Vehicle, its control device, and control method

Abstract

This control device for controlling a vehicle that has a display device and a steering operation element comprises: a risk identification unit that identifies a risk factor which is present in the surroundings of the vehicle and the direction of the risk factor with respect to the vehicle; a display control unit that uses a first emphasis degree to display, on the display device, risk information indicative of the direction of the risk factor; and a guidance control unit that uses a steering operation element to carry out a guidance operation for guiding the driver of the vehicle to operate the steering operation element so as to avoid the risk factor. When the guidance control unit uses the steering operation element to carry out the guidance operation, the display control unit displays, on the display device, avoidance information indicative of the travelling direction of the vehicle for avoiding the risk factor and either displays the risk information with a second emphasis degree lower than the first emphasis degree or does not display the risk information.

Description

Technical Field

[0001] The present invention relates to a vehicle, and its control device and control method.

Background Art

[0002] Various techniques for enhancing vehicle safety have been proposed. Patent Document 1 describes detecting the line-of-sight direction of a vehicle driver and controlling the vehicle to a safe state when the driver is not facing the direction in which the vehicle should be directed during driving.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In order to avoid risks occurring in a vehicle, it is conceivable to indicate to the driver the direction in which the vehicle should proceed. However, depending on the way this information is presented, the driver may not be able to intuitively judge in which direction to drive the vehicle. Some aspects of the present invention aim to guide the driver's steering to avoid risks.

Means for Solving the Problems

[0005] In view of the above problems, a control device for controlling a vehicle having a display device and a steering operator, the control device including: a risk identification means for identifying a risk factor existing around the vehicle and a direction of the risk factor with respect to the vehicle; a display control means for displaying risk information indicating the direction of the risk factor on the display device with a first emphasis level; and a guidance control means for performing a guidance operation for guiding a driver of the vehicle to operate the steering operator so as to avoid the risk factor, using the steering operator. When the guidance control means performs the guidance operation using the steering operator, the display control means displays avoidance information indicating a traveling direction of the vehicle for avoiding the risk factor on the display device, and displays the risk information with a second emphasis level lower than the first emphasis level. Ruko and perform Before that, the display control means indicates the risk information and the avoidance information by the lighting position on the display device. When the lighting position of the avoidance information overlaps with the lighting position of the risk information, the display control means shifts the lighting position of the risk information in a direction away from the vehicle's route for avoiding the risk factor. , a control device is provided.

Advantages of the Invention

[0006] By the above means, it is possible to guide the driver to steer so as to avoid risks.

[0007] Other features and advantages of the present invention will become apparent from the following description with reference to the accompanying drawings. In the accompanying drawings, the same or similar components are denoted by the same reference numerals.

Brief Description of the Drawings

[0008] The accompanying drawings are included in the specification, form a part thereof, show embodiments of the present invention, and are used to explain the principles of the present invention together with the description.

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MODE FOR CARRYING OUT THE INVENTION

[0009] Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of the features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Also, the same or similar configurations are denoted by the same reference numerals, and redundant descriptions are omitted.

[0010] FIG. 1 is a block diagram of a vehicle 1 according to an embodiment of the present invention. In FIG. 1, the outline of the vehicle 1 is shown in a plan view and a side view. The vehicle 1 is, as an example, a four-wheel sedan-type passenger car. The vehicle 1 may be such a four-wheel vehicle, or may be a two-wheel vehicle or another type of vehicle.

[0011] Vehicle 1 includes a vehicle control device 2 (hereinafter simply referred to as control device 2) that controls Vehicle 1. The control device 2 includes a plurality of ECUs 20 to 29 communicably connected by an in-vehicle network. Each ECU includes a processor represented by a CPU, a memory such as a semiconductor memory, and an interface with an external device. Programs executed by the processor and data used by the processor for processing are stored in the memory. Each ECU may include a plurality of processors, memories, interfaces, and the like. For example, ECU 20 includes a processor 20a and a memory 20b. The processing by ECU 20 is executed by the processor 20a executing the instructions included in the program stored in the memory 20b. Alternatively, ECU 20 may include a dedicated integrated circuit such as an ASIC for executing the processing by ECU 20. The same applies to other ECUs.

[0012] Hereinafter, the functions and the like of each of the ECUs 20 to 29 will be described. Note that the number of ECUs and the functions they perform can be designed as appropriate, and it is possible to further subdivide or integrate them compared to the present embodiment.

[0013] ECU 20 executes control related to the automatic driving of Vehicle 1. In automatic driving, at least one of the steering and acceleration / deceleration of Vehicle 1 is automatically controlled. The automatic driving by ECU 20 may include automatic driving (which may also be called autonomous driving) that does not require a driving operation by the driver of Vehicle 1 (hereinafter also simply referred to as the driver), and automatic driving (which may also be called driving assistance) for assisting the driving operation by the driver.

[0014] The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism that steers the front wheels in response to a driver's driving operation (steering operation) on the steering wheel 31. The steering wheel 31 is an example of a steering operation element. Further, the electric power steering device 3 includes a motor that exerts a driving force for assisting the steering operation or automatically steering the front wheels, a sensor that detects the steering angle, and the like. When the driving state of the vehicle 1 is in autonomous driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 and controls the traveling direction of the vehicle 1.

[0015] The ECUs 22 and 23 perform control of the detection units 41 to 43 that detect the surrounding situation of the vehicle and information processing of the detection results. The detection unit 41 is a camera that captures the front of the vehicle 1 (hereinafter, may be referred to as the camera 41). In the case of the present embodiment, it is attached to the inner side of the windshield in the front part of the roof of the vehicle 1. By analyzing the image captured by the camera 41, it is possible to extract the contour of the target and the lane dividing lines (such as white lines) on the road.

[0016] The detection unit 42 is a LiDAR (Light Detection and Ranging) (hereinafter, may be referred to as the LiDAR 42), and detects targets around the vehicle 1 and measures the distance to the targets. In the case of the present embodiment, five LiDARs 42 are provided, one at each corner of the front part of the vehicle 1, one at the center of the rear part, and one at each side of the rear part. The detection unit 43 is a millimeter-wave radar (hereinafter, may be referred to as the radar 43), and detects targets around the vehicle 1 and measures the distance to the targets. In the case of the present embodiment, five radars 43 are provided, one at the center of the front part of the vehicle 1, one at each corner of the front part, and one at each corner of the rear part.

[0017] ECU 22 controls one camera 41 and processes information on the control and detection results of each radar 42. ECU 23 controls the other camera 41 and processes information on the control and detection results of each radar 43. By providing two sets of devices for detecting the surrounding situation of the vehicle, the reliability of the detection results can be improved. In addition, by providing different types of detection units such as cameras, lidars, and radars, the surrounding environment of the vehicle can be analyzed comprehensively.

[0018] ECU 24 controls the gyro sensor 5, GPS sensor 24b, and communication device 24c and processes information on the detection results or communication results. The gyro sensor 5 detects the rotational movement of the vehicle 1. The traveling route of the vehicle 1 can be determined based on the detection result of the gyro sensor 5 and the wheel speed or the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information and acquires this information. ECU 24 can access the map information database 24a constructed in the memory, and ECU 24 performs route search from the current location to the destination and the like. ECU 24, the map database 24a, and the GPS sensor 24b constitute a so-called navigation device.

[0019] ECU 25 is provided with a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs wireless communication with surrounding other vehicles and exchanges information between vehicles.

[0020] ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1 and includes, for example, an engine and a transmission. ECU 26 controls the output of the engine corresponding to the driving operation (accelerator operation or acceleration operation) of the driver detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or switches the gear position of the transmission based on information such as the vehicle speed detected by the vehicle speed sensor 7c. When the driving state of the vehicle 1 is in autonomous driving, ECU 26 automatically controls the power plant 6 in response to an instruction from ECU 20 and controls the acceleration and deceleration of the vehicle 1.

[0021] The ECU 27 controls lighting devices (such as headlights and taillights) including the direction indicator 8 (turn signal). In the example of FIG. 1, the direction indicators 8 are provided at the front, door mirrors, and rear of the vehicle 1.

[0022] The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and receives input of information from the driver. The voice output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged, for example, on the surface of the driver's seat and constitutes an instrument panel or the like. Here, voice and display are exemplified, but information may also be notified by vibration or light. Further, information may be notified by combining a plurality of voice, display, vibration, or light. Furthermore, depending on the level of information to be notified (for example, urgency), the combination may be varied or the notification mode may be varied. The input device 93 is a group of switches arranged at a position where the driver can operate and gives instructions to the vehicle 1, and may also include a voice input device.

[0023] The ECU 29 controls the braking device 10 and the parking brake (not shown). The braking device 10 is, for example, a disc braking device provided on each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the braking device 10 in response to a driving operation (braking operation) of the driver detected by, for example, an operation detection sensor 7b provided on the brake pedal 7B. When the driving state of the vehicle 1 is in autonomous driving, the ECU 29 automatically controls the braking device 10 in response to an instruction from the ECU 20 and controls the deceleration and stop of the vehicle 1. The braking device 10 and the parking brake can also operate to maintain the stopped state of the vehicle 1. Further, when the transmission of the power plant 6 is provided with a parking lock mechanism, this can also operate to maintain the stopped state of the vehicle 1.

[0024] The ECU 30 controls the driver camera 44. The driver camera 44 is attached at a position where it photographs the driver (especially their face). The ECU 30 identifies the driver's state by analyzing the image of the driver captured by the driver camera 44. For example, the ECU 30 may identify the driver's line of sight based on the orientation of the driver's face and the position of the pupils. Also, the ECU 30 may identify that the driver is dozing off based on whether the driver's eyes are open or the movement of the head, etc.

[0025] Referring to FIG. 2, the functional blocks of the control device 2 of the vehicle 1 will be described. The control device 2 may have a plurality of functional blocks shown in FIG. 2. Each functional block of the control device 2 may be realized by one or more of the ECUs 20 to 30 of the control device 2 described in FIG. 1. Specifically, the operation by each functional block may be realized by a CPU (for example, CPU 20a) of one or more of the ECUs 20 to 30 executing the instructions of a program stored in a corresponding memory (for example, memory 20b). In addition to or instead of this, the operation by each functional block may be realized by a dedicated circuit such as an ASIC (application-specific integrated circuit) or an FPGA (field-programmable gate array).

[0026] The environment recognition unit 201 recognizes the environment around the vehicle 1 based on the detection results of the detection units 41 to 43. The area around the vehicle 1 may be the detection range of the detection units 41 to 43. The environment around the vehicle 1 includes, for example, static structures and traffic participants. The static structures include roads (including lane lines, crosswalks, road shapes, etc.) and objects permanently or semi-permanently installed on the road, such as traffic lights, signs, etc. The traffic participants include vehicles other than the vehicle 1 (including four-wheeled vehicles and two-wheeled vehicles), bicycles, pedestrians, etc. The traffic participants may include both moving traffic participants (e.g., a running vehicle or a walking pedestrian) and stationary traffic participants (e.g., a vehicle at a temporary stop, a parked vehicle, a standing pedestrian). Recognizing the surrounding environment of the vehicle 1 may include recognizing the positions, sizes, moving directions, moving speeds, etc. of the above-described objects. Since the recognition of the surrounding environment by the environment recognition unit 201 may be performed using, for example, existing technologies, detailed descriptions are omitted.

[0027] The risk identification unit 202 identifies risk factors existing around the vehicle 1 and the directions of the risk factors with respect to the vehicle 1 based on the environment around the vehicle 1 recognized by the environment recognition unit 201 and the current behavior of the vehicle 1 (e.g., the speed, acceleration, traveling direction, etc. of the vehicle 1). The risk identification unit 202 may further identify the distance from the vehicle 1 to the risk factor. The risk factor is a factor that has a possibility of giving a risk to the vehicle 1 equal to or higher than a threshold value. The risk received by the vehicle 1 may include the vehicle 1 coming into contact with an object existing around the vehicle 1. The risk identification unit 202 may identify the object as a risk factor when the possibility of the vehicle 1 coming into contact with an object existing around the vehicle 1 is equal to or higher than a threshold value (e.g., 30% or more). The vehicle 1 coming into contact with an object may include the vehicle 1 colliding with the object. Further, the risk received by the vehicle 1 may be a risk other than contact, for example, the vehicle 1 entering a prohibited driving area or the vehicle 1 falling off a cliff. In the case of this example, the prohibited driving area and the cliff become risk factors.

[0028] The risk factors may be traffic participants existing around the vehicle 1. For example, when the risk identification unit 202 determines that there is a possibility that a pedestrian may jump out onto the travel path of the vehicle 1, this pedestrian may be identified as a risk factor. The risk factors may be objects installed on the road. For example, when roadwork is being carried out in front of the lane in which the vehicle 1 is traveling, the risk identification unit 202 may identify the equipment used for the roadwork (for example, a no-entry sign, etc.) as a risk factor. The risk identification unit 202 may calculate the possibility of causing a disadvantage to the vehicle 1 based on the predicted positions of the objects existing around the vehicle 1 in the future (for example, up to 30 seconds after the current time (the calculation time)) and the predicted position of the vehicle 1 in the future.

[0029] The risk identification unit 202 may determine the urgency of the risk. The urgency of the risk is an index indicating how much time margin the vehicle 1 has to avoid the risk. For example, when an object that may come into contact with the vehicle 1 is identified as a risk factor, the urgency of the risk may be determined based on the predicted time until the vehicle 1 comes into contact with the object. Since the identification of the risk factors, their directions and distances, and the urgency of the risk by the risk identification unit 202 may be performed using, for example, existing technologies, detailed descriptions are omitted.

[0030] The line-of-sight detection unit 203 detects the line-of-sight direction of the driver by analyzing the image obtained by the driver camera 44. Since the detection of the line of sight by the line-of-sight detection unit 203 may be performed using, for example, existing technologies, detailed descriptions are omitted.

[0031] The avoidance action planning unit 204 determines the behavior that the vehicle 1 should take to avoid the risk factors based on the environment around the vehicle 1 recognized by the environment recognition unit 201, the current behavior of the vehicle 1 (for example, the speed, acceleration, traveling direction, etc. of the vehicle 1), and the risk factors identified by the risk identification unit 202 and their directions and urgencies. The behavior that the vehicle 1 should take may include accelerating, decelerating, or maintaining the speed of the vehicle 1, and setting the vehicle 1 to a specific steering state.

[0032] For example, when there is a risk factor in front of the vehicle 1 and the predicted time until the vehicle 1 contacts the risk factor is long (e.g., 10 seconds or more), the avoidance behavior planning unit 204 may determine that the vehicle 1 should decelerate. When there is a risk factor diagonally in front of the left side of the vehicle 1 and the predicted time until the vehicle 1 contacts the risk factor is short (e.g., 5 seconds or less), the avoidance behavior planning unit 204 may determine that the vehicle 1 should turn to the right while decelerating. When there are risk factors on both sides of the vehicle 1 (e.g., sandwiched between a wall and a cliff), the avoidance behavior planning unit 204 may determine that the vehicle 1 should maintain a straight course. Since the determination of the behavior by the avoidance behavior planning unit 204 may be executed using, for example, existing technologies, a detailed description thereof is omitted.

[0033] The braking control unit 205 controls the braking of the vehicle 1. For example, when it is determined by the avoidance behavior planning unit 204 that the vehicle 1 should decelerate, the braking control unit 205 may automatically (i.e., even when the brake pedal 7B is not operated) brake the vehicle 1 to decelerate and even stop the vehicle 1.

[0034] The steering guidance unit 206 performs a steering guidance operation using the steering operator of the vehicle 1. The steering guidance operation is an operation for guiding the driver to operate the steering operator so as to avoid a risk factor. Hereinafter, as the steering operator of the vehicle 1, the steering wheel 31 in FIG. 1 will be described as an example. For example, assuming that it is determined by the avoidance behavior planning unit 204 that the vehicle 1 should turn to the right. In this case, in order to guide the driver to rotate the steering wheel 31 to the right, the steering guidance unit 206 may perform the following operations.

[0035] For example, the steering guidance unit 206 may prompt the driver to rotate the steering wheel 31 in the right direction by vibrating a specific portion on the right side of the steering wheel 31 for a predetermined time (e.g., 1 second or 3 seconds). The steering guidance unit 206 may perform this vibration only once, or may perform it multiple times (e.g., 3 times) at a predetermined interval (e.g., 5 seconds), or may repeat it until the risk factor is eliminated. The steering guidance unit 206 may prompt the driver to rotate the steering wheel 31 in the right direction by applying a force in the rotational direction (in this example, the right rotational direction) to the steering wheel 31. The force in the rotational direction may be a force that causes the steering wheel 31 to rotate by a predetermined amount (e.g., 1 degree, 5 degrees, or 10 degrees, etc.) when the driver is not gripping the steering wheel 31. When the driver is gripping the steering wheel 31, the steering wheel 31 may or may not actually rotate. By applying such a force to the steering wheel 31, the driver receives a sense of resistance in a specific rotational direction from the steering wheel 31. When the steering wheel 31 actually rotates by the steering guidance unit 206 applying a force in the rotational direction to the steering wheel 31, the steering guidance unit 206 may apply a force in the reverse rotational direction to the steering wheel 31 to return this rotation, or may not apply such a force in the reverse rotational direction. The steering guidance unit 206 may apply the force in the rotational direction to the steering wheel 31 only once, or may apply it multiple times (e.g., 3 times) at a predetermined interval (e.g., 5 seconds), or may repeat it until the risk factor is eliminated. The steering guidance unit 206 may make it easier for the driver to rotate the steering wheel 31 in the right direction by reducing the torque for rotating the steering wheel 31 in the right direction. The steering guidance unit 206 may use a combination of some or all of these operations as the steering guidance operation. When the avoidance action planning unit 204 determines that the vehicle 1 should turn to the left, the steering guidance unit 206 may perform the operations in the opposite direction to the above operations.

[0036] Suppose that the avoidance action planning unit 204 determines that the vehicle 1 should go straight (i.e., should not turn in any direction). In this case, the steering guidance unit 206 may increase the torque for rotating the steering wheel 31. In order to guide the driver so that the steering state of the vehicle 1 allows only straight-ahead and right turns and does not allow left turns, the steering guidance unit 206 may increase only the torque for rotating the steering wheel 31 in the left direction.

[0037] The notification decision unit 207 determines whether to notify the driver of information, and determines the content and notification method when notifying the information. For example, the notification decision unit 207 may determine to notify the driver of the direction of the risk factor when there is a risk factor around the vehicle 1. Also, the notification decision unit 207 may determine to notify the driver of the distance from the vehicle 1 to the risk factor. Furthermore, the notification decision unit 207 may determine to notify the driver of the traveling direction of the vehicle 1 to avoid the risk factor. Details of the information notified to the driver will be described later.

[0038] The output control unit 208 controls the operations of the devices for notifying the driver of information, specifically, the above-described voice output device 91 and display device 92. For example, the output control unit 208 outputs the information determined to be notified by the notification decision unit 207 toward the driver through the voice output device 91 and / or the display device 92.

[0039] With reference to FIGS. 3A to 3C, the display device 92 for displaying information to the driver will be described. The display device 92 can display information indicating the direction with respect to the vehicle 1. Furthermore, the display device 92 may be able to display information indicating the distance from the vehicle 1. The display device 92 may be any display device capable of displaying this information. For example, the display device 92 may be a dot matrix display attached to the instrument panel of the vehicle 1. Also, the display device 92 may be a set of a plurality of light-emitting parts capable of emitting light in a specific shape. Furthermore, the display device 92 may be a head-up display.

[0040] The display device 92 may have a circular display area 300 as shown in FIG. 3A to indicate the direction with respect to the vehicle 1. The display area 300 occupies a part of the display device 92. The display device 92 can display a sector-shaped indicator at any position within the display area 300. When no indicator is being displayed, the display area 300 is displayed in a base color (e.g., white or black). The indicator is displayed so as to be distinguishable from the portion other than the indicator within the display area 300. For example, the indicator is displayed in a color different from the base color (e.g., red or blue), and the portion other than the indicator is displayed in the base color. Instead of or in addition to this, the indicator may be displayed by blinking a specific portion.

[0041] The indicator in the display area 300 indicates the direction with respect to the vehicle 1. For example, the position of the indicator with respect to the center of the display area 300 may be associated with the direction with respect to the vehicle 1. In the example of FIG. 3A, the upward direction in the drawing corresponds to the front of the vehicle 1, the downward direction in the drawing corresponds to the rear of the vehicle 1, the rightward direction in the drawing corresponds to the right side of the vehicle 1, and the leftward direction in the drawing corresponds to the left side of the vehicle 1. In FIG. 3A, an example of the indicator, indicator 301, is shown. Indicator 301 may be displayed, for example, in red. Indicator 301 indicates the front left diagonal of the vehicle 1.

[0042] The display device 92 may display all the indicators in the same color, or may display each indicator in a color selected from a plurality of colors. Also, the display device 92 may display all the indicators with the same degree of emphasis, or may display each indicator with a degree of emphasis selected from a plurality of degrees of emphasis. The degree of emphasis is an index indicating the ease of attracting the driver's attention. The higher the degree of emphasis, the easier it is to attract the driver's attention. For example, the display device 92 may display the indicators with different densities or luminances. The higher the density or luminance, the higher the degree of emphasis. For example, dark red is more likely to attract the driver's attention than light red. Instead of or in addition to this, the display device 92 may display the indicators in different manners. For example, the display device 92 may blink the indicators to increase the degree of emphasis of the indicators.

[0043] The display device 92 may have a circular display area 310 as shown in FIG. 3B to indicate the direction with respect to the vehicle 1 and the distance from the vehicle 1. Hereinafter, the differences between the display area 300 and the display area 310 will be mainly described. The display area 310 has its entire circumference (i.e., 360 degrees) divided into 16 sectors, and each sector is divided into two parts, one closer to the center and the other farther from the center. Therefore, the display area 310 has 32 areas with different directions and distances from the center. The display device 92 uses one or more of the 32 areas of the display area 310 to display indicators.

[0044] Similar to the display area 300, the indicators in the display area 310 indicate the direction with respect to the vehicle 1. For example, the position of the indicator with respect to the center of the display area 310 may be associated with the direction with respect to the vehicle 1. Further, the indicators in the display area 310 indicate the distance from the vehicle 1. For example, the distance of the indicator from the center of the display area 310 (close or far) may be associated with the distance from the vehicle 1. In the example of the display area 310, the distance from the vehicle 1 is indicated in two steps, but it may be indicated in three or more steps.

[0045] Figure 3B shows indicators 311 and 312 as an example of indicators. Indicator 311 indicates a far position diagonally in front of the right side of vehicle 1. Indicator 311 may be displayed, for example, in dark red. Indicator 312 indicates a near position on the front side of the left side of vehicle 1. Indicator 312 may be displayed, for example, in light red. In this example, the degree of emphasis of indicator 311 is higher than that of indicator 312.

[0046] The display device 92 may include an LED (light emitting diode) array 320 as shown in Figure 3C in order to indicate the direction with respect to vehicle 1. The LED array 320 may be composed of a plurality of LEDs arranged in a row. The display device 92 can light a selected portion of the LED array 320, and the lit portion becomes an indicator. The LED array 320 is installed at the lower part of the windshield of vehicle 1. The indicator of the LED array 320 and the direction with respect to vehicle 1 may correspond to each other. For example, starting from the driver's head, the line segment passing through the indicator may indicate the direction with respect to vehicle 1. Figure 3C shows indicator 321 as an example of an indicator. Indicator 321 indicates the front left diagonal of vehicle 1.

[0047] In the above example, the direction with respect to vehicle 1 is indicated by the position of the indicator. Instead of this, the direction with respect to vehicle 1 may be indicated by other methods. For example, the direction with respect to vehicle 1 may be indicated by words such as "front" and "diagonally in front of the right", or may be indicated by symbols such as arrows.

[0048] In the above example, the distance from vehicle 1 is indicated by the position of the indicator. Instead of this, the distance from vehicle 1 may be indicated by other methods. For example, the distance from vehicle 1 may be displayed by arithmetic numbers, or may be indicated by the distance between two points (for example, the distance between the tip and the rear end of an arrow).

[0049] Referring to FIGS. 4A and 4B, a control method by the control device 2 related to the present disclosure will be described. This operation may be started when the power of the vehicle 1 is turned on, or may be started in response to an instruction from the driver to start this operation. Each step of the method in FIGS. 4A and 4B may be executed by the functional blocks in FIG. 2. Therefore, each step of the method in FIGS. 4A and 4B may be executed by the processor executing a program stored in the memory. Instead of or in addition to this, at least some steps of the method in FIGS. 4A and 4B may be executed by a dedicated circuit.

[0050] In step S401, the control device 2 (specifically, the environment recognition unit 201 and the line-of-sight detection unit 203) starts recognizing the surrounding environment of the vehicle 1 and detecting the line-of-sight direction of the driver. The recognition of the surrounding environment of the vehicle 1 and the detection of the driver's line-of-sight direction are continuously performed through the methods in FIGS. 4A and 4B. For example, the environment recognition unit 201 may recognize the surrounding environment of the vehicle 1 at a predetermined cycle (for example, a cycle of 10 milliseconds to 100 milliseconds). The environment recognition unit 201 may store the recognition result in a storage device (for example, the memory in the ECU) for a predetermined period (for example, 1 minute) for subsequent processing. The line-of-sight detection unit 203 may detect the driver's line of sight at a predetermined cycle (for example, a cycle of 10 milliseconds). The line-of-sight detection unit 203 may store the detection result in a storage device (for example, the memory in the ECU) for a predetermined period (for example, 1 minute) for subsequent processing.

[0051] In step S402, the control device 2 (specifically, the risk identification unit 202) determines whether there is a risk around the vehicle 1. When it is determined that there is a risk (YES in step S402), the control device 2 transitions the process to step S403, and in other cases (NO in step S402), step S402 is repeated.

[0052] In step S403, the control device 2 (specifically, the risk identification unit 202) identifies the risk factor that causes the risk identified in step S402, the direction of the risk factor with respect to the vehicle 1, and the urgency of the risk. The control device 2 (specifically, the risk identification unit 202) may or may not identify the distance from the vehicle 1 to the risk factor. The identification of the direction (and in some cases the distance) of the risk factor and the identification of the urgency of the risk are continuously performed until it is determined that the risk has been eliminated. For example, the risk identification unit 202 may perform the identification of the direction (and in some cases the distance) of the risk factor and the identification of the urgency of the risk at a predetermined cycle (for example, a cycle of 10 milliseconds).

[0053] In step S404, the control device 2 (specifically, the notification determination unit 207) determines whether the driver is aware of the risk factor identified in step S403. When it is determined that the driver is aware of the risk factor ( "YES" in step S404), the control device 2 transfers the process to step S405, and in other cases ( "NO" in step S404), the process is transferred to step S406.

[0054] The notification determination unit 207 may determine whether the driver is aware of the risk factor based on the driver's line of sight direction. For example, the notification determination unit 207 may determine that the driver is aware of the risk factor when, for example, the driver's line of sight direction is facing the risk factor (for example, the risk factor is included within a predetermined range from the center of the line of sight), or when the driver has faced the direction of the risk factor recently (for example, within 1 minute). The notification determination unit 207 may determine whether the driver is aware of the risk factor based on factors other than the driver's line of sight direction. For example, the notification determination unit 207 may determine that the driver is aware of the risk factor in response to the driver steering the vehicle 1 away from the risk factor.

[0055] In step S405, the control device 2 (specifically, the output control unit 208) displays the risk information on the display device 92 with a low emphasis level, and in step S406, the control device 2 (specifically, the output control unit 208) displays the risk information on the display device 92 with a high emphasis level. Thus, when it is determined that the driver has not recognized the risk factor, the output control unit 208 displays the risk information on the display device 92 with a high emphasis level, and when it is determined that the driver has recognized the risk factor, the output control unit 208 displays the risk information on the display device 92 with a low emphasis level. That the emphasis level is low in step S405 means that it is low compared to the emphasis level in step S406.

[0056] The risk information is information regarding the risk factor identified in step S403. For example, the risk information includes the direction of the risk factor with respect to the vehicle 1. The risk information may further include the distance from the vehicle 1 to the risk factor. The risk information including the direction of the risk factor may be displayed using, for example, the indicators in FIGS. 3A to 3C. The risk information including the direction of the risk factor and the distance to the risk factor may be displayed using, for example, the indicator in FIG. 3B. The display of the risk information continues until it is terminated in a later-described step. By displaying the risk information, the driver's attention can be drawn in the risk direction, making it easier for the driver to recognize the risk.

[0057] The operations in steps S404 to S406 described above are repeated while the risk factor exists and the steering guidance operation is not performed. Therefore, while the risk factor exists and the steering guidance operation is not performed, the output control unit 208 maintains the display of the risk information. After the driver initially does not recognize the risk factor and the risk information is displayed with a high emphasis level, if the driver notices (recognizes) the risk factor, the output control unit 208 executes step S405 and displays the risk information with a low emphasis level, that is, the emphasis level of the risk information is lowered.

[0058] In step S407, the control device 2 (specifically, the risk identification unit 202) determines whether the risk identified in step S402 has been eliminated. When it is determined that the risk has been eliminated ( "YES" in step S407), the control device 2 transfers the process to step S414, and in other cases ( "NO" in step S407), the process is transferred to step S408. The risk may be eliminated by the behavior of the vehicle 1 (for example, route change or speed change), or may be eliminated by the behavior of the risk factor (for example, route change or speed change of other traffic participants). The behavior of the vehicle 1 may be due to the driver's operation or may be due to the operation of the braking control unit 205.

[0059] When it is determined that the risk has been eliminated, in step S414, the control device 2 (specifically, the output control unit 208) ends the display of the risk information on the display device 92.

[0060] In step S408, the control device 2 (specifically, the notification decision unit 207) determines whether to perform a steering guidance operation using the steering operator based on the urgency of the risk. When it is determined that the steering guidance operation is to be performed ( "YES" in step S408), the control device 2 transfers the process to step S409, and in other cases ( "NO" in step S408), the process is transferred to step S404. As described above, the notification decision unit 207 may determine to perform a steering guidance operation using the steering operator when the urgency of the risk is high and steering of the vehicle 1 is necessary to avoid the risk factor.

[0061] In step S409, the control device 2 (specifically, the output control unit 208) displays avoidance information on the display device 92. The avoidance information is information indicating the traveling direction of the vehicle 1 for avoiding risk factors. For example, when the risk factor exists on the left side of the vehicle 1, the avoidance information may indicate diagonally forward to the right of the vehicle 1. The avoidance information including the traveling direction of the vehicle 1 may be displayed using, for example, the indicators in FIGS. 3A to 3C. The output control unit 208 may display the avoidance information in a color different from the color used for displaying the risk information, or may display the avoidance information and the risk information in the same color. For example, the output control unit 208 may display the risk information in red and the avoidance information in blue. By displaying the avoidance information, it becomes easier for the driver to recognize in which direction the vehicle 1 should be steered, and the safety of the vehicle 1 is improved.

[0062] In step S410, the control device 2 (specifically, the output control unit 208) either displays the risk information on the display device 92 with a low level of emphasis or terminates the display of the risk information. That the level of emphasis is low in step S410 means that it is lower compared to the level of emphasis in step S406. The driver tends to rotate the steering operator in the direction of their attention in an emergency. By reducing the level of emphasis of the risk information or not displaying the risk information as in this embodiment, the driver's attention is more easily attracted to the avoidance information. Therefore, the effectiveness of the steering guidance operation using the steering operator is improved.

[0063] In step S411, the control device 2 (specifically, the steering guidance unit 206) performs a steering guidance operation. The steering guidance operation may be performed only once until the risk is eliminated, or may be continuously or intermittently performed until the risk is eliminated.

[0064] Steps S409 to S411 may be executed in any order or may be executed substantially simultaneously. The output control unit 208 may set the emphasis level of the avoidance information displayed in step S409 to be higher than the emphasis level of the risk information displayed in step S410. For example, the output control unit 208 may display the avoidance information in dark blue in step S409 and display the risk information in light red in step S410.

[0065] In step S412, the control device 2 (specifically, the risk identification unit 202) determines whether the risk identified in step S402 has been resolved. If the control device 2 determines that the risk has been resolved (YES in step S412), the process transitions to step S413; otherwise (NO in step S412), step S412 is repeated. The determination in step S412 may be the same as the determination in step S407.

[0066] When it is determined that the risk has been resolved, in step S413, the control device 2 (specifically, the output control unit 208) ends the display of the avoidance information on the display device 92. If risk information is being displayed on the display device 92, the control device 2 (specifically, the output control unit 208) ends the display of the risk information. If the steering guidance operation is being performed continuously or intermittently, the control device 2 (specifically, the steering guidance unit 206) ends the steering guidance operation.

[0067] In the above method, when the driver recognizes a risk factor, the risk information is displayed with a low emphasis level. Alternatively, the risk information may be displayed with the same emphasis level (for example, an emphasis level higher than the emphasis level of the risk information in step S410) whether the driver recognizes the risk factor or not. In this case, the detection of the line-of-sight direction in step S404 and steps S404 and S405 may be omitted.

[0068] In the above method, when the driver recognizes a risk factor, the risk information is displayed with a low emphasis level. Alternatively, when the driver recognizes a risk factor, the risk information may not be displayed.

[0069] In the above method, the risk information is displayed with two levels of emphasis. Instead, the risk information may be displayed with one level of emphasis. In this case, when the driver is aware of the risk factor and when not, the risk information is displayed with the same level of emphasis, and the display of the risk information may end in step S410. Instead, the risk information may be displayed when the driver is not aware of the risk factor, and may not be displayed when the driver is aware of the risk factor and when the steering guidance operation is executed.

[0070] With reference to FIGS. 5A to 9B, various specific embodiments of the control method of FIGS. 4A and 4B will be described. Hereinafter, the case where the vehicle 1 travels in a country with a traffic regulation of driving on the left side will be described. The technology of the present disclosure may also be applied when traveling in a country with a traffic regulation of driving on the right side.

[0071] In the first embodiment, the control device 2 uses the display device 92 of FIG. 3A to display the risk information with one level of emphasis. The control device 2 does not specify the distance to the risk factor, and therefore the risk information does not include the distance to the risk factor. The control device 2 displays the risk information and the avoidance information in different colors. The control device 2 displays the risk information regardless of whether the driver is aware of the risk factor. The control device 2 does not display the risk information when executing the steering guidance operation.

[0072] As shown in FIG. 5A, it is assumed that the vehicle 1 is traveling in front of an intersection. It is assumed that a pedestrian 500 is walking at the back of the intersection and a vehicle 501 is about to enter the intersection. Since the pedestrian 500 is walking straight, the control device 2 does not identify the pedestrian 500 as a risk factor. On the other hand, since the vehicle 501 is about to enter the intersection, the control device 2 identifies the vehicle 501 as a risk factor. Therefore, the control device 2 displays an indicator 510 in red in the display area 300 as risk information. The indicator 510 indicates the front left of the vehicle 1. Thereafter, as shown in FIG. 5B, when the vehicle 1 stops and there is no risk of the vehicle 1 contacting the vehicle 501, the control device 2 ends the display of the indicator 510.

[0073] On the other hand, a case where the deceleration of the vehicle 1 is not in time and a steering guidance operation is required to avoid the vehicle 501 will be described. In this case, the control device 2 performs a steering guidance operation so that the vehicle 1 moves along the path 503 (that is, after rotating the steering wheel 31 in the right direction and then rotating it in the left direction). In addition, the control device 2 displays an indicator 511 in blue in the display area 300 as avoidance information. The indicator 511 indicates the direction in which the vehicle 1 should travel, that is, the front right. Further, the control device 2 ends the display of the indicator 510. The control device 2 moves the position of the indicator 511 in the direction of the arrow 504 as the vehicle 1 moves along the path 503 and in accordance with the change in the direction in which the vehicle 1 should travel.

[0074] In the second embodiment, the control device 2 uses the display device 92 in FIG. 3A to display risk information with two levels of emphasis. The control device 2 does not identify the distance to the risk factor, and therefore, the risk information does not include the distance to the risk factor. The control device 2 displays the risk information and the avoidance information in different colors. The control device 2 displays the risk information regardless of whether the driver recognizes the risk factor. When performing a steering guidance operation, the control device 2 displays the risk information with a low level of emphasis.

[0075] It is assumed that the situation in which the vehicle 1 is placed in the second embodiment is the same as that in the first embodiment. The differences between the first embodiment and the second embodiment will be described below. In FIG. 5A, the control device 2 displays the risk information by displaying the indicator 510 with a high degree of emphasis (for example, dark red). As shown in FIG. 5D, when it is necessary to perform the steering guidance operation, the control device 2 displays the indicator 511 with a high degree of emphasis (for example, dark blue) and displays the indicator 512 with a low degree of emphasis (for example, light red). The indicator 511 indicates avoidance information, and the indicator 512 indicates risk information. The degree of emphasis of the indicator 511 is higher than that of the indicator 512.

[0076] In the third embodiment, the control device 2 uses the display device 92 in FIG. 3B to display the risk information with two levels of emphasis. The control device 2 identifies the distance to the risk factor, and the risk information includes the distance to the risk factor. The control device 2 displays the risk information and the avoidance information in different colors. The control device 2 varies the degree of emphasis of the risk information depending on whether the driver recognizes the risk factor. When the control device 2 executes the steering guidance operation, it displays the risk information with a low degree of emphasis.

[0077] As shown in FIG. 6A, it is assumed that the vehicle 1 is traveling in front of an intersection. It is assumed that a pedestrian 600 is walking at the back of the intersection. Since the pedestrian 600 is walking toward the crosswalk, the control device 2 identifies the pedestrian 600 as a risk factor. The pedestrian 600 is out of the driver's line of sight direction 601. Therefore, the control device 2 displays the indicator 611 in the display area 310 with a high degree of emphasis (for example, dark red) as risk information. The indicator 611 indicates a far position diagonally in front of the right of the vehicle 1 where the pedestrian 600 is located. Further, the control device 2 displays the indicator 610 indicating the current traveling direction of the vehicle 1 with a low degree of emphasis (for example, light blue). Since it is not necessary to draw the driver's attention to the current traveling direction of the vehicle 1, the control device 2 sets the degree of emphasis of the indicator 610 to be low. Since the indicator 610 does not need to indicate information related to distance, the indicator 610 uses two areas within the same sector of the display area 310.

[0078] After that, as shown in FIG. 6B, assume that the driver's line of sight direction 602 faces the pedestrian 600. Therefore, the control device 2 ends the display of the indicator 611 and, as risk information, displays the indicator 612 in the display area 310 with a low emphasis level (for example, light red). In other words, the control device 2 reduces the emphasis level of the risk information. The control device 2 continues to display the indicator 610.

[0079] As shown in FIG. 6B, assume that after the driver turns his / her line of sight towards the pedestrian 600, a vehicle 603 is about to enter the intersection. The control device 2 identifies the vehicle 603 as a risk factor. Since the vehicle 603 is not in the driver's line of sight direction 602, the control device 2 displays the indicator 611 in the display area 310 with a high emphasis level (for example, dark red) as risk information. The indicator 613 indicates a position near the front left diagonal of the vehicle 1 where the vehicle 603 is located. After that, as shown in FIG. 6C, when the vehicle 1 stops and there is no risk of the vehicle 1 coming into contact with the pedestrian 600 and the vehicle 603, the control device 2 ends the display of the indicators 612 and 613. Also, since the vehicle 1 is stopped, the control device 2 also ends the display of the indicator 610 indicating the traveling direction of the vehicle 1.

[0080] On the other hand, in the state of FIG. 6D, when the driver does not recognize the vehicle 603 but the urgency of the risk is not high enough to perform a steering guidance operation using the steering operator, the control device 2 displays the indicator 614 in light blue instead of the indicator 610. The indicator 614 indicates the traveling direction of the vehicle 1 for avoiding the risk factor (the vehicle 603 in this example). Since the urgency is not high and no steering guidance operation is performed using the steering operator, the control device 2 sets the emphasis level of the indicator 614 to be low.

[0081] Subsequently, when the vehicle 1 approaches an intersection and the risk urgency level increases, as shown in FIG. 7A, the control device 2 performs a steering guidance operation using a steering operator so that the vehicle 1 moves along the path 604 (that is, after rotating the steering wheel 31 in the right direction and then rotating it in the left direction). In this case, the control device 2, as avoidance information, displays the indicator 617 in a dark blue color in the display area 310. The indicator 617 indicates the direction in which the vehicle 1 should travel, that is, the right front diagonal. Since the indicator 617 does not need to indicate information regarding distance, the indicator 617 uses two areas within the same sector of the display area 310. Further, the control device 2 terminates the display of the indicator 616 and, instead, as risk information, displays the indicator 619 in a low emphasis level (for example, light red) in the display area 310. The indicator 619 indicates a position near the left front diagonal of the vehicle 1 where the vehicle 603 is located. Also, since the position where the indicator 615 should be displayed overlaps with the position where the indicator 617 should be displayed, the control device 2 gives priority to the indicator 617, shifts the position of the indicator 615, and uses the indicator 618 to indicate the risk information of the pedestrian 600. The indicator 618 is displayed in a low emphasis level (for example, light red). The control device 2 moves the position of the indicator 618 in accordance with the change in the direction in which the vehicle 1 should travel while the vehicle 1 moves along the path 604. As shown in FIG. 7B, the control device 2 may display the indicator 620 instead of the indicator 618. In FIG. 7B, the direction in which the position of the indicator 615 is shifted is different from that in FIG. 7A. Specifically, the control device 2 shifts the indicator 617 in a direction away from the path 604 of the vehicle 1 for avoiding a risk factor and displays it as the indicator 620. The indicator 620 is displayed in a low emphasis level (for example, light red) similar to the indicator 618. By displaying in this way, after the driver steers to the right according to the indicator 617, it becomes easier for the driver to steer to the left so as to move away from the direction indicated by the indicator 620. As a result, it becomes easier to guide the driver to drive along the path 604.

[0082] Next, the above-described third embodiment will be described using another situation. As shown in FIG. 8A, it is assumed that the vehicle 1 is traveling on a road. It is assumed that the vehicle 801 is stopped in front of the vehicle 1. At this point, it is assumed that the control device 2 does not recognize the vehicle 801. Therefore, the control device 2 displays only the indicator 810 indicating the traveling direction of the vehicle 1 in the display area 310 with a low emphasis level (for example, light blue). The driver's line of sight direction 802 is facing forward.

[0083] As shown in FIG. 8B, it is assumed that the vehicle 1 approaches the vehicle 801 and the control device 2 recognizes the vehicle 801. Since the vehicle 801 protrudes from the lane, the control device 2 specifies the vehicle 801 as a risk factor. The vehicle 801 is out of the driver's line of sight direction 802. Therefore, the control device 2 displays the indicator 811 in the display area 310 as risk information with a high emphasis level (for example, dark red). The indicator 811 indicates a far position diagonally forward to the left of the vehicle 1 where the vehicle 801 is located. The control device 2 continues to display the indicator 810.

[0084] Thereafter, as shown in FIG. 8C, it is assumed that the driver's line of sight direction 803 faces the vehicle 801. Therefore, the control device 2 ends the display of the indicator 811 and displays the indicator 812 in the display area 310 as risk information with a low emphasis level (for example, light red). In other words, the control device 2 lowers the emphasis level of the risk information. The control device 2 continues to display the indicator 810.

[0085] As shown in FIG. 8D, when the distance to the vehicle 801 is far and the urgency of the risk does not increase as the steering induction operation is performed using the steering operator, the control device 2 displays the indicator 813 in light blue instead of the indicator 810. The indicator 813 indicates the traveling direction of the vehicle 1 for avoiding the risk factor (the vehicle 801 in this example). Since the urgency is not high and the steering induction operation is not performed using the steering operator, the control device 2 sets the emphasis level of the indicator 813 to low.

[0086] After that, while the vehicle 1 is moving straight and approaching the vehicle 801, when the urgency of the risk becomes high, as shown in FIG. 9A, the control device 2 performs a steering guidance operation using the steering operator so that the vehicle 1 moves closer to the right side of the lane (that is, rotates the steering wheel 31 in the right direction). In this case, as avoidance information, the control device 2 displays the indicator 814 in dark blue in the display area 310. The indicator 814 indicates the direction in which the vehicle 1 should travel, that is, diagonally forward to the right. Since the indicator 814 does not need to indicate information regarding distance, the indicator 814 uses two areas within the same sector of the display area 310. The control device 2 continues to display the indicator 812 with a low level of emphasis.

[0087] After the vehicle 1 has moved closer to the right side of the lane, as shown in FIG. 9B, the control device 2 performs a steering guidance operation using the steering operator so that the vehicle 1 moves straight (that is, so that the driver does not rotate the steering wheel 31). In this case, as avoidance information, the control device 2 displays the indicator 815 in dark blue in the display area 310 instead of the indicator 814.

[0088] Subsequently, another embodiment will be described. Generally, vision receives the most information among human senses. Therefore, it is effective to notify the driver of the presence of a risk around the vehicle using a display device. However, if the driver does not look at the information displayed on the display device, this information cannot convey the presence of the risk to the driver. The following embodiment enables the driver to be appropriately notified of the presence of the risk.

[0089] In the following embodiments, the risk identification unit 202 identifies that there is a risk factor around the vehicle 1 based on the environment around the vehicle 1 recognized by the environment recognition unit 201 and the current behavior of the vehicle 1 (for example, the speed, acceleration, traveling direction, etc. of the vehicle 1). The risk identification unit 202 may further identify the direction of the risk factor with respect to the vehicle 1 and the distance from the vehicle 1 to the risk factor. A risk factor is a factor that has a possibility of giving a risk to the vehicle 1 equal to or higher than a threshold value. The risk received by the vehicle 1 may include the vehicle 1 coming into contact with an object existing around the vehicle 1. The risk identification unit 202 may identify such an object as a risk factor when the possibility of the vehicle 1 coming into contact with an object existing around the vehicle 1 is equal to or higher than a threshold value (for example, 30% or more). The vehicle 1 coming into contact with an object may include the vehicle 1 colliding with the object. Further, the risk received by the vehicle 1 may be a risk other than contact, for example, the vehicle 1 entering a prohibited driving area or the vehicle 1 deviating off the road. In the case of this example, the prohibited driving area becomes a risk factor.

[0090] In the following embodiments, the notification decision unit 207 determines whether to notify the driver of information, and determines the content and notification mode when notifying the information. For example, the notification decision unit 207 may determine to notify the driver that there is a risk factor around the vehicle 1 when there is a risk factor around the vehicle 1. Further, the notification decision unit 207 may determine to notify the driver of the direction of the risk factor with respect to the vehicle 1, the distance from the vehicle 1 to the risk factor, or both of these. Details of the information notified to the driver will be described later.

[0091] In the following embodiments, the output control unit 208 controls the operations of the devices for notifying the driver of information, specifically, the above-described voice output device 91 and display device 92. For example, the output control unit 208 outputs the information determined to be notified by the notification determination unit 207 toward the driver through the voice output device 91 and / or the display device 92. When the operation steering wheel of the vehicle 1, for example, the steering wheel 31, has a notification function, the output control unit 208 may control the operation of the steering wheel 31 to notify the driver of information. For example, when the steering wheel 31 is vibratable, the output control unit 208 may notify the information by vibrating the steering wheel 31.

[0092] In the following embodiments, the display device 92 can display information indicating that a specific event has occurred. Further, the display device 92 may be able to display information indicating the direction with respect to the vehicle 1. In FIG. 3A, by displaying an indicator in the display area 300, it may be indicated that a specific event has occurred (for example, that there is a risk factor around the vehicle 1).

[0093] Referring to FIG. 10, a control method by the control device 2 related to the present disclosure will be described. This operation may be started when the power of the vehicle 1 is turned on, or may be started in response to an instruction from the driver to start this operation. Each step of the method in FIG. 10 may be executed by the functional blocks in FIG. 2. Therefore, each step of the method in FIG. 10 may be executed by the processor executing a program stored in the memory. Instead of or in addition to this, at least some steps of the method in FIG. 10 may be executed by a dedicated circuit.

[0094] In step S1001, the control device 2 (specifically, the environment recognition unit 201 and the line-of-sight detection unit 203) starts recognizing the surrounding environment of the vehicle 1 and detecting the line-of-sight direction of the driver. The recognition of the surrounding environment of the vehicle 1 and the detection of the driver's line-of-sight direction are continuously performed through the method shown in FIG. 10. For example, the environment recognition unit 201 may recognize the surrounding environment of the vehicle 1 at a predetermined cycle (e.g., a cycle of 10 milliseconds to 100 milliseconds). The environment recognition unit 201 may store the recognition result in a storage device (e.g., the memory in the ECU) for a predetermined period (e.g., 1 minute) for subsequent processing. The line-of-sight detection unit 203 may detect the driver's line of sight at a predetermined cycle (e.g., a cycle of 10 milliseconds). The line-of-sight detection unit 203 may store the detection result in a storage device (e.g., the memory in the ECU) for a predetermined period (e.g., 1 minute) for subsequent processing.

[0095] In step S1002, the control device 2 (specifically, the risk identification unit 202) determines whether there is a risk around the vehicle 1. When the control device 2 determines that a risk exists (YES in step S1002), the process proceeds to step S1003, and in other cases (NO in step S1002), step S1002 is repeated.

[0096] In step S1003, the control device 2 (specifically, the risk identification unit 202) identifies the risk factors that cause the risk identified in step S1002. The control device 2 (specifically, the risk identification unit 202) may or may not identify the direction of the risk factor with respect to the vehicle 1 and the distance from the vehicle 1 to the risk factor. The identification of the direction and distance of the risk factor is continuously performed until it is determined that the risk has been eliminated. For example, the risk identification unit 202 may identify the direction and distance of the risk factor at a predetermined cycle (e.g., a cycle of 10 milliseconds).

[0097] In step S1004, the control device 2 (specifically, the notification determination unit 207) determines whether the driver is aware of the risk factor identified in step S1003. If the control device 2 determines that the driver is aware of the risk factor ( "YES" in step S1004), the process proceeds to step S1010; otherwise ( "NO" in step S1004), the process proceeds to step S1005.

[0098] The notification determination unit 207 may determine whether the driver is aware of the risk factor based on the driver's line of sight direction. For example, the notification determination unit 207 may determine that the driver is aware of the risk factor if the driver's line of sight direction is directed towards the risk factor (e.g., the risk factor is included within a predetermined range from the center of the line of sight), or if the driver has directed their line of sight towards the direction of the risk factor recently (e.g., within 1 minute). The range of the driver's line of sight used to determine whether the driver is aware of the risk factor may be the range considered to be the area where the driver is gazing (hereinafter referred to as the gazing range). The driver's gazing range may be a predetermined range (e.g., within 15 degrees from the center of the line of sight). The driver's gazing range may also be a range narrower than the driver's field of view.

[0099] The notification determination unit 207 may determine whether the driver is aware of the risk factor based on factors other than the driver's line of sight direction. For example, the notification determination unit 207 may determine that the driver is aware of the risk factor in response to the driver steering the vehicle 1 away from the risk factor.

[0100] In step S1005, the control device 2 (specifically, the notification determination unit 207) determines whether the driver can visually recognize the display position of the risk information. If the control device 2 determines that the driver can visually recognize the display position of the risk information ( "YES" in step S1005), the process proceeds to step S1007; otherwise ( "NO" in step S1005), the process proceeds to step S1006.

[0101] Risk information refers to information regarding the risk factors identified in step S1003. For example, the risk information indicates that there are risk factors around vehicle 1. The risk information may further include the direction of the risk factor with respect to vehicle 1, the distance from vehicle 1 to the risk factor, or both. The presence of risk factors around vehicle 1 may be indicated, for example, by the indicators in FIGS. 3A to 3C being displayed. The direction of the risk factor may be displayed, for example, using the indicators in FIGS. 3A to 3C. The distance to the risk factor may be displayed, for example, using the indicator in FIG. 3B. The display of the risk information continues until it is terminated in a step described later. By displaying the risk information, the driver's attention can be drawn to the risk direction, making it easier for the driver to recognize the risk.

[0102] The display position of the risk information refers to the position where the risk information is displayed on the display device 92. For example, in the example of FIG. 3A, the display area 300 is the display position of the risk information. In the example of FIG. 3B, the display area 310 is the display position of the risk information. In the example of FIG. 3C, the LED array 320 is the display position of the risk information.

[0103] The notification determination unit 207 may determine whether the driver can visually recognize the display position of the risk information based on the driver's line-of-sight direction. For example, the notification determination unit 207 may estimate the driver's field of view and determine whether the driver can visually recognize the display position of the risk information based on whether the display position of the risk information is included in the estimated position of the driver. The driver's field of view may be estimated to be within a predetermined range (for example, within 80 degrees from the center) from the center of the driver's line of sight.

[0104] The notification determination unit 207 may also determine whether the driver can visually recognize the display position of the risk information based on outside the driver's field of view. For example, the notification determination unit 207 may determine that the driver cannot visually recognize the display position of the risk information when the driver has their eyes closed.

[0105] In step S1006, the control device 2 (specifically, the output control unit 208) notifies the driver that a risk factor exists around the vehicle 1 in a manner different from the display of risk information at the display position of the risk information. Hereinafter, the notification in a manner different from the display of risk information at the display position of the risk information is referred to as an auxiliary notification.

[0106] The auxiliary notification may be performed in a manner recognizable by a sense other than vision. For example, the auxiliary notification may be performed in a manner recognizable by hearing. For example, the output control unit 208 may output audible information indicating that a risk factor exists around the vehicle 1. For example, this audible information may be an alarm sound of a predetermined pitch (for example, a sound such as "beep, beep") or a voice message (for example, a voice such as "Please pay attention to the surroundings of the vehicle").

[0107] Furthermore, the auxiliary notification by audible information may indicate the direction of the risk factor. For example, when the voice output device 91 of the vehicle 1 has a plurality of speakers, the output control unit 208 may indicate the direction of the risk factor by adjusting the volume of the audible information at each speaker. For example, when the vehicle 1 has speakers at the front right diagonal and the front left diagonal in the vehicle interior, the output control unit 208 outputs audible information only from the speaker at the front right diagonal to indicate that the risk factor exists on the right side, outputs audible information only from the speaker at the front left diagonal to indicate that the risk factor exists on the left side, and outputs audible information only from the speakers on both sides to indicate that the risk factor exists in the traveling direction. Instead of or in addition to this, the output control unit 208 may indicate the direction of the risk factor by adjusting the sound quality of the audible information. For example, the output control unit 208 may indicate that a risk factor exists in front of the vehicle 1 with high-pitched audible information and indicate that a risk factor exists in front of the vehicle 1 with low-pitched audible information. Instead of or in addition to this, the output control unit 208 may indicate that a risk factor exists in front of the vehicle 1 with audible information of an integer multiple frequency and indicate that a risk factor exists in front of the vehicle 1 with audible information of a non-integer multiple frequency. By indicating the risk direction by the difference in sound quality in this way, even when the vehicle 1 has only two pairs of speakers on the left and right, the directions of the risk factors in the front, rear, left, and right can be indicated. Instead of or in addition to this, the output control unit 208 may indicate the direction of the risk factor by the content of the message (for example, "Please pay attention to the front left diagonal of the vehicle").

[0108] The auxiliary notification may be performed in a manner recognizable by touch. For example, the output control unit 208 may indicate the presence of a risk factor in the surroundings by vibrating the steering operator (e.g., the steering wheel 31) of the vehicle 1. This vibration may be performed intermittently or continuously. The auxiliary notification by vibration may indicate the direction of the risk factor. For example, the output control unit 208 may indicate the presence of a risk factor on the right side by vibrating only the right side of the steering operator, indicate the presence of a risk factor on the left side by vibrating only the left side of the steering operator, and indicate the presence of a risk factor in the traveling direction by vibrating both sides of the steering operator.

[0109] The auxiliary notification may be performed using vision. For example, the vehicle 1 may have an auxiliary display device such as an LED on the side of the passenger compartment, and the control device 2 may perform the auxiliary notification by turning on or flashing this auxiliary display device. Even when the driver is looking at the side of the vehicle 1 and cannot visually recognize the display device in front of the passenger compartment, there are cases where the display device on the side of the passenger compartment can be visually recognized, so the auxiliary notification can be appropriately performed.

[0110] By performing the auxiliary notification as described above, even when the driver cannot visually recognize the display position of the risk information, the driver can be informed of the presence of a risk factor around the vehicle 1. Also, by not performing the auxiliary notification when the driver can visually recognize the display position of the risk information, it is possible to suppress notifying the driver of excessive information. The auxiliary operations in the various modes described above may be combined and performed.

[0111] In step S1007, the control device 2 (specifically, the output control unit 208) does not perform the auxiliary notification. If step S1006 has been executed by the previous operations and the auxiliary notification has been performed, the output control unit 208 ends the auxiliary notification. If the auxiliary notification has not been performed, in step S1007, the output control unit 208 does not perform any processing.

[0112] In step S1008, the control device 2 (specifically, the output control unit 208) displays the risk information on the display device 92.

[0113] In step S1009, the control device 2 (specifically, the risk identification unit 202) determines whether the risk identified in step S1002 has been eliminated. When it is determined that the risk has been eliminated (''YES'' in step S1009), the control device 2 transfers the process to step S1010, and in other cases (''NO'' in step S1009), the control device 2 transfers the process to step S1004. The risk may be eliminated by the behavior of the vehicle 1 (e.g., route change or speed change), or may be eliminated by the behavior of the risk factor (e.g., route change or speed change of other traffic participants).

[0114] When it is determined that the risk has been eliminated, or when it is determined that the driver is aware of the risk factor, in step S1010, the control device 2 (specifically, the output control unit 208) terminates the display of the risk information if the risk information is being displayed, and terminates the auxiliary notification if the auxiliary notification is being performed.

[0115] In the above method, the control device 2 does not display the risk information when the driver is aware of the risk factor. Instead, the control device 2 may also display the risk information when the driver is aware of the risk factor. In this case, the control device 2 may display the risk information with a lower emphasis level when the driver is aware of the risk factor than when the driver is not aware of the risk factor.

[0116] In the above method, after the control device 2 issues an auxiliary notification, it displays risk information on the display device 82. As a result, after the driver can visually recognize the display position of the risk information by the auxiliary notification, the possibility of the risk information being displayed increases. This makes it easier for the driver to recognize that new risk information has been displayed. In order to make it even easier for the driver to recognize that new risk information has been displayed, the control device 2 may issue an auxiliary notification and display the risk information on the display device 82 after it is determined that the driver can visually recognize the display position of the risk information. Alternatively, the display of the risk information on the display device 82 and the auxiliary notification may be performed substantially simultaneously, or the display of the risk information on the display device 82 may be performed earlier than the auxiliary notification.

[0117] With reference to FIGS. 11A to 12C, embodiments in which the control method of FIG. 10 is applied to various situations will be described. Hereinafter, a case where the vehicle 1 travels in a country having a traffic regulation of driving on the left side will be described. The technology of the present disclosure may also be applied when traveling in a country having a traffic regulation of driving on the right side.

[0118] As shown in FIG. 11A, it is assumed that the vehicle 1 is traveling in front of a crosswalk. It is assumed that a pedestrian 1101 is walking toward the crosswalk, and a vehicle 1102 is traveling in the oncoming lane on the other side of the crosswalk. FIG. 11C shows the situation inside the vehicle cabin of the vehicle 1. The display device 82 of the vehicle 1 is installed at the center in front of the vehicle cabin. Also, a speaker 91L is installed at the upper left front of the vehicle cabin, and a speaker 91R is installed at the upper right front of the vehicle cabin.

[0119] It is assumed that the driver is facing the direction of the vehicle 1102. Based on the direction of the driver's line of sight, the control device 2 estimates a predetermined range centered on the direction of the vehicle 1102 as the driver's fixation range 1103, and estimates a predetermined range centered on the direction of the vehicle 1102 as the driver's visual field 1104. The visual field 1104 is wider than the fixation range 1103.

[0120] Since the pedestrian 1101 is walking towards the crosswalk, the control device 2 identifies the pedestrian 1101 as a risk factor. Since the pedestrian 1101 is not included in the driver's field of view 1103, the control device 2 determines that the driver does not recognize the pedestrian 1101. Therefore, as shown in FIG. 11B, the control device 2 displays an indicator 1105 in the display area 300 of the display device 82. The indicator 1105 indicates the presence of a risk factor (in this example, the pedestrian 1101) and also indicates the direction of the risk factor with respect to the vehicle 1. Since the display position of the indicator 1105 is included in the driver's field of view 1104, the control device 2 does not issue an auxiliary notification.

[0121] With reference to FIGS. 12A to 12C, an embodiment in which the control method of FIG. 10 is applied to another situation will be described. As shown in FIG. 12A, assume that the vehicle 1 is about to turn right at a T-junction. Assume that a pedestrian 1201 is walking on the crosswalk and a vehicle 1202 is traveling in the oncoming lane. FIG. 12C shows the situation inside the vehicle cabin of the vehicle 1. The display device 82 of the vehicle 1 is installed at the center in front of the vehicle cabin. Also, a speaker 91L is installed diagonally in front of the left side of the vehicle cabin, and a speaker 91R is installed diagonally in front of the right side of the vehicle cabin.

[0122] Assume that the driver is facing the direction of the pedestrian 1201. Based on the driver's line-of-sight direction, the control device 2 estimates a predetermined range centered on the direction of the pedestrian 1201 as the driver's field of view 1203, and estimates a predetermined range centered on the direction of the pedestrian 1201 as the driver's field of vision 1204. The field of vision 1204 is wider than the field of view 1203.

[0123] Since the vehicle 1202 is approaching the vehicle 1, the control device 2 identifies the vehicle 1202 as a risk factor. Since the vehicle 1202 is not included in the driver's field of view 1203, the control device 2 determines that the driver does not recognize the vehicle 1202. Therefore, as shown in FIG. 12B, the control device 2 displays an indicator 1205 in the display area 300 of the display device 82. The indicator 1205 indicates the presence of a risk factor (in this example, the vehicle 1202) and also indicates the direction of the risk factor with respect to the vehicle 1.

[0124] Since the display position of the indicator 1205 is not included in the driver's field of view 1204, the control device 2 issues an auxiliary notification. Specifically, since the risk factor exists diagonally in front of the left side of the vehicle 1, the control device 2 outputs audible information (for example, an alarm sound) from the speaker 91L and does not output audible information (for example, an alarm sound) from the speaker 91R. Even if the driver cannot visually recognize the indicator 1205, the driver can know that there is a risk factor around the vehicle 1 and further the direction of the risk factor based on the audible information.

[0125] <Summary of the embodiment> <Item 1> A control device (2) for controlling a vehicle (1) having a display device (92) and a steering operator (31), risk identification means (202) for identifying risk factors (501, 600, 603, 801) existing around the vehicle and the direction of the risk factors with respect to the vehicle, display control means (208) for displaying risk information indicating the direction of the risk factor on the display device with a first emphasis level, guidance control means (206) for performing a guidance operation for guiding the driver of the vehicle to operate the steering operator so as to avoid the risk factor, using the steering operator, comprising When the guidance control means performs the guidance operation using the steering operator, the display control means displays avoidance information indicating the traveling direction of the vehicle for avoiding the risk factor on the display device, displays the risk information with a second emphasis level lower than the first emphasis level or does not display the risk information, A control device that performs According to this item, since the driver's attention can be attracted to the avoidance information, the driver can be guided to steer so as to avoid the risk. <Item 2> When the guidance control means performs the guidance operation using the steering operator, the display control means displays the risk information with a second emphasis level lower than the first emphasis level. The control device according to item 1. According to this item, it becomes easier for the driver to recognize the direction in which the vehicle should be steered, and the position of the risk factor can also be grasped. <Item 3> The display control means displays the avoidance information with a third emphasis level higher than the second emphasis level. The control device according to item 2. According to this item, it becomes even easier for the driver to recognize the direction in which the vehicle should be steered. <Item 3> When the display position of the avoidance information overlaps the display position of the risk information, the display control means shifts the display position of the risk information in a direction away from the route of the vehicle for avoiding the risk factor. The control device according to item 2 or 3. According to this item, it becomes easier to guide the driver to drive along the route to be taken. <Item 5> When the guidance control means performs the guidance operation using the steering operator, the display control means does not display the risk information. The control device according to item 1. According to this item, it becomes even easier for the driver to recognize the direction in which the vehicle should be steered. <Item 6> A line-of-sight detection means (203) for detecting the line-of-sight direction of the driver, A recognition determination means (207) for determining whether the driver recognizes the risk factor based on the line-of-sight direction, and further comprising: When the risk factor exists and the guidance control means does not perform the guidance operation using the steering operator, the display control means When it is determined that the driver does not recognize the risk factor, the risk information is displayed on the display device with the first emphasis level, When it is determined that the driver recognizes the risk factor, the risk information is displayed on the display device with a fourth emphasis level lower than the first emphasis level. The control device according to any one of items 1 to 5. According to this item, it becomes easier to grasp risks that the driver is not aware of. <Item 7> The risk identification means further identifies the distance to the risk factor, The risk information further indicates the distance to the risk factor, and the control device according to any one of Items 1 to 6. According to this item, it becomes easier for the driver to recognize the distance to the risk factor. <Item 8> The risk identification means identifies the object as the risk factor when the possibility of the vehicle coming into contact with an object existing around the vehicle is equal to or greater than a threshold value, and the control device according to any one of Items 1 to 7. According to this item, it becomes easier to suppress contact between the vehicle and the object. <Item 9> The display control means maintains the display of the risk information while the risk factor exists and the guidance control means does not perform the guidance operation using the steering operator, and the control device according to any one of Items 1 to 8. According to this item, it becomes easier for the driver to notice the risk factor before the guidance operation is performed. <Item 10> The risk factor includes traffic participants (501, 600, 603, 801) existing around the vehicle, and the control device according to any one of Items 1 to 9. According to this item, risks related to traffic participants can be reduced. <Item 11> The guidance operation includes at least one of changing the torque for the driver to rotate the steering operator, vibrating a specific part of the steering operator, and applying a force in the rotational direction to the steering operator, and the control device according to any one of Items 1 to 10. According to this item, it becomes easier for the driver to steer the vehicle in the direction in which the vehicle should be steered. <Item 12> The display control means displays the risk information and the avoidance information in different colors, and the control device according to any one of Items 1 to 11. According to this item, it becomes easier for the driver to distinguish risk information and avoidance information. <Item 13> A vehicle (1) including the control device (2) according to any one of Items 1 to 12. According to this item, the above effect can be obtained in the form of a vehicle. <Item 14> A program for causing a computer to function as each means of the control device according to any one of Items 1 to 12. According to this item, the above effect can be obtained in the form of a program. <Item 15> A control method for controlling a vehicle (1) having a display device (92) and a steering operator (31), comprising: A risk identification step (S403) of identifying a risk factor existing around the vehicle and a direction of the risk factor with respect to the vehicle; A first display control step (S406) of displaying risk information indicating the direction of the risk factor on the display device with a first emphasis level; An induction control step (S411) of performing, using the steering operator, an induction operation for inducing the driver of the vehicle to operate the steering operator so as to avoid the risk factor; When performing the induction operation using the steering operator in the induction control step, Displaying (S409) avoidance information indicating a traveling direction of the vehicle for avoiding the risk factor on the display device; A second display control step of performing either displaying the risk information with a second emphasis level lower than the first emphasis level or not displaying the risk information (S410). According to this item, since the driver's attention can be attracted to the avoidance information, the driver can be induced to steer so as to avoid the risk. <Item 16> A control device (2) for controlling a vehicle (1) having a display device (82), comprising: A risk identification means (202) for identifying that risk factors (1101, 1202) exist around the vehicle; Display control means (205) for displaying risk information (1105, 1205) indicating the presence of risk factors around the vehicle on the display device; First determination means (204) for determining whether the driver of the vehicle recognizes the risk factor; Second determination means (204) for determining whether the driver can visually recognize the display position of the risk information; Notification means (205) for performing an auxiliary notification to notify the driver, in a manner different from the display of the risk information at the display position, that the risk factor exists when it is determined that the driver does not recognize the risk factor and it is determined that the driver cannot visually recognize the display position of the risk information. A control device comprising: According to this item, by performing an auxiliary notification when the driver cannot visually recognize the position of the risk information, the presence of the risk can be appropriately notified to the driver. <Item 17> The control device according to item 16, wherein the notification means does not perform the auxiliary notification when it is determined that the driver recognizes the risk factor or when it is determined that the driver can visually recognize the display position of the risk information. According to this item, by not performing the auxiliary notification when it is unnecessary, the annoyance of the driver is reduced. <Item 18> The control device further comprises visual field estimation means (203) for estimating the visual field (1104, 1204) of the driver, The control device according to item 16 or 17, wherein the second determination means determines whether the driver can visually recognize the display position of the risk information based on whether the position where the risk information is displayed is included in the estimated visual field of the driver. According to this item, it is possible to accurately recognize whether the driver can visually recognize the display position of the risk information. <Item 19> The control device according to any one of items 16 to 18, wherein the auxiliary notification includes notifying the driver that the risk factor exists in a manner recognizable by a sense other than vision. According to this item, the existence of a risk factor can be notified to the driver without relying on the driver's vision. <Item 20> The auxiliary notification device according to any one of Items 16 to 19, including outputting audible information indicating the existence of the risk factor. According to this item, the existence of a risk factor can be notified to the driver regardless of the driver's line of sight direction. <Item 21> The auxiliary notification device according to Item 20, including adjusting the sound quality of the audible information so as to indicate the direction of the risk factor with respect to the vehicle. According to this item, the existence of a risk factor can be notified to the driver more specifically. <Item 22> The auxiliary notification device according to any one of Items 16 to 21, including vibrating the vehicle's operation steering wheel. According to this item, the existence of a risk factor can be notified to the driver regardless of the driver's line of sight direction and regardless of the existence of other audible information. <Item 23> The risk identification means further identifies the direction of the risk factor with respect to the vehicle, The risk information further indicates the direction of the risk factor, and the control device according to any one of Items 16 to 22. According to this item, the driver can be informed of the direction of the risk factor, making it easier for the driver to appropriately respond to the risk. <Item 24> The notification means further indicates the direction of the risk factor in a manner different from the display of the risk information at the display position, and the control device according to Item 23. According to this item, even when the driver cannot visually recognize the position of the risk information, the driver can be informed of the direction of the risk factor. <Item 25> When it is determined that the driver has not recognized the risk factor and it is determined that the driver cannot visually recognize the display position of the risk information, after the auxiliary notification is performed, the risk information is displayed, and the control device according to any one of Items 16 to 24. According to this item, it becomes easier for the driver to recognize that new risk information has been displayed on the display device. <Item 26> A vehicle (1) comprising the control device (2) according to any one of Items 16 to 25. According to this item, the above effect can be obtained in the form of a vehicle. <Item 27> A program for causing a computer to function as each means of the control device according to any one of Items 16 to 25. According to this item, the above effect can be obtained in the form of a program. <Item 28> A control method for controlling a vehicle (1) having a display device (82), comprising: a step (S1002) of identifying that risk factors (1101, 1202) exist around the vehicle; a step (S1008) of displaying risk information (1105, 1205) indicating that risk factors exist around the vehicle on the display device; a step (S1004) of determining whether the driver of the vehicle recognizes the risk factors; a step (S1005) of determining whether the driver can visually recognize the display position of the risk information; a step (S1006) of performing an auxiliary notification of notifying the driver of the existence of the risk factor in a manner different from the display of the risk information at the display position when it is determined that the driver does not recognize the risk factor and it is determined that the driver cannot visually recognize the display position of the risk information. According to this item, by performing an auxiliary notification when the driver cannot visually recognize the position of the risk information, the existence of the risk can be appropriately notified to the driver.

[0126] The invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the gist of the invention.

[0127] This application claims priority based on Japanese Patent Application No. 2021-195610 filed on December 1, 2021 and Japanese Patent Application No. 2021-195618 filed on December 1, 2021, and incorporates herein by reference all of the descriptions thereof.

Claims

1. A control device for controlling a vehicle having a display device and a steering operator, risk identification means for identifying a risk factor existing around the vehicle and the direction of the risk factor with respect to the vehicle, display control means for displaying risk information indicating the direction of the risk factor on the display device with a first degree of emphasis, guidance control means for performing a guidance operation for guiding the driver of the vehicle to operate the steering operator so as to avoid the risk factor, using the steering operator, comprising: when the guidance control means performs the guidance operation using the steering operator, the display control means displays avoidance information indicating the traveling direction of the vehicle for avoiding the risk factor on the display device, displays the risk information with a second degree of emphasis lower than the first degree of emphasis, and performs the display control means indicates the risk information and the avoidance information by a lighting position on the display device, the display control means shifts the lighting position of the risk information in a direction away from the path of the vehicle for avoiding the risk factor when the lighting position of the avoidance information overlaps the lighting position of the risk information, a control device.

2. when the guidance control means performs the guidance operation using the steering operator, the display control means displays the risk information with a second degree of emphasis lower than the first degree of emphasis, the control device according to claim 1.

3. the display control means displays the avoidance information with a third degree of emphasis higher than the second degree of emphasis, the control device according to claim 2.

4. line-of-sight detection means for detecting the line-of-sight direction of the driver, recognition determination means for determining whether the driver recognizes the risk factor based on the line-of-sight direction, further comprising, when the risk factor exists and the guidance control means does not perform the guidance operation using the steering operator, the display control means when it is determined that the driver does not recognize the risk factor, displays the risk information on the display device with the first degree of emphasis, when it is determined that the driver recognizes the risk factor, displays the risk information on the display device with a fourth degree of emphasis lower than the first degree of emphasis, the control device according to claim 1.

5. the risk identification means further identifies the distance to the risk factor, the risk information further indicates the distance to the risk factor, the control device according to claim 1.

6. The risk identification means according to claim 1 identifies the object as a risk factor when the possibility of the vehicle coming into contact with an object existing around the vehicle is equal to or greater than a threshold value.

7. The display control means according to claim 1 maintains the display of the risk information while the risk factor exists and the guidance control means does not perform the guidance operation using the steering operator.

8. The risk factor according to claim 1 includes traffic participants existing around the vehicle.

9. The guidance operation according to claim 1 includes at least one of changing the torque for the driver to rotate the steering operator, vibrating a specific part of the steering operator, and applying a force in the rotational direction to the steering operator.

10. The display control means according to claim 1 displays the risk information and the avoidance information in different colors.

11. A vehicle including the control device according to any one of claims 1 to 10.

12. A program for causing a computer to function as each means of the control device according to any one of claims 1 to 10.

13. A control method for controlling a vehicle having a display device and a steering operator, comprising: a risk identification step of identifying a risk factor existing around the vehicle and the direction of the risk factor with respect to the vehicle; a first display control step of displaying risk information indicating the direction of the risk factor on the display device with a first emphasis level; a guidance control step of performing a guidance operation for guiding the driver of the vehicle to operate the steering operator so as to avoid the risk factor, using the steering operator; when performing the guidance operation using the steering operator in the guidance control step, displaying avoidance information indicating the traveling direction of the vehicle for avoiding the risk factor on the display device; a second display control step of displaying the risk information with a second emphasis level lower than the first emphasis level; and having the risk information and the avoidance information are indicated by the lighting positions on the display device, the second display control step includes shifting the lighting position of the risk information in a direction away from the route of the vehicle for avoiding the risk factor when the lighting position of the avoidance information overlaps the lighting position of the risk information.

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