the notification control unit 103 requests a driving operation (YES in S33), the process proceeds to step S35. On the other hand, if the situation identification unit 102 does not identify that the vehicle needs to stop temporarily at the intersection (NO in S33), the process proceeds to step S34.

[0079] In step S34, if the situation identification unit 102 determines that the vehicle has finished turning right or left at the intersection and started traveling straight ahead (YES in S34), the process proceeds to step S38. On the other hand, if the situation identification unit 102 does not determine that the vehicle has finished turning right or left at the intersection and started traveling straight ahead (NO in S34), the process returns to S33 and is repeated.

[0080] In step S35, the notification control unit 103 starts a monitoring promotion notification. In step S36, if the situation identification unit 102 determines that the host vehicle has finished turning right or left at the intersection and started traveling straight ahead (YES in S36), the process proceeds to step S37. On the other hand, if the situation identification unit 102 has not determined that the host vehicle has finished turning right or left at the intersection and started traveling straight ahead (NO in S36), the process of S36 is repeated.

[0081] In step S37, the notification control unit 103 ends the monitoring promotion notification. In step S38, if it is time to end the monitoring promotion notification-related process (YES in S38), the notification control unit 103 ends the monitoring promotion notification-related process. On the other hand, if it is not time to end the monitoring promotion notification-related process (NO in S38), the process returns to S31 and is repeated.

[0082] 7 shows a configuration in which the process proceeds to S32 when the host vehicle is identified in S31 as being in autonomous driving without a monitoring obligation, but this is not necessarily limited to this. For example, the process may proceed to S32 when the host vehicle's automation level is identified in S31 as being 1 or higher. Alternatively, the process may proceed to S32 when the host vehicle's automation level is identified in S31 as being 2 or higher.

[0083] (Embodiment 4) In the first embodiment, a configuration is shown in which a monitoring prompt notification is given before entering an intersection, but this is not necessarily limited to this. For example, the configuration of the following fourth embodiment may be used. The fourth embodiment is similar to the first embodiment except for some differences in the processing in the notification control unit 103. The following describes the differences from the first embodiment.

[0084] When the action specification unit 121 specifies a right or left turn at an intersection during automatic driving of the vehicle, the notification control unit 103 causes a monitoring promotion notification to be issued before a right or left turn at the intersection and before entering a pedestrian crossing after turning right or left. This makes it possible to easily receive support for monitoring the surroundings from the driver both when turning right or left and before entering a pedestrian crossing after turning right or left.

[0085] The notification control unit 103 may issue a monitoring promotion notification, for example, when entering an intersection, as a condition before turning right or left within an intersection. The notification control unit 103 may issue a monitoring promotion notification, for example, when starting to turn right or left within an intersection, as a condition before turning right or left within an intersection. The notification control unit 103 may issue a monitoring promotion notification, for example, when entering a crosswalk after turning right or left, as a condition before entering a crosswalk after turning right or left, as a condition when the distance between the crosswalk and the vehicle becomes less than a threshold value after turning right or left. These conditions may be identified by the condition identification unit 102.

[0086] Here, an example of the flow of the monitoring promotion notification related process in the fourth embodiment will be described with reference to the flowchart in Fig. 8. The flowchart in Fig. 8 may also be configured to be started when the power switch of the host vehicle is turned on, for example.

[0087] First, in step S41, if the situation identification unit 102 identifies that the automation level of the vehicle is LV3 or higher (YES in S41), the process proceeds to step S42. On the other hand, if the situation identification unit 102 identifies that the automation level of the vehicle is lower than LV3 (NO in S41), the process proceeds to step S51.

[0088] In step S42, if the motion identification unit 121 identifies a right or left turn of the vehicle at the intersection (YES in S42), the process proceeds to step S43. If the motion identification unit 121 does not identify a right or left turn of the vehicle at the intersection (NO in S42), the process proceeds to step S51.

[0089] In step S43, if the situation identification unit 102 identifies that the vehicle has entered an intersection (YES in S43), the process proceeds to step S45. On the other hand, if the situation identification unit 102 does not identify that the vehicle has entered an intersection (NO in S43), the process of step S43 is repeated. In step S44, the notification control unit 103 starts a monitoring promotion notification.

[0090] In step S45, if the situation identification unit 102 identifies that the host vehicle has started to turn right or left (YES in S45), the process proceeds to step S46. On the other hand, if the situation identification unit 102 has not identified that the host vehicle has started to turn right or left (NO in S45), the process of S45 is repeated. In step S46, the notification control unit 103 ends the monitoring promotion notification. The situation identification unit 102 may identify that the host vehicle has started to turn right or left based on the steering angle detected by the steering sensor.

[0091] In step S47, if the situation identification unit 102 identifies that the distance from the vehicle to the target crosswalk (hereinafter, the crosswalk distance) is less than the threshold (YES in S47), the process proceeds to step S48. On the other hand, if the situation identification unit 102 does not identify that the crosswalk distance is less than the threshold (NO in S47), the process of S47 is repeated. The threshold here is a distance equal to or greater than 0 and may be set arbitrarily. The target crosswalk is the nearest crosswalk that is scheduled to be passed after turning right or left. In step S48, the notification control unit 103 starts a monitoring promotion notification.

[0092] In step S49, when the situation identification unit 102 identifies that the host vehicle has passed the target crosswalk (YES in S49), the process proceeds to step S50. On the other hand, when it is not identified that the host vehicle has passed the target crosswalk (NO in S49), the process of S49 is repeated. In step S50, the notification control unit 103 ends the monitoring promotion notification.

[0093] In step S51, when it is the end timing of the monitoring promotion notification related process (YES in S51), the monitoring promotion notification related process ends. On the other hand, when it is not the end timing of the monitoring promotion notification related process (NO in S51), the process returns to S41 and the process is repeated.

[0094] In FIG. 8, in S41, when it is identified that the host vehicle is in autonomous driving without monitoring obligation, the configuration of proceeding to S42 is shown, but it is not necessarily limited to this. For example, in S41, when it is identified that the automation level of the host vehicle is 1 or more, it may be configured to proceed to S42. Additionally, in S41, when it is identified that the automation level of the host vehicle is 2 or more, it may be configured to proceed to S32.

[0095] (Embodiment 5) Not limited to the foregoing embodiments, the configuration may be as in the following Embodiment 5. Hereinafter, an example of Embodiment 5 will be described with reference to the drawings. The vehicle system 1 of Embodiment 5 is the same as the vehicle system 1 of Embodiment 1 except that it includes an HCU10a instead of the HCU10.

[0096] <Schematic Configuration of HCU10a> Next, a schematic configuration of the HCU 10a will be described with reference to Fig. 9. As shown in Fig. 9, the HCU 10a includes an information acquisition unit 101, a situation identification unit 102a, and an announcement control unit 103a as functional blocks for controlling an announcement by the announcement device 18. The HCU 10a is similar to the HCU 10 of the first embodiment, except that the HCU 10a includes a situation identification unit 102a and an announcement control unit 103a instead of the situation identification unit 102 and the announcement control unit 103. This HCU 10a also corresponds to an announcement 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 an announcement control method for a vehicle.

[0097] The situation identification unit 102a is similar to the situation identification unit 102 of the first embodiment, except that the situation identification unit 102a includes an action identification unit 121a instead of the action identification unit 121. The processing in the action identification unit 121a also corresponds to an action identification step. The action identification unit 121a identifies a temporary stop of the host vehicle at an intersection. The action identification unit 121a may identify a temporary stop of the host vehicle at an intersection from the determination result in the action determination unit.

[0098] The notification control unit 103a controls notifications from the notification device 18, similar to the notification control unit 103. When the operation identification unit 121a identifies a temporary stop for the host vehicle at an intersection during autonomous driving of the host vehicle, the notification control unit 103a causes the driver of the host vehicle to be notified that the host vehicle will be temporarily stopped (hereinafter, "temporary stop notification"). This makes it possible for the driver to easily receive assistance in avoiding causes of temporary stops. The temporary stop notification is not limited to temporary stops when turning right or left at an intersection, but may also be made when temporary stops are made while traveling straight ahead. The processing in the notification control unit 103a also corresponds to a notification control step.

[0099] The pause notification may be made by display on the display 181. The pause notification may be displayed, for example, as an icon or text. As an example, an icon expressing the meaning of the pause may be displayed. The pause notification may be made by audio output from the audio output device 182.

[0100] Here, an example of a stop notification will be described with reference to FIG. 10. FIG. 10 shows an example of a case where a stop notification is made by displaying an icon in a surrounding situation image. FIG. 10 shows an example of a case where an oncoming vehicle obstructs the passage of a vehicle that is scheduled to go straight through an intersection. This oncoming vehicle corresponds to an object to be stopped. In the figure, PIc shows an icon image corresponding to a stop notification. HL shows a display that emphasizes the object to be stopped. CI shows a planned route image. In the example of FIG. 10, the object to be stopped is emphasized by displaying a frame surrounding a surrounding vehicle image OVI that shows the object to be stopped. As shown in FIG. 10, the planned route image shows that the vehicle will go straight through the intersection, and the icon image informs the driver of the need to stop.

[0101] When the notification control unit 103a issues a stop notification, it is preferable to display the stopped object that is the cause of the stop in the surrounding situation image in an emphasized manner, as shown in Fig. 10. This allows the driver to easily recognize which object should be avoided in order to resolve the stop. Note that the manner of displaying the stopped object in an emphasized manner is not limited to enclosing it in a frame. For example, the stopped object may be highlighted by an arrow pointing to it, or by blinking an image of the stopped object, or the like.

[0102] It is preferable that the notification control unit 103a displays the planned route image with reduced visibility while the vehicle is temporarily stopping at an intersection, compared to when the vehicle is not temporarily stopping. This makes it easier for the driver to focus the driver's attention on the stopped object that is causing the vehicle to temporarily stop, even when the planned route image is displayed in the surrounding situation image. As an example, the reduced visibility of the planned route image may be achieved by lowering the brightness of the image, etc.

[0103] Further, when the host vehicle resumes passing through the intersection after a temporary stop, the notification control unit 103a preferably causes the planned route image, which was to be displayed with reduced visibility, to be displayed with higher visibility than when the host vehicle does not make a temporary stop. According to this, when the host vehicle resumes passing through the intersection after a temporary stop, it becomes possible to easily direct the driver's attention to the planned route image. As an example, enhancing the visibility of the planned route image may be achieved by increasing the brightness of the image or the like.

[0104] Here, with reference to FIGS. 10 to 12, an example of the change in the visibility of the planned route image will be described. FIG. 11 is a display example of the surrounding situation image when the host vehicle does not make a temporary stop at the intersection. FIG. 12 is a display example of the surrounding situation image when the host vehicle resumes passing through the intersection after a temporary stop. As shown in FIGS. 10 and 11, when the host vehicle is making a temporary stop at the intersection, the planned route image is displayed with reduced visibility compared to when the host vehicle does not make a temporary stop. Also, as shown in FIGS. 10 and 12, when the host vehicle resumes passing through the intersection after a temporary stop, the planned route image is displayed with higher visibility than when the host vehicle does not make a temporary stop. In FIGS. 10 to 12, an example where the host vehicle goes straight through the intersection is given, but it is not necessarily limited to this. When the host vehicle turns right or left at the intersection, the display may be changed similarly according to the presence or absence of a temporary stop.

[0105] <Temporary Stop Notification Related Processing in HCU10a> Here, with reference to the flowchart of FIG. 13, an example of the flow of processing related to the control of temporary stop notification in HCU10a (hereinafter, temporary stop notification related processing) will be described. The flowchart of FIG. 13 may be configured to start, for example, when the power switch of the host vehicle is turned on.

[0106] First, in step S61, if the situation identification unit 102a identifies that the automation level of the host vehicle is LV3 or higher (YES in S61), the process proceeds to step S62. In other words, if the situation identification unit 102a identifies that the host vehicle is in autonomous driving without a monitoring obligation, the process proceeds to step S62. On the other hand, if the automation level of the host vehicle is identified as lower than LV3 (NO in S61), the process proceeds to step S72.

[0107] In step S62, if the situation identification unit 102a identifies that the vehicle has entered an intersection (YES in S62), the process proceeds to step S63. On the other hand, if the situation identification unit 102a does not identify that the vehicle has entered an intersection (NO in S62), the process proceeds to step S72.

[0108] In step S63, if the action identification unit 121a identifies a temporary stop for the vehicle at the intersection (YES in S63), the process proceeds to step S65. On the other hand, if the action identification unit 121a does not identify a temporary stop for the vehicle at the intersection (NO in S63), the process proceeds to step S64.

[0109] In step S64, if the situation identification unit 102a identifies that the vehicle has passed through an intersection (YES in S64), the process proceeds to step S72. On the other hand, if the situation identification unit 102a does not identify that the vehicle has passed through an intersection (NO in S64), the process returns to S63 and repeats the process.

[0110] In step S65, the notification control unit 103a starts a monitoring promotion notification. In step S66, the notification control unit 103a displays the planned route image in the surrounding situation image with a lower visibility than the default visibility when the vehicle does not stop.

[0111] In step S67, if the operation identification unit 121a has not identified a temporary stop of the vehicle at the intersection (YES in S67), the process proceeds to step S68. In other words, if the temporary stop is resolved, the process proceeds to S68. On the other hand, if the temporary stop of the vehicle at the intersection is still being identified (NO in S67), the process of S67 is repeated.

[0112] In step S68, the notification control unit 103a ends the monitoring promotion notification. In step S69, the notification control unit 103a displays the planned route image in the surrounding situation image with a higher visibility than the default visibility when the host vehicle does not stop.

[0113] In step S70, if the situation identification unit 102a identifies that the vehicle has passed through an intersection (YES in S70), the process proceeds to step S71. On the other hand, if the situation identification unit 102a does not identify that the vehicle has passed through an intersection (NO in S70), the process of S70 is repeated.

[0114] In step S71, the notification control unit 103a returns the visibility of the planned route image in the surrounding situation image to the default visibility when the vehicle does not stop, and displays the image. In step S72, if it is time to end the temporary stop notification related process (YES in S72), the temporary stop notification related process is terminated. On the other hand, if it is not time to end the temporary stop notification related process (NO in S72), the process returns to S61 and is repeated. An example of the timing to end the temporary stop notification related process is when the power switch is turned off.

[0115] 13 shows a configuration in which the process proceeds to S62 when the host vehicle is identified in S61 as being autonomously driving without a monitoring obligation, but this is not necessarily limited to this. For example, the process may proceed to S62 when the host vehicle's automation level is identified as 1 or higher in S61. That is, the process may proceed to S62 when the host vehicle is identified in S61 as being autonomously driving. In addition, the process may proceed to S62 when the host vehicle's automation level is identified as 2 or higher in S61.

[0116] (Embodiment 6) The vehicle system 1 of the sixth embodiment may be configured as described below without being limited to the above-described embodiments. An example of the sixth embodiment will be described below with reference to the drawings. The vehicle system 1 of the sixth embodiment is similar to the vehicle system 1 of the first embodiment, except that the vehicle system 1 of the sixth embodiment includes an HCU 10b instead of the HCU 10.

[0117] <Schematic Configuration of HCU10b> Subsequently, the schematic configuration of HCU10b will be described with reference to FIG. 14. As shown in FIG. 14, with regard to the control of the notification by the notification device 18, HCU10b includes an information acquisition unit 101, a situation identification unit 102, and a notification control unit 103b as functional blocks. HCU10b is the same as HCU10 in Embodiment 1 except that it includes a notification control unit 103b instead of the notification control unit 103. This HCU10b also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of HCU10b by a computer corresponds to the execution of a vehicle notification control method.

[0118] The notification control unit 103b controls the notification by the notification device 18 in the same manner as the notification control unit 103. When the operation identification unit 121 identifies a right or left turn at an intersection during the automatic driving of the host vehicle and there is an object to be inhibited that is a factor inhibiting the right or left turn, the notification control unit 103b causes a notification indicating the object to be inhibited (hereinafter referred to as an inhibition factor notification) to be made. According to this, it becomes possible to easily receive the support of the driver regarding the avoidance of the factor inhibiting the right or left turn. The object to be inhibited may be configured to include not only the above-mentioned passage blocking object but also an object that may inhibit the right or left turn. The identification of the object to be inhibited may be configured such that the situation identification unit 102 performs it based on the determination result of the action determination unit. The processing in this notification control unit 103b also corresponds to the notification control step.

[0119] The inhibition factor notification may be made by the display on the display 181. As an example of the display of the inhibition factor notification, it may be made by highlighting the object to be inhibited in the surrounding situation image. The inhibition factor notification may also be made by the voice output from the voice output device 182. In this case, the inhibition factor notification may be made by the voice output guiding the position of the object to be inhibited with respect to the host vehicle.

[0120] Here, an example of the obstruction factor notification will be described with reference to FIG. 15. FIG. 15 shows an example in which the obstruction factor notification is performed by highlighting the obstruction object in the surrounding situation image. FIG. 15 shows an example in which an oncoming vehicle obstructs the right turn of the vehicle that is scheduled to turn right at the intersection. This oncoming vehicle corresponds to the obstruction object. The obstruction object may be limited to the cause of the temporary stop. IHI in the figure shows a display that highlights the obstruction object. OVIa is a surrounding vehicle image showing the oncoming vehicle as the obstruction object. OVIb is a surrounding vehicle image showing the oncoming vehicle following the oncoming vehicle as the obstruction object. In the example of FIG. 15, the obstruction object is highlighted by displaying a frame surrounding the surrounding vehicle image OVIa showing the oncoming vehicle obstructing the right turn. As shown in FIG. 15, the obstruction object that obstructs the right or left turn of the vehicle may be highlighted to make the driver aware of the obstruction object. Note that, in the fifth embodiment as well, it is preferable to use a configuration in which the path of the vehicle at the intersection is shown by a planned route image as shown in FIG. 15.

[0121] When the operation specifying unit 121 specifies a right turn at an intersection during automatic driving of the vehicle on a road where driving on the left side is legal, the notification control unit 103b preferably causes an obstruction factor notification indicating an oncoming vehicle as an obstruction object to be performed. On the other hand, when the operation specifying unit 121 specifies a left turn at an intersection during automatic driving of the vehicle on a road where driving on the left side is legal, the notification control unit 103b preferably causes an obstruction factor notification indicating a pedestrian or a two-wheeled vehicle as an obstruction object to be performed. Note that two-wheeled vehicles include bicycles, motorcycles, and the like. When turning right at an intersection on a road where driving on the left side is legal, there is a high possibility that an oncoming vehicle traveling straight in the oncoming lane will obstruct the right turn of the vehicle. On the other hand, when turning left at an intersection on a road where driving on the left side is legal, there is a high possibility that a pedestrian crossing the road or a two-wheeled vehicle trying to pass on the left side of the vehicle will obstruct the left turn of the vehicle. In contrast, with the above configuration, it becomes possible to notify the driver of obstruction factors that are likely to actually obstruct the passage of the vehicle when the vehicle turns right or left at an intersection.

[0122] Here, an example of how to use the obstruction factor notification in response to the right or left turn of the vehicle will be described with reference to Fig. 15 and Fig. 16. Fig. 16 describes an example of a case where a pedestrian is present and obstructs the left turn of the vehicle that is scheduled to turn left at an intersection. This pedestrian corresponds to an obstructing object. ObI in the figure is an image representing a pedestrian as an obstructing object. As shown in Fig. 15, when turning right at an intersection, if an oncoming vehicle exists as an obstructing object, an obstruction factor notification indicating the oncoming vehicle is performed (see IHI in Fig. 15). On the other hand, as shown in Fig. 16, when turning left at an intersection, if a pedestrian exists as an obstructing object, an obstruction factor notification indicating the pedestrian is performed (see IHI in Fig. 16).

[0123] It is preferable that the notification control unit 103b also performs the hindrance factor notification when the object to be regarded as an obstruction object is changed. An example of a case where the object to be regarded as an obstruction object is changed is when an oncoming vehicle that was an obstruction object passes, but the next oncoming vehicle becomes a new obstruction object. This makes it possible to perform the hindrance factor notification every time the object to be regarded as an obstruction object is changed. Therefore, even if the object to be regarded as an obstruction object is changed, it is possible to make the driver aware of the new obstruction object.

[0124] Here, an example of switching of the obstruction factor notification in response to switching of the obstruction object will be described with reference to Fig. 15 and Fig. 17. In Fig. 17, as in Fig. 15, an example will be described in which there is an oncoming vehicle that obstructs the right turn of the vehicle that is scheduled to turn right at the intersection. Fig. 17 shows an example in which the oncoming vehicle (hereinafter, the first object) that was the obstruction object in Fig. 15 has left, and the next oncoming vehicle (hereinafter, the second vehicle) that was the following vehicle of the oncoming vehicle has become a new obstruction object. As shown in Fig. 15 and Fig. 17, when the first vehicle is the obstruction object, the obstruction factor notification is performed for the first vehicle (see IHI in Fig. 15). On the other hand, when the obstruction object is switched from the first vehicle to the second vehicle, the obstruction factor notification is switched to be performed for the second vehicle (see IHI in Fig. 17).

[0125] The notification control unit 103b causes the situation of the lane (hereinafter, the planned entry lane) into which the host vehicle will enter by turning right or left to be displayed in the surrounding situation image from before the host vehicle turns right or left at an intersection, and also causes an inhibition factor notification indicating the inhibition object to be performed even when an inhibition object that has not been specified in the planned entry lane is newly specified. According to this, it becomes possible to facilitate the driver's assistance in avoiding an inhibition object newly specified in the planned entry lane. Examples of inhibition objects newly specified in the planned entry lane include parked vehicles and preceding vehicles stopped in traffic jams.

[0126] Here, with reference to FIGS. 15 and 18, an example of the switching of the inhibition factor notification according to the change of the inhibition object in the planned entry lane will be described. In FIG. 18, as in FIG. 15, the case of turning right at an intersection will be described as an example. FIG. 15 shows an example in which no inhibition object is specified in the planned entry lane due to the right turn of the host vehicle. On the other hand, FIG. 18 shows an example in which an inhibition object is newly specified in the planned entry lane due to the right turn of the host vehicle. OVIc in FIG. 18 is a peripheral vehicle image representing the parked vehicle as this newly specified inhibition object. As shown in FIG. 15, when the host vehicle turns right at an intersection and no parked vehicle as an inhibition object is specified in the planned entry lane and no image of the parked vehicle is displayed, the inhibition factor notification for this parked vehicle is not performed. On the other hand, as shown in FIG. 18, when a parked vehicle as an inhibition object is newly specified in the planned entry lane, the inhibition factor notification for this parked vehicle is performed (see IHI in FIG. 18).

[0127] <Inhibition factor notification related processing in HCU10b> Here, with reference to the flowchart of FIG. 19, an example of the flow of processing related to the control of the inhibition factor notification in HCU10b (hereinafter, inhibition factor notification related processing) will be described. The flowchart of FIG. 19 may be configured to start, for example, when the power switch of the host vehicle is turned on.

[0128] First, in step S81, if the situation identification unit 102 identifies that the automation level of the host vehicle is LV3 or higher (YES in S81), the process proceeds to step S82. In other words, if the situation identification unit 102 identifies that the host vehicle is in autonomous driving without a monitoring obligation, the process proceeds to step S82. On the other hand, if the automation level of the host vehicle is identified as lower than LV3 (NO in S81), the process proceeds to step S90.

[0129] In step S82, if the motion identification unit 121 identifies a right or left turn of the vehicle at the intersection (YES in S82), the process proceeds to step S83. If the motion identification unit 121 does not identify a right or left turn of the vehicle at the intersection (NO in S82), the process proceeds to step S90.

[0130] In step S83, if the situation identification unit 102 identifies an obstruction object (YES in S83), the process proceeds to step S85. On the other hand, if an obstruction object has not been identified (NO in S83), the process proceeds to step S84. In step S84, if the situation identification unit 102 identifies that the vehicle has passed through the intersection (YES in S84), the process proceeds to step S90. On the other hand, if the situation identification unit 102 has not identified that the vehicle has passed through the intersection (NO in S84), the process returns to S83 and repeats the process.

[0131] In step S85, the notification control unit 103b starts the notification of the obstruction factor. In step S86, if the situation identification unit 102 identifies that the vehicle has passed through the intersection (YES in S86), the process proceeds to step S87. On the other hand, if the situation identification unit 102 does not identify that the vehicle has passed through the intersection (NO in S86), the process proceeds to step S88. In step S87, the notification control unit 103b ends the notification of the obstruction factor, and the process proceeds to step S90.

[0132] In step S88, if there is a change in the obstruction target identified by the situation identifying unit 102 (YES in S88), the process proceeds to step S89. On the other hand, if there is no change in the obstruction target identified by the situation identifying unit 102 (YES in S88), the process returns to S86 and repeats. Examples of changes in the obstruction target include a change in which the obstruction target is switched, a change in which a previously identified obstruction target is no longer an obstruction target, and the like.

[0133] In step S89, the notification control unit 103b changes the hindrance factor notification in response to the change in the hindrance object identified by the situation identification unit 102, and returns to S86 to repeat the process. For example, if the change is a change in the identified hindrance object, the notification is switched to the hindrance factor notification for the switched hindrance object. If the change is a change in which the identified hindrance object is no longer an hindrance object, the notification of the hindrance factor for that hindrance object is terminated.

[0134] In step S90, if it is time to end the impediment factor notification-related process (YES in S90), the impediment factor notification-related process is ended. On the other hand, if it is not time to end the impediment factor notification-related process (NO in S90), the process returns to S81 and is repeated. An example of the end timing of the impediment factor notification-related process is when the power switch is turned off.

[0135] 19 shows a configuration in which the process proceeds to S82 when the host vehicle is identified in S81 as being autonomously driving without a monitoring obligation, but this is not necessarily limited to this. For example, the process may proceed to S82 when the host vehicle's automation level is identified as 1 or higher in S81. That is, the process may proceed to S82 when the host vehicle is identified in S81 as being autonomously driving. In addition, the process may proceed to S82 when the host vehicle's automation level is identified as 2 or higher in S81.

[0136] (Embodiment 7) The present invention is not limited to the above-described embodiment, and may be configured as in the following embodiment 6. An example of embodiment 6 will be described below with reference to the drawings.

[0137] <Schematic configuration of vehicle system 1c> Hereinafter, the vehicle system 1c shown in FIG. 20 can be used in an autonomous driving vehicle. As shown in FIG. 20, the vehicle system 1c includes an HCU 10c, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17c, and an alarm device 18. The vehicle system 1c includes the HCU 10c instead of the HCU 10. The vehicle system 1c includes the autonomous driving ECU 17c instead of the autonomous driving ECU 17. Except for these points, the vehicle system 1c is similar to the vehicle system 1 of the first embodiment.

[0138] The autonomous driving ECU 17c is similar to the autonomous driving ECU 17 of the first embodiment, except for some different processing. This difference will be described. The autonomous driving ECU 17c includes a route intersection prediction unit as a functional block. The route intersection prediction unit predicts whether or not a route intersection occurs in which the planned route of the vehicle intersects with the planned route of another vehicle or other vehicles. The planned route of the vehicle may be generated by the behavior determination unit. Whether or not the planned route of the vehicle intersects with the other vehicle may be predicted using the position of the other vehicle recognized by the driving environment recognition unit. The planned route of the other vehicle may be specified from information on the other vehicle acquired by the autonomous driving ECU 17c via the communication module 11. The planned route of the other vehicle may be specified from the position of the other vehicle. For example, when the vehicle is located in a right-turn-only lane, a route that turns right from the right-turn-only lane at the intersection according to the shape of the intersection may be specified as the planned route of the other vehicle.

[0139] When the automatic driving ECU 17c predicts that a route intersection will occur in the route intersection prediction unit, it determines a driving plan to avoid other vehicles at the route intersection and pass through the intersection. This other vehicle at the route intersection is hereinafter referred to as the intersection target vehicle. Examples of the driving plan to avoid the intersection target vehicle and pass through the intersection include the following. For example, it determines a driving plan for the intersection target vehicle to stop temporarily until it passes through the point where the route intersection occurs. In addition, when the intersection target vehicle is stopped at the point where the route intersection occurs, it determines a driving plan to pass through the intersection while avoiding this intersection target vehicle. That is, it changes to a planned route to pass through the intersection while avoiding this intersection target vehicle.

[0140] <Schematic configuration of HCU10c> Subsequently, the schematic configuration of the HCU10c will be described with reference to FIG. 21. As shown in FIG. 21, the HCU10c includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103c as functional blocks regarding the control of the notification in the notification device 18. The HCU10c includes the information acquisition unit 101c instead of the information acquisition unit 101. The HCU10c includes the notification control unit 103c instead of the notification control unit 103. The HCU10c is the same as the HCU10 of the first embodiment except for these points. This HCU10c also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU10c by a computer also corresponds to the execution of a vehicle notification control method.

[0141] The information acquisition unit 101c is the same as the information acquisition unit 101 of the first embodiment except that some processing is different. Hereinafter, this different point will be described. The information acquisition unit 101c acquires the prediction result in the route intersection prediction unit. The information acquisition unit 101c acquires the information of the intersection target vehicle as the recognition result in the driving environment recognition unit. When the planned route is changed due to the presence of the intersection target vehicle, the information acquisition unit 101c acquires the changed planned route from the action determination unit.

[0142] The notification control unit 103c is the same as the notification control unit 103 of the first embodiment, except for some different processing. The following describes the differences. The notification control unit 103c highlights the planned route image based on the occurrence of a route intersection, compared to a case where no route intersection occurs. Examples of highlighting include increasing the brightness, making the color darker, and changing to a warning color. The notification control unit 103c also displays a part of the planned route image that corresponds to the planned route of the vehicle that is changed due to the occurrence of a route intersection in a manner different from other parts that are not changed. The part of the planned route image that corresponds to the planned route of the vehicle that is changed due to the occurrence of a route intersection is hereinafter referred to as a changed part. The other parts that are not changed refer to parts of the planned route image other than the changed part. Examples of displaying in a different manner include changing the brightness or changing the color. The notification control unit 103c may identify the changed part from the information of the planned route before and after the change acquired by the information acquisition unit 101c.

[0143] According to the above configuration, by highlighting the planned route image, even if the vehicle's behavior changes to avoid an intersecting vehicle, the occupants can easily prepare for this behavior change. This improves the comfort of the occupants. In addition, by changing the display mode of the changed portion, the occupants can easily recognize future changes in the vehicle's behavior. As a result, the occupants can easily feel at ease with the automated driving.

[0144] It is preferable that the notification control unit 103c displays the planned route image over an area of ​​a predetermined distance from the exit of the intersection that is passed. The boundary between the inside and outside of the intersection may be, for example, the position of the stop line. The predetermined distance referred to here may be arbitrarily settable. In addition, it is preferable that the notification control unit 103c gradually changes the planned route image corresponding to the area that has been passed to a non-display state each time the vehicle passes through the area corresponding to the planned route image. The notification control unit 103c may identify the current position of the vehicle relative to the intersection from the driving environment of the vehicle that is successively acquired by the information acquisition unit 101c.

[0145] According to the above configuration, the planned route image is displayed over an area of ​​a predetermined distance from the exit of the intersection that is passed, so that the occupant can easily recognize the traveling direction after passing through the intersection. This makes it easier to give a sense of security to the occupant of the vehicle during automatic driving. In addition, by hiding the planned route image corresponding to the passed area, the occupant can easily recognize the progress of the vehicle.

[0146] The notification control unit 103c may display the target vehicle that crosses the route of the vehicle in the surrounding situation image in an emphasized manner. This allows the occupant to easily recognize the cause of the vehicle's avoidance when the vehicle is traveling to avoid the target vehicle. As a result, the occupant of the vehicle in the autonomous driving state is more likely to feel at ease with the behavior of the vehicle.

[0147] Here, an example of the display of the surrounding situation image will be described with reference to FIG. 22. FIG. 22 shows an example of passing through an intersection while avoiding a stopped vehicle to be intersected. IT shows a display emphasizing the vehicle to be intersected. CI shows a planned route image. CIc shows a changed part in the planned route image. In the example of FIG. 22, the vehicle to be intersected is emphasized by displaying a frame surrounding the surrounding vehicle image OVI showing the vehicle to be intersected. For example, when no route intersection occurs, the planned route image as shown in FIG. 11 described above may be displayed. On the other hand, when a route intersection occurs, the planned route image is displayed in an emphasized manner compared to when no route intersection occurs, as shown in FIG. 22. In addition, the changed part of the planned route image is displayed in a different manner from the part of the planned route image other than the changed part, as shown in FIG. 22. Furthermore, as shown in FIG. 22, the planned route image is displayed not only within the intersection, but also beyond the exit of the intersection through which the vehicle passes.

[0148] Next, an example of changing the planned route image corresponding to the area through which the vehicle has passed to hidden will be described with reference to Fig. 23. Fig. 23 shows an example in which the vehicle continues to pass from the case of Fig. 22. Fig. 23 shows an example in which the vehicle has reached the exit of the intersection after avoiding the intersecting vehicle. As can be seen by comparing Fig. 22 with Fig. 23, the planned route image corresponding to the area through which the vehicle has passed is hidden. Note that, as shown in Fig. 23, the highlighting of the intersecting vehicle that has been avoided can be ended.

[0149] When the display of the planned route image and the display showing the intersecting vehicle overlap or are close to each other, the notification control unit 103c preferably performs the following. The notification control unit 103c preferably performs a display that highlights the intersecting vehicle by changing the display mode of the intersecting vehicle itself. A case where the display of the planned route image and the display showing the intersecting vehicle overlap or are close to each other is hereinafter referred to as a display congestion state. In the display congestion state, if the intersecting vehicle is highlighted by a frame or the like surrounding the intersecting vehicle, the highlighted display of the planned route image and the intersecting vehicle may overlap and become difficult to see. In contrast, according to the above configuration, the highlighted display is performed by changing the display mode of the intersecting vehicle itself, so the highlighted display of the intersecting vehicle is less likely to become difficult to see.

[0150] Here, an example of highlighting by changing the display mode of the intersecting target vehicle itself will be described with reference to Fig. 24. As can be seen by comparing Fig. 22 with Fig. 24, highlighting is performed by changing the display mode of the intersecting target vehicle itself. As an example, highlighting may be performed by changing the color of the image showing the intersecting target vehicle.

[0151] The notification control unit 103c may change whether or not to highlight the planned route image according to the deviation amount of the planned route of the vehicle, which is changed due to the occurrence of the route intersection, protruding from the extension of the vehicle's lane. The vehicle's lane may be the lane in which the vehicle is traveling before the point where the route intersection occurs. The notification control unit 103c may identify the extension of the vehicle's lane from the recognition result of the driving environment recognition unit. The notification control unit 103c may display the planned route image in an emphasized manner when the deviation amount is equal to or greater than a specified value. On the other hand, the notification control unit 103c may not display the planned route image in an emphasized manner when the deviation amount is less than the specified value. The notification control unit 103c may also display an image showing the turn indicator of the vehicle being turned on in the surrounding situation image when the deviation amount is equal to or greater than a specified value. The image showing the turn indicator of the vehicle being turned on is hereinafter referred to as a turn indicator image. The specified value referred to here may be arbitrarily settable. In addition, the notification control unit 103c may not display the turn signal image in the surrounding situation image when the deviation amount is less than a specified value. With the above configuration, the turn signal image makes it easier for the occupant to recognize that the vehicle's behavior will change significantly to avoid an obstacle. As a result, the occupant is less likely to be surprised by a large behavior change, and the comfort for the occupant is improved.

[0152] Here, an example of the display of a turn signal image will be described with reference to Fig. 25. HF in Fig. 25 indicates a turn signal image. For example, as shown in Fig. 25, the turn signal image may be a pair of left and right images. Then, the image on the side corresponding to the lane change direction of the host vehicle may be highlighted to indicate that the direction indicator of the host vehicle is on.

[0153] When the vehicle is outside the intersection, the notification control unit 103c may rotate the display of the surrounding situation image. The rotating display is a display in which the surrounding situation image transitions with the vehicle's movement, with the vehicle's position as the center and the vehicle's traveling direction as the reference. The display with the vehicle's position as the center is a display in which the vehicle's position is always located at a fixed position near the center of the screen of the display unit 181. The display with the vehicle's traveling direction as the reference is a display in which the vehicle's traveling direction always faces a fixed direction with respect to the screen of the display unit 181. On the other hand, the notification control unit 103c may perform a fixed display of the surrounding situation image based on the vehicle's position within the intersection. The fixed display is a display in which the surrounding situation image is fixed so that it does not transition with the vehicle's movement. At the intersection, the vehicle may turn right or left and change its direction significantly. In such a case, the fixed display is considered to be easier for the driver to intuitively understand how the vehicle moves with respect to the intersection than the rotating display. During autonomous driving, the driver may not be constantly watching the scenery outside the vehicle, so this is considered to be particularly useful. Note that the intersection here may be a range up to a predetermined distance outside the stop line as viewed from the center of the intersection. The predetermined distance here may be, for example, several tens of meters. The predetermined distance may be set arbitrarily.

[0154] Here, an example of the rotating display and the fixed display will be described with reference to Fig. 26 and Fig. 27. Fig. 26 is a diagram for explaining an example of the fixed display. Fig. 27 is a diagram for explaining an example of the rotating display. Fig. 26 and Fig. 27 show a surrounding situation image after a certain time has elapsed from the situation shown in Fig. 24. As shown in Fig. 26, in the fixed display, the surrounding situation image remains fixed regardless of the movement of the host vehicle. On the other hand, as shown in Fig. 27, in the rotating display, the surrounding situation image moves and rotates in accordance with the movement of the host vehicle.

[0155] It is preferable that the notification control unit 103c switches between rotating display and fixed display according to the automation level of the autonomous driving of the vehicle. This makes it possible to perform a preferred display according to the automation level when the driver's preference between rotating display and fixed display differs depending on the automation level.

[0156] The notification control unit 103c may perform a rotating display when the automation level of the vehicle is less than the specified level. On the other hand, the notification control unit 103c may perform a fixed display when the automation level of the vehicle is equal to or greater than the specified level. The specified level may be, for example, LV3, which classifies whether or not there is a duty to monitor the surroundings. The specified level may be set arbitrarily. The higher the automation level, the more likely it is that the driver does not continuously watch the scenery outside the vehicle. In such a case, it is considered that a fixed display is easier for the driver to intuitively understand how the vehicle moves relative to the intersection than a rotating display. On the other hand, when the automation level is low, it is more likely that the driver continuously watches the scenery outside the vehicle. In such a case, it is considered that a rotating display is easier for the driver to intuitively understand than a fixed display, since the display follows the transition of the scenery.

[0157] Here, an example of switching between rotating display and fixed display according to the automation level will be described with reference to FIG. 28. In FIG. 28, when the automation level is equal to or higher than the specified level, it is indicated as a "high" automation level. In FIG. 28, when the automation level is lower than the specified level, it is indicated as a "low" automation level. As shown in FIG. 28, the notification control unit 103c selects a fixed display when the automation level is equal to or higher than the specified level. On the other hand, when the automation level is lower than the specified level, the notification control unit 103c selects a rotating display.

[0158] Note that the notification control unit 103c may cause a fixed display to be performed when the automation level of the host vehicle is less than the specified level, and may cause a rotating display to be performed when the automation level is equal to or higher than the specified level. Depending on the driver, when the driver does not continuously watch the scenery outside the vehicle, the rotating display may be more intuitive for the driver to understand how the host vehicle will move relative to the intersection. For such a driver, according to the above configuration, it is possible to make it easier to understand how the host vehicle will move according to the automation level.

[0159] (Embodiment 8) Not limited to the foregoing embodiments, the configuration may be as in the following Embodiment 8. Hereinafter, an example of Embodiment 8 will be described with reference to the drawings. The vehicle system 1 of Embodiment 8 is the same as the vehicle system 1c of Embodiment 7, except that it includes an HCU 10d instead of the HCU 10c.

[0160] <Schematic Configuration of HCU10d> Subsequently, the schematic configuration of the HCU 10d will be described with reference to FIG. 29. As shown in FIG. 29, the HCU 10d includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103d as functional blocks for controlling the notification by the notification device 18. The HCU 10d is the same as the HCU 10c of Embodiment 7, except that it includes a notification control unit 103d instead of the notification control unit 103c. This HCU 10d also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU 10d by a computer corresponds to the execution of a vehicle notification control method.

[0161] The notification control unit 103d is the same as the notification control unit 103c of the seventh embodiment, except for some different processing. The following describes this difference. When the vehicle is located in an intersection, the notification control unit 103d switches between rotating display and fixed display depending on the presence or absence of a target moving object. The target moving object is a moving object that may obstruct the passage of the vehicle at the intersection. The target moving object may be the above-mentioned obstructing object or crossing target vehicle. The target moving object may be a moving object that may obstruct the passage of the vehicle at the intersection other than the obstructing object or crossing target vehicle. The notification control unit 103d may specify the target moving object from the recognition result of the driving environment recognition unit. According to this, when the driver prefers either rotating display or fixed display depending on the presence or absence of the target moving object, it is possible to perform a preferred display depending on the presence or absence of the target moving object.

[0162] The notification control unit 103d may perform a rotating display when the vehicle is located within an intersection and there is a target moving object. On the other hand, the notification control unit 103d may perform a fixed display when the vehicle is located within an intersection and there is no target moving object. When there is a target moving object, unlike when there is no target moving object, it is considered that the driver will have a request to check the actual positional relationship between the vehicle and the target moving object. In this case, it is considered that the actual positional relationship between the vehicle and the target moving object is intuitively easier to understand with a fixed display than with a rotating display. On the other hand, when there is no target moving object and the driver is unlikely to check outside the vehicle, the rotating display makes it easier for the driver to understand the progress of the vehicle at the intersection.

[0163] Here, an example of switching between rotating display and fixed display depending on the presence or absence of a target moving object will be described with reference to Fig. 30. In Fig. 30, when a target moving object is present, it is indicated as "target moving object present." In Fig. 30, when a target moving object is not present, it is indicated as "target moving object not present." As shown in Fig. 30, when a target moving object is present, the notification control unit 103d performs fixed display. On the other hand, when a target moving object is not present, the notification control unit 103d performs rotating display.

[0164] The notification control unit 103d may perform a fixed display when there is no target moving object, and may perform a rotating display when there is a target moving object. Depending on the driver, the rotating display may be easier to understand the actual positional relationship between the vehicle and the target moving object. With the above configuration, it becomes possible for such a driver to easily understand the actual positional relationship between the vehicle and the target moving object depending on the presence or absence of the target moving object.

[0165] (Embodiment 9) The present invention is not limited to the above-described embodiment, and may be configured as in the following embodiment 9. An example of embodiment 9 will be described below with reference to the drawings.

[0166] <Outline of the configuration of the vehicle system 1e> Hereinafter, the vehicle system 1e shown in FIG. 31 can be used in an autonomous driving vehicle. As shown in FIG. 31, the vehicle system 1e includes an HCU 10e, a communication module 11, a locator 12, a map DB 13, a vehicle state sensor 14, a surrounding monitoring sensor 15, a vehicle control ECU 16, an autonomous driving ECU 17c, and an alarm device 18e. The vehicle system 1e includes the HCU 10e instead of the HCU 10c. The vehicle system 1e includes the alarm device 18e instead of the alarm device 18. Except for these points, the vehicle system 1e is similar to the vehicle system 1c of the seventh embodiment.

[0167] The notification device 18e includes a display 181e and an audio output device 182. The notification device 18e is the same as the notification device 18 in Embodiment 1, except that it includes a display 181e instead of the display 181. The display 181e includes a driver display 1811 and a passenger display 1812. The driver display 1811 is a display 181e for the driver of the host vehicle. The driver display 1811 may be a display 181e whose display area is located in front of the driver's seat. Examples of the driver display 1811 include a meter MID. The driver display 1811 may be a HUD. The passenger display 1812 is a display 181e provided so that passengers can view it. A passenger is a passenger of the host vehicle other than the driver. The display 181e provided so that passengers can view it does not include the driver display 1811. Examples of the display 181e provided so that passengers can view it include, for example, a CID. The passenger display 1812 may be a display 181e for passengers. Examples of the display 181e for passengers include a display 181e whose display area is located in front of the passenger seat. Examples of the display 181e for passengers include a display 181e provided in the rear seat.

[0168] <Schematic Configuration of HCU10e> Subsequently, the schematic configuration of the HCU10e will be described with reference to FIG. 32. As shown in FIG. 32, the HCU10e includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103e as functional blocks with respect to the control of the notification in the notification device 18e. The HCU10e is the same as the HCU10c in Embodiment 7, except that it includes a notification control unit 103e instead of the notification control unit 103c. This HCU10e also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU10e by a computer corresponds to the execution of a vehicle notification control method.

[0169] When there are a plurality of display areas for displaying the surrounding situation image, the notification control unit 103e simultaneously causes the rotation display and the fixed display to be displayed in different display areas, respectively. The plurality of display areas may be the display areas of different displays 181e, respectively. The plurality of display areas may be the respective display areas obtained by dividing the screen of one display 181e. According to this, even when passengers who prefer the rotation display and passengers who prefer the fixed display are mixed in the host vehicle, it is possible to perform a display preferred by each passenger.

[0170] As shown in FIG. 33, the notification control unit 103e preferably causes the driver display 1811 to perform a fixed display and the passenger display 1812 to perform a rotation display. According to this, the driver can intuitively understand how the host vehicle moves with respect to the intersection by means of the fixed display that is easily compatible with the actual scenery. On the other hand, for a passenger for whom it is not important that the actual scenery and the surrounding situation image are compatible, the rotation display can make it easy to understand the progress of the host vehicle at the intersection. FIG. 33 is a diagram for explaining an example of the proper use of the rotation display and the fixed display on the driver display 1811 and the passenger display 1812.

[0171] (Embodiment 10) Not limited to the foregoing embodiments, the configuration may be as in the following Embodiment 10. Hereinafter, an example of Embodiment 10 will be described with reference to the drawings. The vehicle system 1 according to Embodiment 10 is the same as the vehicle system 1c according to Embodiment 7 except that it includes an HCU 10f instead of the HCU 10c.

[0172] <Schematic Configuration of HCU10f> Next, a schematic configuration of the HCU 10f will be described with reference to Fig. 34. As shown in Fig. 34, the HCU 10f includes an information acquisition unit 101c, a situation identification unit 102, and an alarm control unit 103f as functional blocks for controlling an alarm in the alarm device 18. The HCU 10f is similar to the HCU 10c of the seventh embodiment, except that the HCU 10f includes an alarm control unit 103f instead of the alarm control unit 103c. This HCU 10f also corresponds to a vehicle alarm control device. In addition, the execution of the processing of each functional block of the HCU 10f by a computer also corresponds to the execution of a vehicle alarm control method.

[0173] The notification control unit 103f is the same as the notification control unit 103c of the seventh embodiment, except for some different processing. The following describes this difference. When the above-mentioned route intersection occurs, the notification control unit 103f displays the other vehicle image indicating the intersecting vehicle in the surrounding situation image in a superimposed manner in front of the planned route image of the vehicle itself. That is, the planned route image is displayed so that the overlapping portion between the planned route image and the other vehicle image is not visible. As an example, a layer of the other vehicle image may be displayed superimposed on a layer above the layer of the planned route image. The planned route image and the surrounding situation image are displayed on the display 181. According to this, the planned route image appears to be stuck to the road in the surrounding situation image, making it easier to confirm the presence of the intersecting vehicle.

[0174] Here, an example of displaying a surrounding situation image will be described with reference to Fig. 35. Fig. 35 shows an example of a situation similar to that described in Fig. 10. In Fig. 35, the surrounding vehicle image OVI corresponds to the other vehicle image described above. As shown in Fig. 35, the notification control unit 103f displays the planned route image so that it is not visible in the portion where the planned route image and the other vehicle image overlap.

[0175] (Embodiment 11) Not limited to the foregoing embodiments, the configuration may be as in Embodiment 11 below. Hereinafter, an example of Embodiment 11 will be described with reference to the drawings. The vehicle system 1 of Embodiment 11 is the same as the vehicle system 1c of Embodiment 7, except that it includes the HCU 10g instead of the HCU 10c.

[0176] <Schematic Configuration of HCU10g> Subsequently, the schematic configuration of the HCU 10g will be described with reference to FIG. 36. As shown in FIG. 36, the HCU 10g includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103g as functional blocks with respect to the control of notification by the notification device 18. The HCU 10g is the same as the HCU 10c of Embodiment 7, except that it includes the notification control unit 103g instead of the notification control unit 103c. This HCU 10g also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU 10g by a computer corresponds to the execution of the vehicle notification control method.

[0177] The notification control unit 103g is the same as the notification control unit 103c of Embodiment 7, except that some of the processing is different. Hereinafter, this different point will be described. When the above-mentioned route intersection occurs, the notification control unit 103g causes the planned route image of the host vehicle to be displayed up to the point where the route intersection occurs. The point where the route intersection occurs is hereinafter referred to as the route intersection point. On the other hand, the notification control unit 103g causes a travel direction image indicating the planned travel direction of the host vehicle to be displayed on the exit side of the intersection through which the host vehicle passes. The planned route image and the surrounding situation image are displayed on the display 181. According to the above configuration, since the display at the route intersection point is reduced, it becomes easier for the occupant to direct their eyes to the display of the intersecting vehicle. Also, while reducing the display at the route intersection point, the travel direction image is displayed, making it easier for the occupant to recognize the route of the host vehicle.

[0178] Here, an example of the display of the surrounding situation image will be described with reference to Fig. 37. Fig. 37 shows an example of the same situation as that described in Fig. 10. In Fig. 37, the surrounding vehicle image OVI corresponds to an image of the intersecting vehicle. In the example of Fig. 37, the point where the intersecting vehicle is located is assumed to be a route intersecting point. As shown in Fig. 37, the notification control unit 103g displays the planned route image from the vehicle itself to the position of the intersecting vehicle, which is the route intersecting point.

[0179] When the above-mentioned route intersection occurs and the vehicle makes a right or left turn on the lane side of the vehicle to be intersected, the notification control unit 103g preferably performs the following operations. The notification control unit 103g may display the planned route image of the vehicle up to the route intersection point, but not extending to the extension of the lane of the vehicle to be intersected. The right or left turn referred to here may be a right turn in countries where driving on the left side is legal, and a left turn in countries where driving on the right side is legal. With the above configuration, the planned route image does not hide the driving route of the oncoming vehicle, making it easier for the occupants to understand the movement of the oncoming vehicle.

[0180] Here, an example of the display of the surrounding situation image when the vehicle makes a right turn onto the lane side of the vehicle to be intersected will be described with reference to FIG. 38. FIG. 38 shows an example of the same situation as that described in FIG. 15. In FIG. 38, the surrounding vehicle images OVIa and OVIb correspond to the images of the vehicle to be intersected. AP in FIG. 38 shows the traveling direction image. As shown in FIG. 38, the notification control unit 103g displays the planned route image from the vehicle to the position of the vehicle to be intersected, which is the route intersection point. Also, as shown in FIG. 38, the notification control unit 103g displays the planned route image so that it does not reach the extension of the lane of the vehicle to be intersected. Meanwhile, the traveling direction image is displayed on the exit side of the intersection through which the vehicle to be intersected passes.

[0181] (Embodiment 12) Not limited to the foregoing embodiments, the configuration may be as in the following Embodiment 12. Hereinafter, an example of Embodiment 12 will be described with reference to the drawings. The vehicle system 1 of Embodiment 12 is the same as the vehicle system 1c of Embodiment 7, except that it includes the HCU 10h instead of the HCU 10c.

[0182] <Schematic Configuration of HCU10h> Subsequently, the schematic configuration of the HCU 10h will be described with reference to FIG. 39. As shown in FIG. 39, the HCU 10h includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103h as functional blocks with respect to the control of the notification at the notification device 18. The HCU 10h is the same as the HCU 10c of Embodiment 7, except that it includes the notification control unit 103h instead of the notification control unit 103c. This HCU 10h also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU 10h by a computer corresponds to the execution of a vehicle notification control method.

[0183] The notification control unit 103h is the same as the notification control unit 103c of Embodiment 7, except that some of the processing is different. Hereinafter, this different point will be described. The notification control unit 103h also displays an object moving body image indicating the object moving body in the surrounding situation image. As described above, the object moving body is a moving body that may obstruct the passage of the host vehicle at an intersection. In the present embodiment, the object moving body may be limited to other vehicles other than the host vehicle. The planned route image, the object moving body image, and the surrounding situation image are displayed on the display 181. Also, the notification control unit 103h switches the display mode between the planned route image and the object moving body image according to the automation level of the automatic driving of the host vehicle. According to this, when it is different which of the planned route image and the object moving body image is preferably highlighted according to the automation level, it becomes possible to perform a preferable display according to the automation level.

[0184] It is preferable that the notification control unit 103h displays the target moving object image in a more emphasized manner as the automation level increases. The notification control unit 103h may display the target moving object image in a more emphasized manner as compared with the planned route image as the automation level increases. On the other hand, it is preferable that the notification control unit 103h displays the planned route image in a more emphasized manner as the automation level decreases. The notification control unit 103h may display the planned route image in a more emphasized manner as compared with the target moving object image as the automation level decreases. As an example, the notification control unit 103h may switch which of the planned route image and the target moving object image is emphasized depending on whether or not the automatic driving is performed without a monitoring obligation. In other words, when the automation level is LV3 or higher, the notification control unit 103h may display the target moving object image in a more emphasized manner than the planned route image. On the other hand, when the automation level is lower than LV3, the notification control unit 103h may display the planned route image in a more emphasized manner than the target moving object image.

[0185] The higher the automation level of the vehicle, the higher the possibility that the occupant is not monitoring the surroundings. On the other hand, the lower the automation level of the vehicle, the lower the possibility that the occupant is not monitoring the surroundings. When the occupant is not monitoring the surroundings, it is considered that the occupant is more concerned about whether the vehicle's system is sensing the target moving object than the planned route of the vehicle. On the other hand, when the occupant is monitoring the surroundings, the occupant can visually see the target moving object, and therefore is more concerned about the planned route of the vehicle. In response to this, the above configuration makes it possible to clearly present the image that is assumed to be necessary by the occupant, out of the target moving object image and the planned route image, according to the automation level.

[0186] When the vehicle is located within an intersection and the automation level is changed unplanned, the notification control unit 103h preferably performs the following. The notification control unit 103h preferably maintains the display mode of the planned route image and the target moving object image in the display mode before the change of the automation level. A planned change of the automation level is a planned change. On the other hand, an unplanned change of the automation level is an unplanned and sudden change. A planned change of the automation level is performed, for example, when the permitted automation level is moved to a different driving section. An unplanned change of the automation level is performed, for example, when the automation level cannot be maintained due to a malfunction of the driving environment recognition unit in recognizing the driving environment. Alternatively, it may be performed when an emergency vehicle approaches. A case in which the automation level is changed unplanned is considered to be a case in which some kind of trouble occurs. In such a case, if the display mode of the planned route image and the target moving object image changes, the amount of information to be processed increases, and the burden on the driver increases. In contrast, according to the above configuration, even if the automation level is changed unplanned, it is possible to suppress an increase in the burden on the driver.

[0187] Here, an example of a change in the display mode of the planned route image and the target moving body image according to the automation level will be described with reference to FIG. 40. In FIG. 40, when the automation level is equal to or higher than the specified level, the automation level is indicated as "high". In FIG. 40, when the automation level is lower than the specified level, the automation level is indicated as "low". The specified level may be, for example, LV3. In FIG. 40, when the automatic driving level is changed unplanned, the automation level is indicated as "sudden change". As shown in FIG. 40, when the automation level is equal to or higher than the specified level, the notification control unit 103h highlights the target moving body image. In this case, the planned route image is not highlighted. On the other hand, when the automation level is lower than the specified level, the notification control unit 103h highlights the planned route image. In this case, the target moving body image does not need to be highlighted. In addition, when the automatic driving level is changed unplanned, the display mode of the planned route image and the target moving body image is maintained even when the automation level changes across the specified level. In this case, maintaining the display mode refers to maintaining the highlighting mode. For example, if the highlighted display is not performed, the highlighted display state is maintained, whereas if the highlighted display is performed, the highlighted display state is maintained.

[0188] The notification control unit 103h may display the planned route image in a more emphasized manner as the automation level of the vehicle increases. The notification control unit 103h may display the target moving object image in a more emphasized manner as the automation level of the vehicle decreases. Some occupants may become more concerned about the planned route of the vehicle as the automation level increases. With the above configuration, it is possible to present images that are deemed more necessary to such drivers in an easily understandable manner.

[0189] (Embodiment 13) The present invention is not limited to the above-described embodiments, and may be configured as in the following embodiment 13. An example of the embodiment 13 will be described below with reference to the drawings. The vehicle system 1 of the embodiment 13 is similar to the vehicle system 1c of the embodiment 7, except that the vehicle system 1 of the embodiment 13 includes an HCU 10i instead of the HCU 10c.

[0190] <Schematic Configuration of HCU10i> Next, the schematic configuration of HCU10i will be described with reference to Fig. 41. As shown in Fig. 41, with regard to the control of notifications at the notification device 18, HCU10i includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103i as functional blocks. HCU10i is the same as HCU10c in Embodiment 7 except that it includes a notification control unit 103i instead of the notification control unit 103c. This HCU10i also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of HCU10i by a computer also corresponds to the execution of a vehicle notification control method.

[0191] The notification control unit 103i is the same as the notification control unit 103c in Embodiment 7 except that some of the processing is different. The differences will be described below. When it is necessary for the host vehicle to make a temporary stop within an intersection, the notification control unit 103i operates as follows. The notification control unit 103i separately displays the planned route image up to the position where the host vehicle will make a temporary stop and the planned route image after the temporary stop. The notification control unit 103i can identify that it is necessary for the host vehicle to make a temporary stop within the intersection from the judgment result of the action judgment unit. In this embodiment, the action judgment unit is assumed to judge that it is necessary for the host vehicle to make a temporary stop within the intersection even when there is no traffic obstruction. For example, when turning right or left, even if no oncoming vehicle is detected in the oncoming lane, an example is when making a temporary stop just in case. According to the above configuration, it becomes easier for the occupant to intuitively recognize that the host vehicle will make a temporary stop. Also, when the temporary stop is due to a traffic obstruction, it becomes easier to view the display of the image indicating the traffic obstruction.

[0192] Here, an example of the display of the surrounding situation image will be described with reference to FIG. 42. In FIG. 42, the case where there is a pedestrian who obstructs the right turn of the host vehicle planning to turn right at an intersection will be described as an example. In the example of FIG. 42, it is assumed that the host vehicle temporarily stops even if it has not detected an oncoming vehicle before crossing the oncoming lane. In the example of FIG. 42, it is assumed that the host vehicle temporarily stops in front of the pedestrian as the object to be obstructed. As shown in FIG. 42, the notification control unit 103i divides and displays the planned route image at the position where the host vehicle temporarily stops.

[0193] (Embodiment 14) Not limited to the foregoing embodiments, the configuration may be as in the following Embodiment 14. Hereinafter, an example of Embodiment 14 will be described with reference to the drawings. The vehicle system 1 according to Embodiment 14 is the same as the vehicle system 1c according to Embodiment 7, except that it includes an HCU 10j instead of the HCU 10c.

[0194] <Schematic Configuration of HCU 10j> Subsequently, the schematic configuration of the HCU 10j will be described with reference to FIG. 43. As shown in FIG. 43, the HCU 10j includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103j as functional blocks for controlling the notification by the notification device 18. The HCU 10j is the same as the HCU 10c according to Embodiment 7, except that it includes a notification control unit 103j instead of the notification control unit 103c. This HCU 10j also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU 10j by a computer corresponds to the execution of a vehicle notification control method.

[0195] The notification control unit 103j is the same as the notification control unit 103c in Embodiment 7, except that some processes are different. Hereinafter, this difference will be described. When the host vehicle turns right or left in the direction of the arrow signal at an intersection, the notification control unit 103j simplifies and displays the surrounding situation image compared to when turning right or left at other times at the intersection. The simplified display includes omission of highlighting, one-stroke drawing of the planned route image, etc. The arrow signal direction is the direction indicated by the arrow signal of the arrow-type traffic signal. When the arrow signal is being given by the arrow-type traffic signal, the traffic other than in the arrow signal direction is a red signal. Therefore, when turning right or left in the arrow signal direction, the need to pay attention to the vehicles in the oncoming lane and the pedestrians on the crosswalk is lower than when turning right or left at other times. On the other hand, according to the above configuration, it is possible to simplify the display that requires less attention and make the display easier to view.

[0196] (Embodiment 15) Not limited to the foregoing embodiments, the configuration may be as in the following Embodiment 15. Hereinafter, an example of Embodiment 15 will be described with reference to the drawings. The vehicle system 1 in Embodiment 15 is the same as the vehicle system 1c in Embodiment 7, except that it includes an HCU 10k instead of the HCU 10c.

[0197] <Schematic configuration of HCU10k> Subsequently, the schematic configuration of the HCU 10k will be described with reference to FIG. 44. As shown in FIG. 44, the HCU 10k includes an information acquisition unit 101c, a situation identification unit 102, and a notification control unit 103k as functional blocks regarding the control of the notification by the notification device 18. The HCU 10k is the same as the HCU 10c in Embodiment 7, except that it includes a notification control unit 103k instead of the notification control unit 103c. This HCU 10k also corresponds to a vehicle notification control device. Also, the execution of the processing of each functional block of the HCU 10k by a computer corresponds to the execution of a vehicle notification control method.

[0198] The notification control unit 103k is the same as the notification control unit 103c of the seventh embodiment, except for some different processing. The following describes this difference. When the planned route image that was displayed before the vehicle entered the intersection changes due to a new obstacle being detected after the vehicle entered the intersection, the notification control unit 103k highlights and displays the changed part of the planned route image. One example is a case where an oncoming vehicle that was not detected when the vehicle turns right. According to the above configuration, the highlighted display of the changed part of the planned route image makes it easier for the occupant to recognize the change in the situation and the changed situation.

[0199] Here, an example of the display of the surrounding situation image will be described with reference to Figs. 45 and 46. Fig. 45 is a diagram for explaining an example of the display of the surrounding situation image before the detection of a traffic obstruction. Fig. 46 is a diagram for explaining an example of the display of the surrounding situation image after the detection of a traffic obstruction. The examples of Figs. 45 and 46 show an example in which the vehicle turns right at an intersection. When there is no traffic obstruction, the notification control unit 103k displays a planned route image continuing from the current position of the vehicle to the exit side of the intersection as shown in Fig. 45. When a traffic obstruction is detected thereafter, the notification control unit 103k switches the planned route image to a display from the current position of the vehicle to the temporary stop position of the vehicle as shown in Fig. 46. In this case, the notification control unit 103k may display a travel direction image on the exit side of the intersection through which the vehicle passes as shown in Fig. 46.

[0200] (Embodiment 16) In the above embodiment, the configuration in which the HCU10 performs the monitoring promotion notification-related process is shown, but is not necessarily limited to this. For example, a configuration in which a process similar to the monitoring promotion notification-related process is performed by an electronic control device other than the HCU10 may be used. In this case, the electronic control device other than the HCU10 corresponds to the vehicle notification control device. In the above embodiment, the configuration in which the HCU10a performs the stop notification-related process is shown, but is not necessarily limited to this. For example, a configuration in which a process similar to the stop notification-related process is performed by an electronic control device other than the HCU10a may be used. In this case, the electronic control device other than the HCU10a corresponds to the vehicle notification control device. In the above embodiment, the configuration in which the HCU10b performs the hindrance factor notification-related process is shown, but is not necessarily limited to this. For example, a configuration in which a process similar to the hindrance factor notification-related process is performed by an electronic control device other than the HCU10b may be used. In this case, the electronic control device other than the HCU10b corresponds to the vehicle notification control device.

[0201] 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.

[0202] (Disclosed technical idea) This specification discloses multiple technical ideas described in the following multiple dependent claims. Some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. Furthermore, some of the claims may be described in a multiple dependent form, where the subsequent claim alternatively refers to the preceding claim. The claims described in these multiple dependent forms define multiple technical ideas.

[0203] (Technical thought 1) A vehicle notification control device that can be used in a vehicle that performs automatic driving, A motion identification unit (121, 121a) that identifies a predetermined motion of the vehicle at an intersection; a notification control unit (103, 103a, 103b, 103c, 103d, 103e, 103f, 103g, 103h, 103i, 103j, 103k) that causes a notification device (18, 18e) provided in a passenger compartment of the vehicle to give a notification, The notification control unit is a vehicle notification control device that, when the action identification unit identifies the specified action at an intersection during autonomous driving of the vehicle, issues a notification related to the specified action to encourage the driver of the vehicle to provide assistance in passing through the intersection.

[0204] (Technical thought 2) A vehicle notification control device according to Technical Concept 1, The notification control unit (103) is a vehicle notification control device that, when the operation identification unit (121) identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, issues a monitoring promotion notification, which is a notification that encourages the driver of the vehicle to monitor the surroundings.

[0205] (Technical Thought 3) A vehicle notification control device according to Technical Concept 2, The action identification unit is configured to identify, as the predetermined action, a right or left turn at an intersection as a plan, The notification control unit is a vehicle notification control device that, when the operation identification unit identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, issues the surveillance promotion notification before entering the intersection.

[0206] (Technical Thought 4) A vehicle notification control device according to Technical Concept 2, The notification control unit is a vehicle notification control device that issues the surveillance promotion notification when the operation identification unit identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle and when the vehicle needs to temporarily stop within the intersection.

[0207] (Technical Thought 5) A vehicle notification control device according to Technical Concept 2, The notification control unit is a vehicle notification control device that issues the monitoring promotion notification when the operation identification unit identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle and when a driving operation is temporarily requested of the driver.

[0208] (Technical Thought 6) A vehicle notification control device according to Technical Concept 2, The notification control unit is a vehicle notification control device that, when the operation identification unit identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, issues the surveillance promotion notification before making a right or left turn within the intersection and before entering a crosswalk after making a right or left turn.

[0209] (Technical Thought 7) A vehicle notification control device according to any one of Technical Ideas 2 to 6, The notification control unit is a vehicle notification control device that, when it starts the surveillance promotion notification, continues the surveillance promotion notification until the vehicle finishes turning right or left at the intersection and starts traveling straight ahead.

[0210] (Technical Thought 8) A vehicle notification control device according to any one of Technical Ideas 1 to 7, The notification control unit (103a) is a vehicle notification control device that, when the operation identification unit (121a) identifies a stop at an intersection as the specified operation during automatic driving of the vehicle, issues a stop notification to the driver of the vehicle, which is a notification indicating that the vehicle will stop.

[0211] (Technical Thought 9) A vehicle notification control device according to Technical Concept 8, The notification control unit also causes a display (181, 181e) to display a surrounding situation image showing the surrounding situation of the vehicle, and when the stop notification is made, the vehicle notification control device causes a display to highlight the stopping object that is the cause of the stop in the surrounding situation image.

[0212] (Technical Thought 10) A vehicle notification control device according to Technical Idea 8 or 9, The notification control unit also causes a display to display a surrounding situation image showing the surrounding situation of the vehicle and a planned route image showing the planned route of the vehicle within the surrounding situation image, and while the vehicle is making the temporary stop at the intersection, the planned route image is displayed with reduced visibility compared to when the vehicle does not make the temporary stop.

[0213] (Technical Thought 11) A vehicle notification control device according to Technical Concept 10, The notification control unit is a vehicle notification control device that, when the vehicle resumes passing through the intersection after making the temporary stop, displays the planned route image, which has been displayed with reduced visibility, with increased visibility compared to when the vehicle does not make the temporary stop.

[0214] (Technical Thought 12) A vehicle notification control device according to any one of Technical Ideas 1 to 11, The notification control unit (103b) is a vehicle notification control device that, when the operation identification unit (121) identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, and when there is an obstructing object that obstructs the right or left turn, issues an obstruction factor notification, which is a notification indicating the obstructing object.

[0215] (Technical Thought 13) A vehicle notification control device according to Technical Concept 12, The notification control device for a vehicle, when the vehicle is being automatically driven on a road where driving on the left is legal, and the operation identification unit specifies a right turn at an intersection as the specified operation, if an oncoming vehicle is present as the obstructing object, causes the notification control unit to issue the obstructing factor notification indicating the oncoming vehicle, while when the vehicle is being automatically driven on a road where driving on the left is legal, and when the operation identification unit specifies a left turn at an intersection as the specified operation, if a pedestrian or a motorcycle is present as the obstructing object, causes the notification control unit to issue the obstructing factor notification indicating the object.

[0216] (Technical Thought 14) A vehicle notification control device according to Technical Idea 12 or 13, The notification control unit is a vehicle notification control device that causes the notification of the obstruction factor to be performed even when the object to be the obstruction object is switched.

[0217] (Technical Thought 15) A vehicle notification control device according to any one of Technical Ideas 12 to 14, The notification control unit also causes a display (181, 181e) to display a surrounding situation image showing the surrounding situation of the vehicle, and displays the situation of the lane into which the vehicle will enter by turning right or left in the surrounding situation image from before the turn, and even if an obstruction object that was not identified in that lane is newly identified, the vehicle notification control device causes the obstruction factor notification to be performed, indicating the obstruction object.

[0218] (Technical Thought 16) A vehicle notification control device according to any one of technical concepts 1 to 15, The notification control unit is a vehicle notification control device that also displays, on a display (181, 181e), a surrounding situation image showing the surrounding situation of the vehicle and a planned route image showing the planned route of the vehicle within the surrounding situation image when the vehicle is traveling through an intersection.

[0219] (Technical Thought 17) A vehicle notification control device according to Technical Concept 16, The notification control unit (103c, 103d, 103e) is a vehicle notification control device that, based on the occurrence of a route intersection in which the planned route of the vehicle intersects with the planned route of another vehicle other than the vehicle or another vehicle, highlights the planned route image compared to a case in which the route intersection does not occur, and displays the part of the planned route image that corresponds to the planned route of the vehicle that will be changed due to the occurrence of the route intersection in a manner different from other parts that are not changed.

[0220] (Technical Thought 18) A vehicle notification control device according to Technical Concept 17, The notification control unit is a vehicle notification control device that displays the planned route image over an area a predetermined distance from the exit of an intersection that the vehicle passes through, and gradually changes the planned route image corresponding to the area that has been passed from being displayed each time the vehicle passes through an area corresponding to the planned route image.

[0221] (Technical Thought 19) A vehicle notification control device according to Technical Idea 17 or 18, The notification control unit performs a display emphasizing another vehicle that has a route intersection with the vehicle, The notification control unit is a vehicle notification control device that, when the display of the planned route image and the display indicating the other vehicle overlap or are close to each other, displays the other vehicle in a manner that emphasizes the other vehicle by changing the display mode of the other vehicle itself.

[0222] (Technical Thought 20) A vehicle notification control device according to any one of Technical Ideas 17 to 19, The notification control unit changes whether or not to highlight the planned route image depending on the amount of deviation of the vehicle's planned route, which is changed due to the route intersection, from the extension of the vehicle's driving lane, and if the amount of deviation is equal to or greater than a specified value, the vehicle notification control device also displays an image indicating that the vehicle's turn signals are on in the surrounding situation image.

[0223] (Technical Thought 21) A vehicle notification control device according to any one of Technical Ideas 17 to 20, The notification control unit, when the vehicle is located outside the intersection, performs a rotating display in which the surrounding situation image is displayed with the vehicle's position as the center and the vehicle's direction of travel as the basis, so that the image transitions as the vehicle moves, while, when the vehicle is located within the intersection, performs a fixed display in which the surrounding situation image is fixed so that it does not transition as the vehicle moves.

[0224] (Technical Thought 22) A vehicle notification control device according to any one of Technical Ideas 17 to 21, The notification control unit (103c) is a vehicle notification control device that switches between a rotating display in which the surrounding situation image is displayed so that it transitions as the vehicle moves, centered on the position of the vehicle and based on the vehicle's direction of travel, and a fixed display in which the surrounding situation image is fixed so that it does not transition as the vehicle moves, depending on the automation level of the vehicle's automatic driving.

[0225] (Technical Thought 23) A vehicle notification control device according to Technical Concept 22, The notification control unit of the vehicle notification control device performs the rotating display when the automation level is below a specified level, and performs the fixed display when the automation level is equal to or higher than the specified level.

[0226] (Technical Thought 24) A vehicle notification control device according to any one of Technical Ideas 17 to 21, The notification control unit (103d) is a vehicle notification control device that, when the vehicle is located within an intersection, switches between a rotating display in which the surrounding situation image is displayed so that it transitions in accordance with the movement of the vehicle, with the position of the vehicle as the center and the direction of travel of the vehicle as the base, depending on the presence or absence of a target moving object that is a moving object that may obstruct the passage of the vehicle at the intersection.The notification control device for a vehicle switches between a rotating display in which the surrounding situation image is displayed so that it transitions in accordance with the movement of the vehicle, with the position of the vehicle as the center and the direction of travel of the vehicle as the base, and a fixed display in which the surrounding situation image is displayed in a fixed state so that it does not transition in accordance with the movement of the vehicle.

[0227] (Technical Thought 25) A vehicle notification control device according to Technical Concept 24, The notification control unit is a vehicle notification control device that performs the rotating display when the vehicle is located within an intersection and the target moving object is present, and performs the fixed display when the vehicle is located within an intersection and the target moving object is not present.

[0228] (Technical Thought 26) A vehicle notification control device according to any one of Technical Ideas 17 to 25, The notification control unit (103e) is a vehicle notification control device that, when there are multiple display areas for displaying the surrounding situation image, simultaneously displays, in separate display areas, a rotating display in which the surrounding situation image is displayed so that it transitions as the vehicle moves, centered on the position of the vehicle and based on the vehicle's direction of travel, and a fixed display in which the surrounding situation image is fixed so that it does not transition as the vehicle moves.

[0229] (Technical Thought 27) A vehicle notification control device according to Technical Concept 16, The notification control unit (103f) is a vehicle notification control device that, when the planned route of the vehicle intersects with the planned route of another vehicle other than the vehicle or another vehicle, displays an other vehicle image indicating the other vehicle from the surrounding situation image in a superimposed manner in front of the planned route image.

[0230] (Technical Thought 28) A vehicle notification control device according to Technical Concept 16, The notification control unit (103g) is a vehicle notification control device that, when a route intersection occurs where the planned route of the vehicle intersects with the planned route of another vehicle other than the vehicle or another vehicle, displays the planned route image up to the point where the route intersection occurs, and displays a traveling direction image indicating the planned traveling direction of the vehicle at the exit side of the intersection that the vehicle passes through.

[0231] (Technical Thought 29) A vehicle notification control device according to Technical Concept 28, The notification control unit is a vehicle notification control device that displays the planned route image so that it does not reach an extension of the lane of the other vehicle when a route intersection occurs where the planned route of the vehicle intersects with the planned route of another vehicle other than the vehicle or another vehicle, and when the vehicle makes a right or left turn onto the lane of the other vehicle where the route intersection occurs.

[0232] (Technical Thought 30) A vehicle notification control device according to any one of Technical Ideas 16 to 29, The notification control unit (103h) also displays a target moving body image, which indicates a target moving body that may obstruct the passage of the vehicle at an intersection, in the surrounding situation image, and switches the display mode of the planned route image and the target moving body image depending on the automation level of the vehicle's autonomous driving.

[0233] (Technical Thought 31) A vehicle notification control device according to Technical Concept 30, The notification control unit of the vehicle notification control device displays the target moving object image in an emphasized manner as the automation level increases, and displays the planned route image in an emphasized manner as the automation level decreases.

[0234] (Technical Thought 32) A vehicle notification control device according to Technical Idea 30 or 31, The notification control unit is a vehicle notification control device that, when the vehicle is located within an intersection and the automation level is changed unplanned, maintains the display mode of the planned route image and the target moving body image in the display mode before the automation level was changed.

[0235] (Technical Thought 33) A vehicle notification control device according to any one of Technical Ideas 16 to 32, The notification control unit (103i) is a vehicle notification control device that, when the vehicle needs to stop temporarily at an intersection, separately displays an image of the planned route up to the position where the vehicle will stop and an image of the planned route after the temporary stop.

[0236] (Technical Thought 34) A vehicle notification control device according to any one of Technical Ideas 16 to 33, The notification control unit (103j) is a vehicle notification control device that simplifies and displays the surrounding situation image when the vehicle turns right or left in the direction indicated by the arrow lights of an arrow-type traffic light at an intersection, compared to other right or left turns at the intersection.

[0237] (Technical Thought 35) A vehicle notification control device according to any one of Technical Ideas 16 to 34, The notification control unit (103k) is a vehicle notification control device that, when the planned route image that was displayed before the vehicle entered the intersection changes due to a new obstacle being detected after the vehicle entered the intersection, highlights and displays the changed portion of the planned route image.

[0238] (Technical Thought 36) A vehicle notification control device according to any one of technical concepts 1 to 35, The autonomous driving device is an autonomous driving device that does not have to monitor the surroundings. [Explanation of symbols]

[0239] 1, 1c, 1e Vehicle system, 10, 10a, 10b, 10c, 10d, 10e, 10f, 10g, 10h, 10i, 10k HCU (vehicle notification control device), 18, 18e Notification device, 102, 102a Situation identification unit, 103, 103a, 103b, 103c, 103d, 103e, 103f, 103g, 103h, 103i, 103j, 103k Notification control unit, 121, 121a Operation identification unit, 181, 181e Display

Claims

1. A vehicle notification control device that can be used in a vehicle that performs automatic driving, A motion identification unit (121, 121a) that identifies a predetermined motion of the vehicle at an intersection; a notification control unit (103, 103a, 103b, 103c, 103d, 103e, 103f, 103g, 103h, 103i, 103j, 103k) that causes a notification device (18, 18e) provided in a passenger compartment of the vehicle to give a notification, The notification control unit, when the predetermined action at an intersection is identified by the action identification unit during automatic driving of the vehicle, issues a notification related to the predetermined action to prompt a driver of the vehicle to provide assistance regarding passage through the intersection, The notification control unit (103) issues a monitoring promotion notification, which is a notification that prompts the driver of the vehicle to monitor the surroundings, when the operation identification unit (121) identifies a right or left turn at an intersection as the predetermined operation during automatic driving of the vehicle, The notification control unit is a vehicle notification control device that issues the surveillance promotion notification when the operation identification unit identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle and when the vehicle needs to temporarily stop within the intersection.

2. A vehicle notification control device that can be used in a vehicle that performs automatic driving, A motion identification unit (121, 121a) that identifies a predetermined motion of the vehicle at an intersection; a notification control unit (103, 103a, 103b, 103c, 103d, 103e, 103f, 103g, 103h, 103i, 103j, 103k) that causes a notification device (18, 18e) provided in a passenger compartment of the vehicle to give a notification, The notification control unit, when the predetermined action at an intersection is identified by the action identification unit during automatic driving of the vehicle, issues a notification related to the predetermined action to prompt a driver of the vehicle to provide assistance regarding passage through the intersection, The notification control unit (103) issues a monitoring promotion notification, which is a notification that prompts the driver of the vehicle to monitor the surroundings, when the operation identification unit (121) identifies a right or left turn at an intersection as the predetermined operation during automatic driving of the vehicle, The notification control unit is a vehicle notification control device that issues the monitoring promotion notification when the operation identification unit identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle and when a driving operation is temporarily requested of the driver.

3. 3. The vehicle notification control device according to claim 1, The notification control unit is a vehicle notification control device that, when it starts the surveillance promotion notification, continues the surveillance promotion notification until the vehicle finishes turning right or left at the intersection and starts traveling straight ahead.

4. The vehicle notification control device according to any one of claims 1 to 3, The notification control unit (103a) is a vehicle notification control device that, when the operation identification unit (121a) identifies a stop at an intersection as the specified operation during automatic driving of the vehicle, issues a stop notification to the driver of the vehicle, which is a notification indicating that the vehicle will stop.

5. The vehicle notification control device according to claim 4, The notification control unit also causes a display (181, 181e) to display a surrounding situation image showing the surrounding situation of the vehicle, and when the temporary stop notification is issued, the vehicle notification control device causes a display to highlight the stopping object that is the cause of the temporary stop in the surrounding situation image.

6. The vehicle notification control device according to claim 4, The notification control unit also causes a display to display a surrounding situation image showing the surrounding situation of the vehicle and a planned route image showing the planned route of the vehicle within the surrounding situation image, and while the vehicle is making the temporary stop at the intersection, the planned route image is displayed with reduced visibility compared to when the vehicle does not make the temporary stop.

7. 7. The vehicle notification control device according to claim 6, The notification control unit is a vehicle notification control device that, when the vehicle resumes passing through the intersection after making the temporary stop, displays the planned route image, which has been displayed with reduced visibility, with increased visibility compared to when the vehicle does not make the temporary stop.

8. 3. The vehicle notification control device according to claim 1, The notification control unit (103b) is a vehicle notification control device that, when the operation identification unit (121) identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, and if there is an obstructing object that obstructs the right or left turn, issues an obstruction factor notification, which is a notification indicating the obstructing object.

9. 9. The vehicle notification control device according to claim 8, The notification control device for a vehicle, when the vehicle is being automatically driven on a road where driving on the left is legal, and the operation identification unit specifies a right turn at an intersection as the specified operation, if an oncoming vehicle is present as the obstructing object, causes the notification control unit to issue the obstructing factor notification indicating the oncoming vehicle, while when the vehicle is being automatically driven on a road where driving on the left is legal, and when the operation identification unit specifies a left turn at an intersection as the specified operation, if a pedestrian or a motorcycle is present as the obstructing object, causes the notification control unit to issue the obstructing factor notification indicating the object.

10. 9. The vehicle notification control device according to claim 8, The notification control unit is a vehicle notification control device that causes the notification of the obstruction factor to be performed even when the object to be the obstruction object is switched.

11. 9. The vehicle notification control device according to claim 8, The notification control unit also causes a display (181, 181e) to display a surrounding situation image showing the surrounding situation of the vehicle, and displays the situation of the lane into which the vehicle will enter by turning right or left in the surrounding situation image from before the turn, and even if an obstruction object that was not identified in that lane is newly identified, the vehicle notification control device causes the obstruction factor notification to be made indicating the obstruction object.

12. 3. The vehicle notification control device according to claim 1, The notification control unit is a vehicle notification control device that also displays, on a display (181, 181e), a surrounding situation image showing the surrounding situation of the vehicle and a planned route image showing the planned route of the vehicle within the surrounding situation image when the vehicle is traveling through an intersection.

13. 3. The vehicle notification control device according to claim 1, The autonomous driving device is an autonomous driving device that does not have to monitor the surroundings.

14. A vehicle notification control method that can be used in a vehicle that performs automatic driving, Executed by at least one processor, A motion identification step of identifying a predetermined motion of the vehicle at an intersection; a notification control step of causing a notification device (18, 18e) provided in a passenger compartment of the vehicle to give a notification, In the notification control step, when the predetermined action at an intersection is identified in the action identification step during automatic driving of the vehicle, a notification related to the predetermined action is issued to the driver of the vehicle to prompt assistance regarding passage through the intersection, In the notification control step, when the operation identification step identifies a right or left turn at an intersection as the predetermined operation during automatic driving of the vehicle, a monitoring promotion notification is issued, which is a notification that encourages a driver of the vehicle to monitor a surrounding area, The notification control process is a vehicle notification control method in which the surveillance promotion notification is issued when the operation identification process identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, and when it is necessary for the vehicle to temporarily stop within the intersection.

15. A vehicle notification control method that can be used in a vehicle that performs automatic driving, Executed by at least one processor, A motion identification step of identifying a predetermined motion of the vehicle at an intersection; a notification control step of causing a notification device (18, 18e) provided in a passenger compartment of the vehicle to give a notification, In the notification control step, when the predetermined action at an intersection is identified in the action identification step during automatic driving of the vehicle, a notification related to the predetermined action is issued to the driver of the vehicle to prompt assistance regarding passage through the intersection, In the notification control step, when the operation identification step identifies a right or left turn at an intersection as the predetermined operation during automatic driving of the vehicle, a monitoring promotion notification is issued, which is a notification that encourages a driver of the vehicle to monitor a surrounding area, The notification control process of this vehicle notification control method causes the monitoring promotion notification to be issued when the operation identification process identifies a right or left turn at an intersection as the specified operation during automatic driving of the vehicle, and when a temporary request is made to the driver to perform driving operations.

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