Control Device and Information Processing System

Abstract

To provide a controller and information processing system making it possible to, when a vehicle travels in a section where plural lanes exist, allow the vehicle to travel in a preliminarily appropriate lane according to a situation in the lane.SOLUTION: A controller includes a control unit that controls a vehicle. When the vehicle travels in a section where plural lanes exist, the control unit determines whether a negative emotion accompanying lane change has been detected in a preceding vehicle on the same lane as the vehicle. When it is determined that the negative emotion has been detected, the control unit forces a notification device of the vehicle to notify instruction information which instructs the vehicle to change lanes.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a control device and an information processing system.

Background Art

[0002] Patent Document 1 discloses a control device for performing driving assistance for a vehicle. This control device presents information for assisting a lane change for the host vehicle to a driver in consideration of a case where the host vehicle cannot continue to stay in the current lane.

Prior Art Document

Patent Document

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Regarding the configuration described in Patent Document 1, for example, it is conceivable to assist a lane change for the host vehicle using a learned model created by machine learning. However, with the configuration described in Patent Document 1, it is not possible to give an instruction for a lane change according to the road conditions, and the driver may be forced to make a lane change immediately before.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to provide a control device and an information processing system that enable a vehicle to travel in an appropriate lane in advance according to the situation on the lane when the vehicle travels in a section where a plurality of lanes exist.

Means for Solving the Problems

[0006] The control device according to the present invention is a control device including a control unit that controls a vehicle. When the vehicle travels in a section where multiple lanes exist, the control unit determines whether a negative emotion associated with a lane change is detected in a preceding vehicle in the same lane as the vehicle. When it is determined that the negative emotion is detected, notification information for instructing a lane change is caused to be notified from a notification device of the vehicle.

[0007] The information processing system according to the present invention is an information processing system including a control device mounted on a vehicle and a server configured to be communicable with a plurality of the vehicles. The server determines, based on information received from the vehicle traveling in a section where multiple lanes exist, whether a negative emotion associated with a lane change is detected in a predetermined vehicle in the section. When it is determined that the negative emotion is detected, instruction information for instructing a lane change is transmitted to a following vehicle in the same lane as the predetermined vehicle. The control device causes the notification device of the vehicle to notify the instruction information when the instruction information is received.

Effect of the Invention

[0008] In the present invention, when a vehicle travels in a section where multiple lanes exist, the vehicle can travel in an appropriate lane in advance according to the situation on the lane.

Brief Description of the Drawings

[0009]

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Embodiments for Carrying Out the Invention

[0010] Hereinafter, the control device and the information processing system in the embodiments of the present invention will be specifically described. Note that the present invention is not limited to the embodiments described below.

[0011] FIG. 1 is a diagram schematically showing an information processing system in an embodiment. The information processing system 1 is a system in which a plurality of vehicles 2 and a server 3 are communicably connected via a network 4. The vehicle 2 transmits information regarding the driving situation to the server 3. The server 3 transmits information for assisting the driving of the vehicle 2 to the vehicle 2 using the information received from the vehicle 2.

[0012] In the information processing system 1, as shown in FIG. 2, under the situation where a plurality of vehicles 2 are traveling on a road 10 having a plurality of lanes, the server 3 provides information to the vehicles 2. The road 10 has a one-way two-lane roadway consisting of a first lane 11 and a second lane 12. The first lane 11 is the lane on the left side in the traveling direction. The second lane 12 is the lane on the right side in the traveling direction. When a plurality of vehicles 2 are traveling on the road 10, there are a plurality of preceding vehicles 2B in front of the host vehicle 2A. When there is no need to particularly distinguish between the host vehicle 2A and the preceding vehicles 2B, they are simply referred to as vehicles 2. The vehicles 2 include the host vehicle 2A and the preceding vehicles 2B.

[0013] As shown in FIGS. 2 and 3, for the preceding vehicle 2B located in front of the host vehicle 2A in a section where a plurality of lanes exist, the information processing system 1 estimates a negative emotion. The negative emotion is the emotion of the driver of the vehicle 2. The negative emotion is, for example, excitement, fear, anger, surprise, etc. The driver 5 of the preceding vehicle 2B is the object whose emotion is monitored and the object for which a negative emotion is estimated. The server 3 estimates the emotion of the driver 5 based on the information transmitted from the preceding vehicle 2B. The information processing system 1 estimates the negative emotion of the driver 5 using an estimation model generated by machine learning.

[0014] Then, according to the estimation result of the emotion for the preceding vehicle 2B, the server 3 transmits driving support information to the host vehicle 2A. When a negative emotion associated with a lane change is estimated from the preceding vehicle 2B traveling in front of the host vehicle 2A, information indicating an appropriate lane is output to the host vehicle 2A located behind the point where the negative emotion is estimated. When the host vehicle 2A is traveling in an appropriate lane, instruction information to maintain the lane is output from the server 3 to the host vehicle 2A. When the host vehicle 2A is not traveling in an appropriate lane, instruction information to instruct a lane change is output from the server 3 to the host vehicle 2A. The host vehicle 2A notifies the driver 6 of the host vehicle 2A of the instruction information. In FIG. 2, for convenience of explanation, the host vehicle 2A traveling on the first lane 11 and the host vehicle 2A traveling on the second lane 12 are both shown.

[0015] FIG. 4 is a block diagram schematically showing an information processing system. The information processing system 1 includes a vehicle 2 and a server 3.

[0016] The vehicle 2 includes a communication device 21, a control device 22, a notification device 23, and a sensor 24.

[0017] The communication device 21 performs wireless communication with an external device. The communication device 21 transmits and receives information to and from the server 3 via the network 4.

[0018] The control device 22 is an electronic control device that controls the vehicle 2. The electronic control device includes a processor and a memory (main storage unit). The processor is composed of a CPU (Central Processing Unit), a DSP (Digital Signal Processor), an FPGA (Field-Programmable Gate Array), a GPU (Graphics Processing Unit), etc. The memory is composed of a RAM (Random Access Memory), a ROM (Read Only Memory), etc. The control device 22 is an in-vehicle device mounted on the vehicle 2.

[0019] Signals from various sensors mounted on vehicle 2 are input into control device 22. A signal from sensor 24 is input into control device 22. Sensor 24 includes sensors that detect the current position of vehicle 2, sensors that detect the lane in which vehicle 2 is traveling, sensors that detect the vehicle speed of vehicle 2, sensors that detect when the turn signal of vehicle 2 is operated, sensors that detect the heart rate of the driver of vehicle 2, and the like. That is, sensor 24 includes a GPS signal receiver and sensors that detect a request for a lane change during driving. Further, the sensor that detects the heart rate of the driver includes, for example, an in-vehicle camera that images the interior of vehicle 2. This in-vehicle camera can measure the heart rate of the driver by imaging the driver of vehicle 2. Sensor 24 outputs information regarding the heart rate of the driver to control device 22. Then, control device 22 executes vehicle control based on the signals input from various sensors. This vehicle control includes communication control for transmitting driving information indicating the driving status of vehicle 2 to server 3 and notification control for notifying the driver of driving support information provided from server 3. The driving information includes information indicating that vehicle 2 is requesting a lane change, information indicating the direction of the lane change, information indicating the heart rate of the driver, and information indicating the vehicle speed of vehicle 2.

[0020] Notification device 23 notifies the driver of vehicle 2 of driving support information. The driving support information includes instruction information for instructing an appropriate lane. Notification device 23 is an HMI (Human Machine Interface) such as a speaker or a display device. When control device 22 executes notification control, notification device 23 outputs the instruction information as voice or displays the characters of the instruction information as an image. The driver 6 of own vehicle 2A can change lanes at a safe timing based on the notified instruction information.

[0021] Server 3 includes a communication device 31 and a control device 32.

[0022] Communication device 31 performs wireless communication with vehicle 2. Communication device 31 transmits and receives information to and from vehicle 2 via network 4.

[0023] The control device 32 is an electronic control device that executes information processing. The control device 32 executes vehicle control for controlling the vehicle 2. The vehicle control includes estimation control for estimating the negative emotion of the driver 5 of the preceding vehicle 2B and notification control for instructing the lane to the host vehicle 2A traveling behind the preceding vehicle 2B.

[0024] The control device 32 includes a control unit 33 and a storage unit 34.

[0025] The control unit 33 estimates the emotion of the driver using the information received from the vehicle 2 and provides information for assisting the driving of the vehicle 2 to the vehicle 2. The control unit 33 estimates whether the driver 5 is in a negative emotion using an estimation model. The estimation model is a learned model generated by machine learning. When the control unit 33 estimates the negative emotion of the driver 5 using the estimation model, biometric information of the driver 5 is used as the driving information of the vehicle 2. The biometric information includes information indicating the heart rate.

[0026] The control unit 33 includes a model generation unit 35, an emotion estimation unit 36, and a vehicle control unit 37.

[0027] The model generation unit 35 generates an estimation model by machine learning. The estimation model is a model for estimating the negative emotion of the driver 5 and is a learned model learned by machine learning.

[0028] For example, the model generation unit 35 generates an estimation model by supervised machine learning. In supervised machine learning, a set of the driving information of the vehicle 2 acquired in the past and the information indicating that the driver 5 is in a negative emotion is used as teacher data. The input data among the teacher data is the driving information of the vehicle 2. The output data among the teacher data is the information indicating that the driver 5 is in a negative emotion. The information indicating that the driver 5 is in a negative emotion is the information indicating a preset negative emotion.

[0029] As an example, the input data includes information indicating a request for a lane change and information indicating that the heart rate is higher than a predetermined value, and the output data is information indicating that the driver 5 is in a negative emotion. The model generation unit 35 determines in advance the condition under which it is determined that the emotion of the driver 5 is a negative emotion, and performs machine learning using the teacher data that satisfies the condition as the input data. In other words, the model generation unit 35 determines in advance the condition under which it is determined that the emotion of the driver 5 is in a normal state, and performs machine learning using the teacher data that satisfies the condition as the input data. Then, the model generation unit 35 stores the generated estimation model in the storage unit 34.

[0030] The emotion estimation unit 36 estimates the negative emotion of the driver 5 in the leading vehicle 2B using the driving information acquired from the leading vehicle 2B during travel and the previously generated estimation model. The emotion estimation unit 36 acquires the estimation model by referring to the storage unit 34. The emotion estimation unit 36 determines whether the heart rate of the driver 5 is higher than a predetermined value. If the heart rate is higher than the predetermined value, it is determined that the emotion is negative. If the heart rate is less than the predetermined value, it is determined that the emotion is positive.

[0031] As shown in FIG. 3, the emotion estimation unit 36 outputs the estimation result to the vehicle control unit 37. The estimation result by the emotion estimation unit 36 includes a result indicating that the emotion of the driver 5 is a positive emotion and a result indicating that the emotion of the driver 5 is a negative emotion.

[0032] The vehicle control unit 37 generates driving support information for the host vehicle 2A traveling behind the leading vehicle 2B according to the estimation result of the emotion. The vehicle control unit 37 generates instruction information for indicating a lane as the driving support information. This instruction information includes instruction information for instructing the host vehicle 2A to change lanes and instruction information for instructing the host vehicle 2A to maintain the lane. Then, the vehicle control unit 37 transmits the instruction information for instructing the appropriate lane to the host vehicle 2A. The instruction information transmitted to the host vehicle 2A includes either the instruction information for instructing the host vehicle 2A to change lanes or the instruction information for instructing the host vehicle 2A to maintain the lane.

[0033] The storage unit 34 is composed of a recording medium such as an EPROM (Erasable Programmable ROM), a hard disk drive (HDD), or a removable medium. Examples of removable media include disk recording media such as a USB (Universal Serial Bus) memory, a CD (Compact Disc), a DVD (Digital Versatile Disc), and a BD (Blu-ray (registered trademark) Disc). The storage unit 34 can store an operating system (OS), various programs, various tables, various databases, and the like.

[0034] Further, the storage unit 34 may store the estimation result in the emotion estimation unit 36, or may store driving information received from the vehicle 2 and the like.

[0035] FIG. 5 is a flowchart showing a control flow. The control shown in FIG. 5 is repeatedly executed by the server 3.

[0036] The server 3 acquires the driving information of the preceding vehicle 2B (step S1). In the process of step S1, the driving information indicating the current state of the vehicle 2 is acquired.

[0037] The server 3 determines whether a negative emotion associated with a lane change in the preceding vehicle 2B has been detected (step S2). In step S2, the negative emotion of the driver 5 is estimated based on the driving information acquired in step S1 and a pre-generated estimation model.

[0038] If it is determined that a negative emotion associated with a lane change in the preceding vehicle 2B has not been detected (step S2: No), this control routine ends.

[0039] When it is determined that a negative emotion associated with a lane change in the preceding vehicle 2B has been detected (step S2: Yes), the server 3 transmits instruction information for instructing a lane change to the vehicle traveling behind the preceding vehicle 2B (step S3). In step S3, the vehicle 2 receives the instruction information transmitted from the server 3. The control device 22 of the vehicle 2 causes the notification device 23 to notify the instruction information for instructing a lane change. When the process of step S3 is executed, this control routine ends.

[0040] As shown in FIG. 6, when it is estimated that a negative emotion due to a lane change has been detected from the preceding vehicle 2C in the same lane as the host vehicle 2A, an instruction to change lanes is notified to the host vehicle 2A traveling in the same lane.

[0041] As described above, according to the embodiment, when it is estimated that the driver 5 of the preceding vehicle 2B traveling in front of the host vehicle 2A has a negative emotion, appropriate lane information is notified to the driver 6 of the host vehicle 2A. Thereby, the driver 6 of the host vehicle 2A can select an appropriate lane in advance. Therefore, sudden lane changes and cut-ins can be reduced.

[0042] Note that the sensor for detecting the driver's heart rate is not limited to an in-vehicle camera, nor is it limited to the sensors mounted on the vehicle 2. For example, the heart rate may be measured by a wearable terminal worn by the driver of the vehicle 2. The communication device 21 can perform wireless communication with the wearable terminal. The control device 22 can acquire information indicating the driver's heart rate from the wearable terminal worn by the driver.

[0043] In addition, the emotion estimation unit 36 may estimate negative emotions without using information indicating the driver's heart rate. For example, when making a sudden lane change while driving at a high speed, it can be estimated that the driver is in an excited state as a negative emotion. Therefore, the emotion estimation unit 36 estimates the driver's negative emotions based on the vehicle speed of the preceding vehicle 2B, the inter-vehicle distance between the preceding vehicle 2B and the surrounding vehicles, and the lane change request. That is, the model generation unit 35 performs machine learning using the vehicle speed, the inter-vehicle distance, and information indicating the presence of a lane change request as input data in the training data. In this case, not limited to the inter-vehicle distance, the steering angle of the preceding vehicle 2B may also be used. That is, the sensor 24 includes a sensor for detecting the inter-vehicle distance between the preceding vehicle 2B and the surrounding vehicles and a sensor for detecting the steering angle of the vehicle 2. Further, the driving information may include information indicating the inter-vehicle distance and information indicating the steering angle.

[0044] In addition, when a negative emotion associated with a lane change is detected at a certain number or more, the vehicle control unit 37 may transmit instruction information for instructing a lane change to the following vehicle.

[0045] In addition, when causing the notification device 23 to notify instruction information for instructing a lane change, the control device 22 may cause the notification device 23 to notify instruction information for instructing a lane change in the same direction as the direction in which the preceding vehicle requested a lane change. That is, the vehicle control unit 37 may generate instruction information for instructing a lane change in the same direction as the preceding vehicle 2C. The server 3 may transmit instruction information for instructing a lane change in the same direction as the direction in which the preceding vehicle 2C requested a lane change to a following vehicle on the same lane as the preceding vehicle 2C.

[0046] Also, as a modification of the information processing system 1, the emotion estimation unit 36 may estimate the negative emotion of the driver in the vehicle 2 on the receiving side of the interruption. As shown in FIG. 7, when there is a road obstacle 13 on the first lane 11, a negative emotion due to being cut in by the preceding vehicle 2C on the second lane 12 on which the host vehicle 2A is traveling is detected. This negative emotion is anger or surprise. In this case, since the host vehicle 2A is already on the second lane 12 which is an appropriate lane, the server 3 transmits instruction information for maintaining the lane to the host vehicle 2A. The notification device 23 of the host vehicle 2A notifies the driver 6 of the instruction information for maintaining the lane.

[0047] In addition, the vehicle 2 is not limited to communication with the server 3, and vehicle-to-vehicle communication is also possible. The host vehicle 2A can communicate with the preceding vehicle 2B (vehicle-to-vehicle communication). The host vehicle 2A can detect the negative emotion of the driver in the preceding vehicle 2B by vehicle-to-vehicle communication. In this case, the control device 22 of the preceding vehicle 2B includes an emotion estimation unit and a vehicle control unit. Specifically, the control device 22 does not transmit driving information to the server 3. The control device 22 acquires an estimation model from the server 3 through communication with the server 3. The emotion estimation unit of the control device 22 estimates the negative emotion of the driver 5 using the estimation model acquired from the server 3 and the driving information acquired by the sensor 24. When the vehicle control unit of the control device 22 detects the negative emotion of the driver, it transmits instruction information for instructing the lane to the following vehicle. The host vehicle 2A causes the notification device 23 to notify the instruction information received from the preceding vehicle 2B.

[0048] Also, the road obstacle 13 includes parked vehicles on the road, falling objects, construction work, broken-down vehicles, etc. Note that the parked vehicle on the road is not limited to the first lane 11.

[0049] Also, when the route to the destination is set, the instruction information may be generated in consideration of the direction in which the host vehicle 2A wants to proceed. For example, as shown in FIG. 8, when the host vehicle 2A wants to turn left at the intersection 14 ahead of the road obstacle 13 existing on the first lane 11, the instruction information for lane change is transmitted to the host vehicle 2A on the first lane 11, so that the driver 6 of the host vehicle 2A can change lanes to the second lane 12 in advance. Then, the driver 6 of the host vehicle 2A can change lanes to the first lane 11 ahead of the road obstacle 13. On the other hand, as shown in FIG. 9, when the host vehicle 2A is traveling on the second lane 12, the instruction information is notified so as to delay the lane change to the first lane 11 until ahead of the road obstacle 13. As a result, it is possible to prevent the situation where, after changing lanes from the second lane 12 to the first lane 11 in order to turn left at the intersection 14, the vehicle returns to the second lane 12 again to avoid the road obstacle 13 on the first lane 11. Thereby, the number of lane changes can be reduced. Note that this control is not limited to route guidance and may be performed in autonomous driving.

[0050] Also, when a traffic jam has occurred around the preceding vehicle 2C in which negative emotion has been detected, the control device 22 and the control device 32 may cause the notification device 23 of the host vehicle 2A to notify the instruction information for instructing to follow the end of the traffic jam. The instruction information may include information for instructing to follow the end of the traffic jam composed of a plurality of vehicles 2D. For example, as shown in FIG. 10, in a situation where a traffic jam has occurred in the first lane 11 in front of the intersection 14, it is assumed that the second lane 12 is a right-turn only lane and the host vehicle 2A wants to go straight through the intersection 14. In this case, if the host vehicle 2A is traveling on the first lane 11, the notification device 23 is caused to notify the instruction information for maintaining the lane. On the other hand, if the host vehicle 2A is traveling on the second lane 12, the notification device 23 is caused to notify the instruction information for instructing a lane change in advance.

[0051] Furthermore, the location where congestion occurs is not limited to in front of intersection 14. Examples of locations where congestion occurs include congestion occurring in front of the exit of a highway interchange and congestion occurring in front of the entrance to a highway service area. For example, as shown in FIG. 11, in a situation where congestion has occurred at the entrance to a highway service area, when the host vehicle 2A wants to proceed to the entrance lane 15 branched from the first lane 11, instruction information is notified to the driver of the host vehicle 2A so as to follow the last vehicle 2D in the congestion. When the host vehicle 2A is traveling in the first lane 11, it is instructed to follow at the end. On the other hand, when the host vehicle 2A is traveling in the second lane 12, it is instructed to change lanes to the first lane 11 and follow the last vehicle 2D in the congestion. Since the congestion situation of vehicle 2 differs between weekdays and holidays, the timing of notifying the instruction information to the host vehicle 2A may be changed between weekdays and holidays. The notification timing on holidays may be set earlier than the notification timing on weekdays.

Explanation of Signs

[0052] 1 Information processing system 2 Vehicle 2A Host vehicle 2B Front vehicle 2C Leading vehicle 3 Server 4 Network 5,6 Driver 10 Road 11 First lane 12 Second lane 13 Road obstacle 21 Communication device 22 Control device 23 Notification device 31 Communication device 32 Control device 33 Control unit 34 Storage unit 35 Model generation unit 36 Emotion estimation unit 37 Vehicle control unit

Claims

1. A control device comprising a control unit for controlling a vehicle, wherein the control unit, when the vehicle is traveling in a section where there are multiple lanes, determines whether a negative emotion associated with a lane change is detected in a preceding vehicle in the same lane as the vehicle, when it is determined that the negative emotion is detected, causes the notification device of the vehicle to notify instruction information for instructing a lane change, when a traffic jam has occurred around the preceding vehicle, the control unit causes the notification device to notify instruction information for instructing the vehicle to follow the end of the traffic jam A control device characterized by the above.

2. A control device comprising a control unit for controlling a vehicle, wherein the control unit, when the vehicle is traveling in a section where there are multiple lanes, determines whether a negative emotion associated with a lane change is detected in a preceding vehicle in the same lane as the vehicle, when it is determined that the negative emotion is detected, causes the notification device of the vehicle to notify instruction information for instructing a lane change, when causing the notification device to notify instruction information for instructing a lane change, the control unit causes the notification device to notify instruction information for instructing a lane change in the same direction as the direction in which the preceding vehicle requested a lane change A control device characterized by the above.

3. An information processing system comprising a control device mounted on a vehicle and a server configured to be communicable with a plurality of the vehicles, wherein the server, based on information received from the vehicle traveling in a section where there are multiple lanes, determines whether a negative emotion associated with a lane change is detected in a predetermined vehicle in the section, when it is determined that the negative emotion is detected, transmits instruction information for instructing a lane change to a following vehicle in the same lane as the predetermined vehicle, transmits instruction information for instructing a lane change in the same direction as the direction in which the predetermined vehicle requested a lane change to a following vehicle in the same lane as the predetermined vehicle, wherein the control device, when the instruction information is received, causes the notification device of the vehicle to notify the instruction information An information processing system characterized by the above. ​

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