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

Abstract

To easily notify a driver of whether the own vehicle can be automatically operated or not.SOLUTION: A display control device for a vehicle includes: a condition specifying unit 102 that specifies whether a system on a vehicle side satisfies a condition capable of executing an automatic operation capable of executing all of operating tasks or not; and a display control unit 104 that, according to a specifying result in the condition specifying unit 102, displays, on a display 91 used in a cabin of an own vehicle, a condition presenting image that is at least one of an image indicating that the own vehicle satisfies the condition capable of executing the automatic operation and an image indicating that the own vehicle does not satisfy the condition capable of executing the automatic operation.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] For example, Patent Document 1 discloses a technology for switching between manual driving and automatic driving in a vehicle equipped with an automatic driving function. Patent Document 1 discloses a technology for starting operation of the automatic driving function by detecting an operation to switch to automatic driving by the driver in an area where automatic driving is possible. [Prior art documents] [Patent documents]

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

[0004] For autonomous driving to be possible, there must be various requirements related to the vehicle and its surroundings. Therefore, even if the vehicle is located in an area where autonomous driving is possible as described in Patent Document 1, there may be cases where the vehicle is capable of autonomous driving and cases where it is not. Therefore, it is considered useful to clearly indicate to the driver whether the vehicle is capable of autonomous driving.

[0005] One object of this disclosure is to provide a vehicle display control device, a vehicle display control system, and a vehicle display control method that can clearly present to the driver whether or not the vehicle is capable of autonomous driving. [Means for solving the problem]

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

[0007] In order to achieve the above object, a first vehicle display control device of the present disclosure is used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification unit (102) that specifies whether or not conditions for executing autonomous driving are met, and a display control unit (104, 104a, 104b) that displays a condition presentation image, which is an image indicating that the vehicle satisfies the conditions for executing autonomous driving, on a display (91) used in the vehicle cabin according to the result of specification by the condition specification unit, and the condition specification unit specifies whether or not the conditions for executing autonomous driving are met for each of a plurality of types of conditions. The display control unit starts displaying the condition presentation image in at least one of a situation where autonomous driving is not being performed and a situation where autonomous driving is being terminated, and the display control unit starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control unit ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. . In order to achieve the above object, the second vehicle display control device of the present disclosure is used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification unit (102) that specifies whether or not conditions for executing autonomous driving are met, and a display control unit (104, 104a, 104b) that displays, on a display (91) used in the vehicle cabin, a condition presentation image that is at least one of an image indicating that the vehicle satisfies the conditions for executing autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing autonomous driving, according to the result of specification by the condition specification unit, and the condition specification unit specifies whether or not the conditions for executing autonomous driving are met for each of a plurality of types of conditions. The display control unit starts displaying the condition presentation image in at least one of a situation where autonomous driving is not being performed and a situation where autonomous driving is being terminated, and the display control unit starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control unit ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. . In order to achieve the above object, a third vehicle display control device of the present disclosure is used in a vehicle capable of autonomous driving in which a vehicle-side system performs at least a part of a driving task, and includes a condition specification unit (102) that specifies whether or not a condition for executing autonomous driving is satisfied for each of a plurality of types of conditions, and a display control unit (104, 104a, 104b) that displays, on a display (91) used in the cabin of the vehicle, a condition presentation image that is at least one of an image indicating that the vehicle satisfies the condition for executing autonomous driving and an image indicating that the vehicle does not satisfy the condition for executing autonomous driving, based on the result of the specification by the condition specification unit; The display control unit starts displaying the condition presentation image in at least one of a situation where autonomous driving is not being performed and a situation where autonomous driving is being terminated, and the display control unit starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control unit ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. do. In order to achieve the above object, a fourth vehicle display control device of the present disclosure is used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification unit (102) that specifies whether or not conditions for executing autonomous driving are satisfied, and a display control unit (104, 104a, 104b) that causes a display device (91) used in the vehicle cabin to display a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing autonomous driving, according to a result of specification by the condition specification unit, wherein the display control unit starts displaying the condition presentation image at least in a situation in which autonomous driving is not being performed, the condition specification unit specifies whether or not the conditions for executing autonomous driving are satisfied for each of a plurality of types of conditions, and the display control unit starts displaying the condition presentation image when a specific condition out of the plurality of types of conditions is satisfied. The display control unit starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control unit ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. .

[0008] In order to achieve the above object, a first vehicle display control method of the present disclosure is a vehicle display control method used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification step executed by at least one processor for specifying whether or not conditions for executing autonomous driving are met, and a display control step for displaying, on a display (91) used in the vehicle cabin, a condition presentation image that indicates that the vehicle satisfies the conditions for executing autonomous driving, according to the result of the specification step, in which the condition specification step specifies whether or not the conditions for executing autonomous driving are met for each of a plurality of types of conditions. It is something The display control step starts displaying the condition presentation image in at least one of a situation where autonomous driving is not being performed and a situation where autonomous driving is being terminated, the display control step starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control step ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. . In order to achieve the above object, a second vehicle display control method of the present disclosure is a vehicle display control method used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification step executed by at least one processor for specifying whether or not conditions for executing autonomous driving are met, and a display control step for displaying, on a display (91) used in the vehicle cabin, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing autonomous driving, according to the result of the specification step, in which the condition specification step specifies whether or not the conditions for executing autonomous driving are met for each of a plurality of types of conditions. The display control step starts displaying the condition presentation image in at least one of a situation where autonomous driving is not being performed and a situation where autonomous driving is terminated, and the display control step starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control step ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. . In order to achieve the above object, a third vehicle display control method of the present disclosure is a vehicle display control method used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification step executed by at least one processor to specify whether or not conditions for executing autonomous driving are satisfied, and a display control step of displaying, on a display (91) used in the vehicle cabin, a condition presentation image which is at least one of an image indicating that the vehicle satisfies the conditions for executing autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing autonomous driving, according to the specification result in the condition specification step, and in the display control step, a foreground image which is an image showing the view in front of the vehicle, on the display. The display control step starts displaying the condition presentation image in at least one of a situation where autonomous driving is not being performed and a situation where autonomous driving is terminated, and the display control step starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control step ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. . In order to achieve the above object, a fourth vehicle display control method of the present disclosure is a vehicle display control method used in a vehicle capable of autonomous driving in which a vehicle-side system can perform all driving tasks, and includes a condition specification step executed by at least one processor for specifying whether or not conditions for executing autonomous driving are satisfied, and a display control step for displaying, on a display (91) used in the vehicle cabin, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing autonomous driving, according to the specification result in the condition specification step. The display control step starts displaying the condition presentation image at least in a situation in which autonomous driving is not being performed, the condition specification step specifies whether or not the conditions for executing autonomous driving are satisfied for each of a plurality of types of conditions, and the display control step starts displaying the condition presentation image when a specific condition out of the plurality of types of conditions is satisfied. The display control step starts displaying the condition presentation image at least in a situation where autonomous driving is not being performed, and the display control step ends displaying the condition presentation image when the vehicle performs autonomous driving after displaying the condition presentation image. .

[0009] According to the above configuration, it is possible to display, on a display device used in the vehicle cabin, at least one of an image indicating that the vehicle satisfies the conditions for autonomous driving and an image indicating that the vehicle does not satisfy the conditions for autonomous driving, depending on whether the vehicle satisfies the conditions for autonomous driving. Therefore, by looking at the condition presentation image displayed on the display device, the driver can easily recognize whether the vehicle satisfies the conditions for autonomous driving. As a result, it is possible to present to the driver in an easy-to-understand manner whether the vehicle is capable of autonomous driving.

[0012] According to the above configuration, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for autonomous driving and an image indicating that the vehicle does not satisfy the conditions for autonomous driving, can be displayed on a display device used in the vehicle cabin, depending on the determination result of whether the conditions for autonomous driving, which are specified for each of multiple types of conditions, are satisfied. Therefore, by looking at the condition presentation image displayed on the display, the driver can easily determine whether the vehicle satisfies the conditions for autonomous driving. Furthermore, because the condition presentation image is displayed for each of multiple types of conditions, the driver can easily determine why autonomous driving is possible and why autonomous driving is not possible. As a result, it is possible to clearly present to the driver whether the vehicle is capable of autonomous driving.

[0013] To achieve the above object, a vehicle display control system according to the present disclosure includes a display device (91) used in a vehicle and used inside the vehicle cabin, and the above-described vehicle display control device (10, 10a, 10b).

[0014] According to this, since the above-mentioned vehicle display control device is included, it is possible to clearly present to the driver whether or not the vehicle is capable of autonomous driving. [Brief explanation of the drawings]

[0015] [Figure 1]FIG. 1 is a diagram illustrating an example of a schematic configuration of a vehicle system. [Figure 2] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU. [Figure 3] FIG. 10 is a diagram illustrating an example of a display of a foreground image. [Figure 4] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 5] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 6] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 7] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 8] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 9] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 10] 10 is a flowchart showing an example of the flow of a condition presentation image display-related process in the HCU. [Figure 11] 10 is a flowchart showing an example of the flow of a condition presentation image display-related process in the HCU. [Figure 12] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU. [Figure 13] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 14] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 15] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 16] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 17] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 18] FIG. 2 is a diagram illustrating an example of a schematic configuration of an HCU. [Figure 19] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. [Figure 20] 10A and 10B are diagrams illustrating an example of a display of a condition presenting image. DETAILED DESCRIPTION OF THE INVENTION

[0016] A number of embodiments for the purpose of disclosure will be described with reference to the drawings. For the sake of convenience, parts having the same functions as parts shown in the drawings used in the previous explanations in the number of embodiments will be given the same reference numerals, and their description may be omitted. For parts given the same reference numerals, the explanations in other embodiments may be referred to.

[0017] (Embodiment 1) <General configuration of vehicle system 1> A first embodiment of the present disclosure will be described below with reference to the drawings. A vehicle system 1 shown in FIG. 1 is used in a vehicle capable of autonomous driving (hereinafter referred to as an autonomous driving vehicle). As shown in FIG. 1, the vehicle system 1 includes an HCU (Human Machine Interface Control Unit) 10, a communication module 20, a locator 30, a map database (hereinafter referred to as a map DB) 40, a vehicle state sensor 50, a periphery monitoring sensor 60, a vehicle control ECU 70, an autonomous driving ECU 80, a display 91, and a user input device 92. This vehicle system 1 corresponds to a vehicle display control system. Although a vehicle using the vehicle system 1 is not necessarily limited to an automobile, the following description will be given taking the case of use in an automobile as an example.

[0018] There are multiple levels of autonomous driving for autonomous vehicles (hereafter referred to as "automation levels"), as defined by the SAE, for example. Automation levels are categorized into levels 0 to 5, for example, as follows:

[0019] Level 0 is a level where the driver performs all driving tasks without intervention from the vehicle's systems. The driving task may also be referred to as a dynamic driving task. Examples of driving tasks include steering, acceleration / deceleration, and surrounding monitoring. Level 0 corresponds to so-called manual driving. Level 1 is a level where the system assists with either steering or acceleration / deceleration. Level 1 corresponds to so-called driving assistance. Level 2 is a level where the system assists with both steering and acceleration / deceleration. Level 2 corresponds to so-called partial driving automation. Levels 1 and 2 are also considered to be part of automated driving.

[0020] For example, automated driving at levels 1 and 2 is an automated driving system in which the driver has a supervisory obligation (hereinafter simply referred to as supervisory obligation) regarding safe driving. The supervisory obligation includes visual monitoring of the surroundings. Autonomous driving at levels 1 and 2 can be rephrased as automated driving in which a second task is not permitted. A second task is an action other than driving that is permitted to the driver, and is a specific action that has been specified in advance. A second task can also be rephrased as a secondary activity, other activity, etc. A second task must not prevent the driver from responding to a request from the automated driving system to take over driving operations. As examples, actions such as watching content such as videos, operating a smartphone, reading, and eating are considered as second tasks.

[0021] Level 3 is a level where the system can perform all driving tasks in specific locations such as highways, and the driver takes over driving operations in an emergency. At level 3, the driver is required to be able to respond quickly when the system requests a takeover of driving. Level 3 corresponds to so-called conditional driving automation. Level 4 is a level where the system can perform all driving tasks except under specific circumstances such as roads that it cannot handle or extreme environments. Level 4 corresponds to so-called high driving automation. Level 5 is a level where the system can perform all driving tasks in all environments. Level 5 corresponds to so-called full driving automation.

[0022] For example, autonomous driving at levels 3 to 5 is autonomous driving in which the driver does not have a monitoring obligation. Autonomous driving at levels 3 to 5 can also be rephrased as autonomous driving in which a second task is permitted. In this embodiment, the presence or absence of a monitoring obligation is switched when switching between an automation level of level 3 or higher and an automation level of level 2 or lower. Furthermore, this embodiment will be described using as an example a case in which the driver is required to take over driving when switching from an automation level of level 3 or higher to an automation level of level 2 or lower.

[0023] The autonomous vehicle of this embodiment is assumed to be capable of switching between automation levels. The automation level may be configured to be switchable only among some of levels 0 to 5. In this embodiment, an example will be described in which the autonomous vehicle is capable of switching between autonomous driving at automation level 3 and autonomous driving at automation level 2 or lower or manual driving.

[0024] The communication module 20 transmits and receives information to and from other vehicles via wireless communication. That is, it performs vehicle-to-vehicle communication. The communication module 20 may also transmit and receive information to and from roadside devices installed on the roadside via wireless communication. That is, it may perform road-to-vehicle communication. When performing road-to-vehicle communication, the communication module 20 may receive information about surrounding vehicles transmitted from surrounding vehicles of the host vehicle via the roadside device. Furthermore, the communication module 20 may transmit and receive information to and from a center external to the host vehicle via wireless communication. That is, it may perform wide-area communication. When performing wide-area communication, the communication module 20 may receive information about surrounding vehicles transmitted from surrounding vehicles of the host vehicle via the center. Additionally, when performing wide-area communication, the communication module 20 may receive traffic congestion information, weather information, and the like around the host vehicle from the center.

[0025] Locator 30 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from multiple positioning satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. Locator 30 sequentially determines the vehicle position (hereinafter referred to as "vehicle position") and traveling direction of a vehicle equipped with locator 30 by combining the positioning signals received by the GNSS receiver with the measurement results of the inertial sensor. The vehicle position is represented, for example, by latitude and longitude coordinates. Note that the vehicle position may also be determined using a travel distance calculated from signals sequentially output from a vehicle speed sensor equipped in the vehicle.

[0026] The map DB 40 is a non-volatile memory that stores high-precision map data. The high-precision map data is map data with higher precision than the map data used for route guidance in the navigation function. The map DB 40 may also store map data used for route guidance. The high-precision map data includes information usable for automated driving, such as three-dimensional road shape information, information on the number of lanes, and information indicating the permitted travel direction for each lane. The high-precision map data may also include node point information indicating the positions of both ends of road markings such as lane markings. Note that the locator 30 may be configured to use the three-dimensional road shape information without using a GNSS receiver. For example, the locator 30 may be configured to determine the vehicle position using the three-dimensional road shape information and detection results from a perimeter monitoring sensor 60, such as a LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging) or a perimeter monitoring camera, that detects a point cloud of characteristic points of the road shape and structures. The three-dimensional road shape information may be generated based on captured images using REM (Road Experience Management).

[0027] The communication module 20 may receive map data distributed from an external server, for example, via wide-area communication, and store the data in the map DB 40. In this case, the map DB 40 may be configured as a volatile memory, and the communication module 20 may successively acquire map data for an area corresponding to the vehicle position.

[0028] The vehicle state sensor 50 is a group of sensors for detecting various states of the vehicle. The vehicle state sensor 50 includes a vehicle speed sensor for detecting the vehicle speed, a steering sensor for detecting the steering angle, a grip sensor for detecting the grip of the steering wheel, etc. The vehicle state sensor 50 outputs the detected sensing information to an in-vehicle LAN. Note that the sensing information detected by the vehicle state sensor 50 may be configured to be output to the in-vehicle LAN via an ECU mounted in the vehicle.

[0029] The perimeter monitoring sensor 60 monitors the environment around the vehicle. As an example, the perimeter monitoring sensor 60 detects obstacles around the vehicle, such as moving objects such as pedestrians and other vehicles, and stationary objects such as fallen objects on the road. The perimeter monitoring sensor 60 also detects road markings around the vehicle, such as lane markings. The perimeter monitoring sensor 60 is, for example, a perimeter monitoring camera that captures an image of a predetermined area around the vehicle, or a sensor such as millimeter-wave radar, sonar, or LIDAR that transmits a search wave to a predetermined area around the vehicle. The perimeter monitoring camera sequentially outputs the captured images as sensing information to the autonomous driving ECU 80. The sensor that transmits the search wave, such as sonar, millimeter-wave radar, or LIDAR, sequentially outputs scanning results based on received signals obtained when receiving waves reflected by obstacles to the autonomous driving ECU 80 as sensing information. The sensing information detected by the perimeter monitoring sensor 60 may be output to an in-vehicle LAN via the autonomous driving ECU 80.

[0030] The vehicle control ECU 70 is an electronic control device that controls the driving of the vehicle. Examples of driving control include acceleration / deceleration control and / or steering control. The vehicle control ECU 70 includes a steering ECU that controls steering, a power unit control ECU that controls acceleration / deceleration, and a brake ECU. The vehicle control ECU 70 controls driving by outputting control signals to each driving control device installed in the vehicle, such as an electronically controlled throttle, a brake actuator, and an EPS (Electric Power Steering) motor.

[0031] The autonomous driving ECU 80 includes, for example, a processor, memory, I / O, and a bus connecting these, and executes control programs stored in the memory to perform processes related to autonomous driving. The memory referred to here is a non-transitory tangible storage medium that non-temporarily stores computer-readable programs and data. The non-transitory tangible storage medium is realized by a semiconductor memory, a magnetic disk, or the like.

[0032] The autonomous driving ECU 80 includes a first autonomous driving ECU 81 and a second autonomous driving ECU 82. The following description will be given assuming that the first autonomous driving ECU 81 and the second autonomous driving ECU 82 each include a processor, memory, I / O, and a bus connecting these. Note that a configuration may also be adopted in which a common processor performs the functions of the first autonomous driving ECU 81 and the second autonomous driving ECU 82 using virtualization technology.

[0033] The first automatic driving ECU81 is responsible for the automatic driving functions of level 2 or below mentioned above. In other words, the first automatic driving ECU81 enables automatic driving with a monitoring obligation to be performed. For example, the first automatic driving ECU81 is capable of performing at least one of longitudinal control and lateral control of the host vehicle. The longitudinal direction is the direction that coincides with the front-to-rear direction of the host vehicle. The lateral direction is the direction that coincides with the width direction of the host vehicle. The first automatic driving ECU81 performs acceleration / deceleration control of the host vehicle as longitudinal control. The first automatic driving ECU81 performs steering control of the host vehicle as lateral control. The first automatic driving ECU81 includes a first environment recognition unit, an ACC control unit, an LTA control unit, etc. as functional blocks.

[0034] The first environment recognition unit recognizes the driving environment around the host vehicle based on sensing information acquired from the periphery monitoring sensor 60 and information about surrounding vehicles of the host vehicle received by the communication module 20. As an example, the first environment recognition unit recognizes the detailed position of the host vehicle in the host lane from information such as the dividing lines on the left and right of the host vehicle's lane (hereinafter referred to as the host lane). In addition, the first environment recognition unit may also recognize the positions of surrounding vehicles relative to the host vehicle, the traveling direction of the surrounding vehicles, the relative speed of the surrounding vehicles relative to the host vehicle, the speed of the surrounding vehicles, etc. The traveling direction of the surrounding vehicles may be recognized from, for example, time-series changes in the positions of the surrounding vehicles relative to the host vehicle. The speed of the surrounding vehicles may be recognized from, for example, the vehicle speed of the host vehicle and the relative speed of the surrounding vehicles. If the speed of the surrounding vehicles can be received by the communication module 20 as information about the surrounding vehicles, the speed of the surrounding vehicles may be recognized from the received information.

[0035] The ACC control unit executes ACC (Adaptive Cruise Control) control, which enables the host vehicle to travel at a constant speed at a target speed or to follow a preceding vehicle. The ACC control unit may execute ACC control using the positions and speeds of vehicles around the host vehicle recognized by the first environment recognition unit. The ACC control unit may execute ACC control by causing the vehicle control ECU 70 to perform acceleration / deceleration control. The LTA control unit executes LTA (Lane Tracing Assist) control, which keeps the host vehicle traveling within its lane. The LTA control unit may execute LTA control using the detailed position of the host vehicle in the traveling lane recognized by the first environment recognition unit. The LTA control unit may execute LTA control by causing the vehicle control ECU 70 to perform steering control. Note that ACC control is an example of longitudinal control. LTA control is an example of lateral control.

[0036] The first automatic driving ECU 81 performs both ACC control and LTA control to achieve level 2 automatic driving. The first automatic driving ECU 81 may perform either ACC control or LTA control to achieve level 1 automatic driving.

[0037] Meanwhile, the second automatic driving ECU 82 is responsible for the aforementioned level 3 or higher automatic driving functions. In other words, the second automatic driving ECU 82 enables automatic driving without the obligation of monitoring. The second automatic driving ECU 82 includes functional blocks such as a second environment recognition unit, an action determination unit, and a trajectory generation unit.

[0038] The second environment recognition unit recognizes the driving environment around the vehicle based on sensing information acquired from the surroundings monitoring sensor 60, the vehicle position acquired from the locator 30, map data acquired from the map DB 40, and information acquired by the communication module 20. As an example, the second environment recognition unit uses this information to generate a virtual space that reproduces the actual driving environment. The second environment recognition unit may be configured to use the recognition results from the first environment recognition unit.

[0039] The second environment recognition unit distinguishes between manual driving areas (hereinafter referred to as MD areas) in the area where the host vehicle is traveling. The second environment recognition unit distinguishes between autonomous driving areas (hereinafter referred to as AD areas) in the area where the host vehicle is traveling. The second environment recognition unit distinguishes between ST sections in AD areas. The second environment recognition unit distinguishes between non-ST sections in AD areas.

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

[0041] An AD area is an area where automated driving is permitted. In other words, an AD area is an area where the vehicle can take over one or more of longitudinal control, lateral control, and perimeter monitoring. For example, an AD area may be a highway or a road for automobiles only.

[0042] AD areas are divided into non-ST sections where automated driving at level 2 or below is possible, and ST sections where automated driving at level 3 or above is possible. In this embodiment, there is no separate division into non-ST sections where automated driving at level 1 is permitted and non-ST sections where automated driving at level 2 is permitted. Non-ST sections may be sections that do not fall under the category of ST sections.

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

[0044] Furthermore, when the behavior determination unit determines that it is necessary to transfer driving control to the driver (i.e., a driving handover), it generates a driving handover request and provides it to the HCU 10. An example of a situation in which it is necessary to transfer driving control to the driver is when the vehicle moves from an AD area to an MD area. Other examples include a situation in which it is predicted that the conditions for executing level 3 or higher autonomous driving (hereinafter referred to as autonomous driving conditions) will no longer be met while autonomous driving at level 3 or higher is being performed, or a situation in which the autonomous driving conditions are no longer met.

[0045] The behavior determination unit also determines whether or not the situation allows autonomous driving of level 3 or higher. The behavior determination unit may determine whether or not the situation allows autonomous driving of level 3 or higher based on whether or not the autonomous driving conditions are met. In this embodiment, the following explanation will be given using an example of autonomous driving of level 3 or higher. In this embodiment, the following four conditions will be given as examples of the autonomous driving conditions.

[0046] The first condition may be the presence of a structure that separates lanes for forward and backward travel (hereinafter referred to as a separating structure). Examples of separating structures include a central median strip and a pole. This first condition is called the separating structure condition. The presence of a separating structure is a condition for Level 3 autonomous driving because the accuracy of recognizing the driving environment may decrease if a separating structure is not present. The separating structure condition may be a condition for Level 3 autonomous driving, but may also be a condition for Level 4 or higher autonomous driving, or may be a condition for Level 2 autonomous driving. The behavior determination unit may determine whether the separating structure condition is met by, for example, image recognition of images captured by a surrounding surveillance camera.

[0047] The second condition is that the vehicle speed of the host vehicle must be equal to or lower than the vehicle speed threshold at which level 3 autonomous driving can be performed. This second condition is called the vehicle speed condition. The reason why vehicle speed is set as a condition for performing level 3 autonomous driving is that if the vehicle speed becomes too high, the vehicle's system alone may not be able to adequately monitor the surroundings. The vehicle speed condition may be set for each automation level. Furthermore, the vehicle speed condition may be the same for multiple automation levels. For example, the vehicle speed threshold at which level 3 autonomous driving can be performed may be set to be lower than the vehicle speed threshold at which level 2 autonomous driving can be performed. The behavior determination unit may determine whether the vehicle speed condition is met based on, for example, the sensing results of a vehicle speed sensor in the vehicle state sensor 50.

[0048] The third condition is that the road on which the host vehicle is traveling must have a number of lanes that allows Level 3 autonomous driving to be performed. As an example, the road on which the host vehicle is traveling must have multiple lanes on each side. This third condition is called the lane number condition. The number of lanes is used as a condition for Level 3 autonomous driving to be performed because the accuracy of recognizing the driving environment may decrease if there are no multiple lanes on each side. The lane number condition may be used not only as a condition for Level 3 autonomous driving to be performed, but also as a condition for Level 2 autonomous driving to be performed. For example, the lane number condition for Level 2 may be one or more lanes on each side. The behavior determination unit may determine whether the lane number condition is met by, for example, image recognition of images captured by a surrounding surveillance camera.

[0049] The fourth condition may be that the other vehicle situation around the host vehicle is one in which level 3 autonomous driving can be performed. As an example, the other vehicle situation around the host vehicle may be one in which level 3 autonomous driving can be performed if there is a traffic jam around the host vehicle. This fourth condition is called an other vehicle situation condition. The other vehicle situation is set as a condition in which level 3 autonomous driving can be performed because level 3 autonomous driving is only possible in specific locations. The other vehicle situation may be set as not only a condition in which level 3 autonomous driving can be performed, but also a condition in which level 2 autonomous driving can be performed. The behavior determination unit may determine whether the other vehicle situation is met based on, for example, the recognition results of the driving environment recognized by the second environment recognition unit. For example, if the other vehicle situation condition is a traffic jam, it may determine whether there is a traffic jam based on the number of surrounding vehicles and their low speeds. Note that whether there is a traffic jam may also be determined based on traffic congestion information received from the center by the communication module 20.

[0050] In this embodiment, the above four conditions are used as an example for explanation, but the present invention is not limited to these. The autonomous driving conditions may be some of the above four conditions. Furthermore, the configuration may include conditions other than the above four conditions. For example, the autonomous driving condition may be that a high-precision map is available. Another autonomous driving condition may be that the weather is not bad. Bad weather here may be heavy rain, dense fog, heavy snow, etc. Another autonomous driving condition may be that the driver's state is not such that a driver cannot take over driving. A state in which a driver cannot take over driving may be such as being asleep or unconscious. The driver's state may be identified by image recognition of an image captured by a camera that captures an image of the driver. As an example, a DSM (Driver Status Monitor) or the like may be used.

[0051] The trajectory generation unit generates a driving trajectory for the vehicle in a section where autonomous driving is possible, based on the results of the driving environment recognition by the second environment recognition unit and the future action determined by the action determination unit. The driving trajectory includes, for example, target positions of the vehicle according to the progress and target speeds at each target position. The trajectory generation unit sequentially provides the generated driving trajectory to the vehicle control ECU 70 as control commands to be followed by the vehicle during autonomous driving.

[0052] An autonomous driving system including the autonomous driving ECU 80 described above enables the host vehicle to perform autonomous driving at level 2 or lower and level 3 or higher. The autonomous driving ECU 80 may be configured to switch the automation level of the host vehicle's autonomous driving as needed. For example, when the host vehicle moves from an MD area to a non-ST section of an AD area, the host vehicle may switch from manual driving to autonomous driving at level 2 or lower. When the host vehicle moves from an MD area to a ST section of an AD area, the host vehicle may switch from manual driving to autonomous driving at level 3. When the host vehicle moves from a non-ST section of an AD area to a ST section, the host vehicle may switch from autonomous driving at level 2 or lower to autonomous driving at level 3. When the host vehicle moves from an ST section of an AD area to a non-ST section, the host vehicle may switch from autonomous driving at level 3 to autonomous driving at level 2 or lower. When the host vehicle moves from a ST section of an AD area to an MD area, the host vehicle may switch from autonomous driving at level 3 to manual driving. When the host vehicle moves from a non-ST section of an AD area to an MD area, the host vehicle may switch from autonomous driving at level 2 or lower to manual driving.

[0053] The autonomous driving ECU 80 may be configured to switch to a higher automation level when requested by the driver. On the other hand, the autonomous driving ECU 80 may be configured to switch to a lower automation level when, for example, the driver responds to a request from a vehicle-side system. For example, when switching from autonomous driving at level 3 or higher to autonomous driving at level 2 or lower or manual driving, the autonomous driving ECU 80 may be configured to generate a driver changeover request and provide it to the HCU 10. Then, when it is determined that the driver has responded to this driver changeover request, the driver changeover may be performed.

[0054] The display 91 is a display device provided in the vehicle. The display 91 is provided so that the display surface faces the interior of the vehicle. For example, the display 91 is provided so that the display surface is located in front of the driver's seat of the vehicle. Various displays such as a liquid crystal display, an organic EL display, and a head-up display (hereinafter referred to as HUD) can be used as the display 91.

[0055] The user input device 92 receives input from the user. The user input device 92 may be an operation device that receives operation input from the user. As the operation device, it may be a mechanical switch or a touch switch integrated with the display device. Note that the user input device 92 is not limited to an operation device that receives operation input as long as it is a device that receives input from the user. For example, it may be a voice input device that receives input of a command by voice from the user.

[0056] The user input device 92 includes an automatic driving switch (hereinafter referred to as automatic driving SW) 93. The automatic driving SW 93 is a switch for the user to transmit the intention to switch the automation level of the host vehicle to the vehicle-side system. Here, the case where the automatic driving SW 93 is used to transmit the intention of the user to switch the automation level of the host vehicle to the vehicle-side system will be taken as an example for explanation, but a configuration using a voice input device or the like other than a switch may also be adopted. Therefore, the user input device 92 and the automatic driving SW 93 correspond to the input reception unit.

[0057] The HCU 10 is mainly composed of a computer including a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting these, and is connected to the display 91 and the in-vehicle LAN. The HCU 10 controls the display on the display 91 by executing a control program stored in the non-volatile memory. This HCU 10 corresponds to the vehicle display control device. The configuration of the HCU 10 regarding the control of the display on the display 91 will be described in detail below.

[0058] <000024�><Schematic Configuration of HCU10> Next, the schematic configuration of the HCU 10 will be described with reference to Figure 2. As shown in Figure 2, the HCU 10 includes functional blocks for controlling the display on the display device 91, such as an information acquisition unit 101, a condition specification unit 102, a change request acquisition unit 103, and a display control unit 104. Execution of the processing of each functional block of the HCU 10 by a computer corresponds to execution of a vehicle display control method. Some or all of the functions executed by the HCU 10 may be configured as hardware using one or more ICs or the like. Some or all of the functional blocks included in the HCU 10 may be realized by a combination of software executed by a processor and hardware components.

[0059] The information acquisition unit 101 acquires information input from outside the HCU 10. The information acquisition unit 101 sequentially acquires, for example, the recognition results of the driving environment recognized by the autonomous driving ECU 80. The information acquisition unit 101 also sequentially acquires, for example, the determination results of whether or not the situation is suitable for Level 3 autonomous driving, determined by the autonomous driving ECU 80. This determination result may be configured to include information on whether or not each of multiple types of autonomous driving conditions is satisfied. In the example of this embodiment, the information may be information on whether or not a separating structure condition is satisfied, whether or not a vehicle speed condition is satisfied, whether or not a lane number condition is satisfied, and whether or not a other vehicle situation condition is satisfied.

[0060] The condition specification unit 102 specifies whether or not the autonomous driving conditions are met. The processing in this condition specification unit 102 corresponds to a condition specification step. The condition specification unit specifies whether or not the autonomous driving conditions are met for each of a plurality of types of conditions. As an example, it specifies whether or not the conditions are met for each of the separating structure condition, vehicle speed condition, number of lanes condition, and other vehicle situation condition.

[0061] The changeover request acquisition unit 103 acquires a driver changeover request output from the automatic driving ECU 80. When a driver changeover request is output from the automatic driving ECU 80, the changeover request acquisition unit 103 acquires this driver changeover request.

[0062] The display control unit 104 controls the display on the display device 91. This processing in the display control unit 104 corresponds to a display control step. The display control unit 104 causes the display device 91 to display an image showing the view in front of the vehicle (hereinafter referred to as a foreground image). The display control unit 104 may use the recognition result of the driving environment acquired by the information acquisition unit 101 to display the foreground image on the display device 91. For example, the foreground image may be an overhead view seen from a virtual viewpoint above the vehicle.

[0063] An example of a foreground image will now be described with reference to FIG. 3. Sc in FIG. 3 indicates the display screen of the display device 91. HVI in FIG. 3 indicates an image representing the host vehicle (hereinafter referred to as the host vehicle image). OVI in FIG. 3 indicates an image representing vehicles surrounding the host vehicle (hereinafter referred to as the surrounding vehicle image). PLI in FIG. 3 indicates an image representing lane markings (a lane marking image). VI in FIG. 3 indicates an image representing the vehicle speed of the host vehicle (hereinafter referred to as the host vehicle speed image). In the foreground image, it is sufficient to display the host vehicle image, the surrounding vehicle image, the lane marking image, and the host vehicle speed image as shown in FIG. 3. In the foreground image, it is sufficient to display the host vehicle image and the surrounding vehicle image that mimic the actual positional relationship between the host vehicle and the surrounding vehicles.

[0064] Furthermore, the display control unit 104 causes the display device 91 to display a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the autonomous driving conditions and an image indicating that the vehicle does not satisfy the autonomous driving conditions, according to the identification result by the condition identification unit 102. The display control unit 104 may display a change in the display of a portion of the foreground image that corresponds to the autonomous driving conditions as the condition presentation image.

[0065] Here, an example of a condition presentation image will be described with reference to Figures 4 to 9. When the separated structure condition is met, the shape of the lane line image where the separated structure exists can be changed from the default display, as shown in the PLMI of Figure 4. For example, the line type of the lane line image where the separated structure exists can be changed. Alternatively, the color of the lane line image where the separated structure exists can be changed. As an example, the default color can be changed from black to a calming color such as blue. Also, the resolution of the lane line image where the separated structure exists can be changed to be higher than the default.

[0066] If the vehicle speed condition is satisfied, the host vehicle speed image may be highlighted as shown in VMI in FIG. 5. Alternatively, the color of the host vehicle speed image may be changed. For example, the default color may be black, but the color may be changed to a more subdued color such as blue. Also, the resolution of the host vehicle speed image may be changed to a higher color than the default. If the lane number condition is satisfied, the image showing all lanes (hereinafter referred to as lane image LI) may be highlighted as shown in LMI in FIG. 6. For example, the color of the lane image LI may be changed. For example, the default color may be changed to a more subdued color such as blue. If the other vehicle situation condition is satisfied, the surrounding vehicle image may be highlighted as shown in OVMI in FIG. 7. For example, the color of the surrounding vehicle image may be changed. For example, the default color may be changed to a more subdued color such as blue. Also, the resolution of the surrounding vehicle image may be changed to a higher color than the default.

[0067] The condition presentation image may be configured to display an image indicating that the vehicle does not meet the autonomous driving conditions, rather than an image indicating that the vehicle meets the conditions for level 3 autonomous driving. For example, if the separating structure conditions are not met, the lane marking image where the separating structure exists may be made to flash, as shown in the PLNMI of FIG. 8. Alternatively, the color of the lane marking image where the separating structure exists may be changed. For example, the default color may be changed to a more exciting color such as red. Alternatively, the resolution of the lane marking image where the separating structure exists may be lowered.

[0068] If the vehicle speed condition is not met, the host vehicle speed image may be made to flash. Alternatively, the color of the host vehicle speed image may be changed. For example, the default color may be black, but the color may be changed to an exciting color such as red. Also, the resolution of the host vehicle speed image may be changed to a lower color than the default. If the lane number condition is not met, the color of the lane image LI may be changed. For example, the default color may be changed to an exciting color such as red. If the other vehicle situation condition is not met, the surrounding vehicle image may be made to flash. Alternatively, the color of the surrounding vehicle image may be changed. For example, the default color may be changed to an exciting color such as red. Also, the resolution of the surrounding vehicle image may be changed to a lower color than the default.

[0069] The display control unit 104 displays condition presentation images for the multiple conditions together with an image indicating that the host vehicle satisfies the autonomous driving conditions and an image indicating that the host vehicle does not satisfy the autonomous driving conditions, if multiple conditions are satisfied. The condition presentation images may be configured to display a mixture of an image indicating that the host vehicle satisfies the autonomous driving conditions and an image indicating that the host vehicle does not satisfy the autonomous driving conditions, as shown in Fig. 9. The example of Fig. 9 shows an example of a case where an image indicating that the separating structure condition is not satisfied is displayed together with an image indicating that the vehicle speed condition, the number of lanes condition, and the other vehicle situation condition are satisfied.

[0070] It is preferable that the display control unit 104 start displaying the condition presentation image in at least one of a situation where the host vehicle is not performing Level 3 autonomous driving and a situation where the host vehicle has ended Level 3 autonomous driving. This makes it possible to reduce the waste of displaying the condition presentation image in a situation where the host vehicle is performing Level 3 autonomous driving.

[0071] It is preferable that the display control unit 104 starts displaying the condition presentation image when a specific condition among the multiple types of autonomous driving conditions is met. For example, the specific condition may be an other vehicle situation condition among a separating structure condition, a vehicle speed condition, a number of lanes condition, and an other vehicle situation condition. In the example of this embodiment, the display of the condition presentation image starts when the other vehicle situation condition of congestion around the host vehicle is met. With the above configuration, it is possible to display the condition presentation image at a timing when the possibility of performing level 3 autonomous driving increases without driver operation. The specific condition may be multiple of the multiple types of autonomous driving conditions. This makes it possible to display the condition presentation image at a timing when it is estimated that the condition presentation image will be useful to the driver.

[0072] The display control unit 104 may be configured to start displaying a condition presentation image when a location satisfying a specific condition among multiple types of automated driving conditions can be predicted and the host vehicle is within a predetermined distance or a predetermined time from that location. For example, the specific condition may be an other vehicle situation condition among a separating structure condition, a vehicle speed condition, a number of lanes condition, and an other vehicle situation condition. In the example of this embodiment, when a location satisfying the other vehicle situation condition of congestion around the host vehicle is predicted, the display of the condition presentation image is started when the host vehicle is within a predetermined distance or a predetermined time from that location.

[0073] A point that satisfies the condition of the other vehicle situation where the surrounding of the host vehicle is congested (hereinafter referred to as the congestion start point) may be predicted by the HCU 10 from the congestion information received from the center by the communication module 20. The display control unit 104 may calculate the distance from the host vehicle to the congestion start point from the position of the host vehicle measured by the locator 30, the congestion start point, and the map data stored in the map DB 40. Further, the display control unit 104 may calculate the time required for the host vehicle to travel from the host vehicle to the congestion start point from the average vehicle speed of the host vehicle and the distance from the host vehicle to the congestion start point. Note that the predetermined distance may be an arbitrarily setable distance. The predetermined time may be an arbitrarily setable time. With the above configuration, it is also possible to display the condition presentation image prior to the timing when the possibility of executing level 3 automated driving without the driver's operation increases. As a result, it becomes possible to display the condition presentation image at a timing when it is estimated that the condition presentation image is useful for the driver.

[0074] The display control unit 104 may be configured to start displaying the condition presentation image when it receives an input indicating a request to start automated driving from the user input device 92. For example, it may be configured to start displaying the condition presentation image when it receives an input by operating the automated driving SW 93. According to this, it becomes possible to display the condition presentation image at the timing when the driver requests the start of level 3 automated driving. As a result, it becomes possible to display the condition presentation image at a timing when it is estimated that the condition presentation image is useful for the driver.

[0075] After displaying the condition presentation image, the display control unit 104 preferably terminates the display of the condition presentation image when the host vehicle executes level 3 automated driving. This is because the situation where level 3 automated driving can be executed is a situation where all the automated driving conditions are satisfied, and there is little need to display the condition presentation image.

[0076] <Condition Presentation Image Display Related Processing in HCU10> Here, an example of the flow of processing related to the display of a condition presentation image in the HCU 10 (hereinafter, referred to as condition presentation image display related processing) will be described using the flowcharts in Figures 10 and 11. Below, an example of the flow of the condition presentation image display related processing when the display of a condition presentation image is started without being triggered by the operation of the autonomous driving SW 93 will be described using Figure 10. On the other hand, an example of the flow of the condition presentation image display related processing when the display of a condition presentation image is started by being triggered by the operation of the autonomous driving SW 93 will be described using Figure 11.

[0077] The flowchart of Fig. 10 may be configured to start when a switch for starting the internal combustion engine or motor generator of the vehicle (hereinafter referred to as a power switch) is turned on and a foreground image is displayed. Alternatively, in a configuration in which the function for displaying condition presentation images can be switched on and off, the flowchart may be configured to start when the power switch is turned on while the function for displaying condition presentation images is on. Alternatively, the flowchart may be configured to start when the function for displaying condition presentation images is switched from off to on while the power switch is on.

[0078] First, in step S1, if the condition specifying unit 102 determines that the other vehicle situation condition of congestion around the host vehicle is satisfied (YES in S1), the process proceeds to step S2. On the other hand, if the condition specifying unit 102 does not determine that the other vehicle situation condition of congestion around the host vehicle is satisfied (NO in S1), the process proceeds to step S13. Here, as an example, a configuration is shown in which processing is performed depending on whether or not it is determined that the other vehicle situation condition of congestion around the host vehicle is satisfied, but this is not necessarily limited to this. For example, a configuration may be used in which processing is performed depending on whether or not the host vehicle is within a predetermined distance or a predetermined time from the predicted congestion start point.

[0079] In step S2, the display control unit 104 starts displaying a condition presentation image on the display 91. As an example, for an autonomous driving condition that is met, an image indicating that the autonomous driving condition is met is displayed. Note that the display control unit 104 may be configured to cause the display 91 to display a foreground image before the display of the condition presentation image starts.

[0080] In step S3, if the condition specifying unit 102 determines that all of the multiple types of autonomous driving conditions are satisfied (YES in S3), the process proceeds to step S5. On the other hand, if the condition specifying unit 102 determines that even one of the multiple types of autonomous driving conditions is not satisfied (NO in S3), the process proceeds to step S4.

[0081] If S3 is NO, the display control unit 104 may also display an image indicating that level 3 autonomous driving cannot be performed along with the condition presentation image. One example is to display a text image such as "LV3 not possible." Furthermore, if S3 is NO and an input is received through the operation of the autonomous driving SW 93, the display control unit 104 displays an image indicating that the autonomous driving conditions are not met for the autonomous driving conditions that are not met. In other words, the reason why level 3 autonomous driving cannot be performed may be displayed. In this case, it is preferable to not display an image indicating that the autonomous driving conditions are met, so that the driver can easily recognize the reason why level 3 autonomous driving cannot be performed. Furthermore, if there is a change in the autonomous driving conditions identified by the condition identification unit 102 as being met while the condition presentation image is being displayed, the display control unit 104 changes the display of the condition presentation image in accordance with this change.

[0082] In step S4, if it is time to end the condition presentation image display related process (YES in S4), the condition presentation image display related process is ended. On the other hand, if it is not time to end the condition presentation image display related process (NO in S4), the process returns to S3 and is repeated. Examples of timing to end the condition presentation image display related process include when the power switch is turned off, or when the function for displaying the condition presentation image is turned off.

[0083] In step S5, the display control unit 104 displays an image indicating that level 3 autonomous driving can be performed. As an example, a text image such as "LV3 Possible" may be displayed. In this case, for the autonomous driving conditions that are met, an image indicating that the autonomous driving conditions are met may or may not be displayed. In other words, the reason why level 3 autonomous driving can be performed may or may not be displayed.

[0084] In step S6, if the vehicle has started level 3 autonomous driving (YES in S6), the process proceeds to step S8. On the other hand, if the vehicle has not started level 3 autonomous driving (NO in S6), the process proceeds to step S7. In step S7, if it is time to end the condition presentation image display related process (YES in S7), the condition presentation image display related process ends. On the other hand, if it is not time to end the condition presentation image display related process (NO in S7), the process returns to S6 and repeats.

[0085] When level 3 autonomous driving becomes possible, the autonomous driving ECU 80 may autonomously transition the host vehicle to level 3 autonomous driving, or may transition the host vehicle to level 3 autonomous driving with the driver's permission. When adopting a configuration in which the host vehicle transitions to level 3 autonomous driving with the driver's permission, the display control unit 104 may display an image that confirms whether or not to execute level 3 autonomous driving. As an example, a text image such as "Do you want to execute LV3?" may be displayed. Then, when an input is received in response to this display, for example by operating the autonomous driving SW 93, the autonomous driving ECU 80 may transition the host vehicle to level 3 autonomous driving.

[0086] In step S8, the display control unit 104 terminates the display of the condition presentation image on the display 91. The display control unit 104 may also terminate the display of the foreground image, for example. In this case, the display control unit 104 may cause the display 91 to display an image explaining the action permitted as the second task, an image showing the vehicle speed of the vehicle, etc.

[0087] In step S9, if the switching request acquisition unit 103 acquires a driver switching request (YES in S9), the process proceeds to step S11. On the other hand, if the switching request acquisition unit 103 has not acquired a driver switching request (NO in S9), the process proceeds to step S10. In step S10, if it is time to end the condition presentation image display related process (YES in S10), the condition presentation image display related process ends. On the other hand, if it is not time to end the condition presentation image display related process (NO in S10), the process returns to S9 and repeats the process.

[0088] In step S11, the display control unit 104 displays a condition presentation image on the display 91. As an example, for an autonomous driving condition that is not met, an image indicating that the autonomous driving condition is not met is displayed. In other words, the reason why level 3 autonomous driving cannot be performed is displayed. In other words, the reason for switching drivers is displayed. The condition presentation image is displayed together with the foreground image.

[0089] In step S12, if the host vehicle has ended level 3 autonomous driving and has switched drivers (YES in S12), the process proceeds to step S13. On the other hand, if the host vehicle has not ended level 3 autonomous driving and has not switched drivers (NO in S12), the process returns to S11 and repeats. The driver switch may be configured to occur when an input is received by operating the autonomous driving SW93. Alternatively, the driver switch may be configured to occur when the grip sensor of the vehicle state sensor 50 detects that the steering wheel is being gripped. Note that if the host vehicle has reached a state where it is unable to continue level 3 autonomous driving but is unable to switch drivers, the autonomous driving ECU 80 may be configured to automatically stop the vehicle on the shoulder of the road, for example.

[0090] In step S13, if it is time to end the condition presentation image display related process (YES in S13), the condition presentation image display related process is ended. On the other hand, if it is not time to end the condition presentation image display related process (NO in S13), the process returns to S1 and is repeated.

[0091] Next, an example of the flow of the condition presentation image display related process when the display of the condition presentation image is started using the operation of the automatic driving SW 93 as a trigger will be described with reference to Fig. 11. The conditions for starting the flowchart of Fig. 11 may be the same as those of the flowchart of Fig. 10.

[0092] First, in step S21, if an input is received through operation of the automatic driving SW 93 (YES in S21), the process proceeds to step S22. On the other hand, if an input is not received through operation of the automatic driving SW 93 (NO in S21), the process proceeds to step S33.

[0093] The processing from step S22 to step S30 may be the same as the processing from S2 to S10. In step S31, the display control unit 104 causes the display device 91 to display a condition presentation image. As an example, for an autonomous driving condition that is not met, an image indicating that the autonomous driving condition is not met is displayed. In other words, the reason why level 3 autonomous driving cannot be performed is displayed. In other words, the reason for switching drivers is displayed. The condition presentation image is displayed together with the foreground image. In S31, unlike when L3 autonomous driving starts, the display control unit 104 may be configured to display the condition presentation image even if it does not receive input from operating the autonomous driving SW 93.

[0094] In S31, similarly to when the autonomous driving of L3 is started, the display control unit 104 may be configured to display the condition presentation image when it receives input from the operation of the autonomous driving SW 93. In this case, the driver change may be configured to occur when it receives input from the operation of the autonomous driving SW 93 again. The driver change may also be configured to occur when the grip sensor of the vehicle state sensor 50 detects that the steering wheel is being gripped.

[0095] The processing from step S32 to step S33 may be the same as the processing from step S12 to step S13.

[0096] <Summary of First Embodiment> According to the configuration of the first embodiment, in accordance with the determination result of whether or not the autonomous driving conditions specified for each of a plurality of types of conditions are satisfied, it is possible to display a condition presentation image, which is at least one of an image indicating that the host vehicle satisfies the autonomous driving conditions and an image indicating that the host vehicle does not satisfy the autonomous driving conditions, on the display 91. Therefore, by looking at the condition presentation image displayed on the display 91, the driver can easily recognize whether or not the host vehicle satisfies the conditions for performing autonomous driving.

[0097] It is considered useful to present to the driver in an easy-to-understand manner why autonomous driving is possible and why autonomous driving is not possible, along with whether the vehicle is capable of autonomous driving. In contrast, according to the configuration of the first embodiment, the condition presentation image is displayed for each of a plurality of types of conditions, making it easier for the driver to recognize why autonomous driving can be performed and why autonomous driving cannot be performed. As a result, it is possible to present to the driver in an easy-to-understand manner whether the vehicle is capable of autonomous driving.

[0098] Furthermore, according to the configuration of the first embodiment, a change in the display of a portion of a foreground image showing the view in front of the vehicle that corresponds to an autonomous driving condition is displayed as a condition presentation image, so that the driver can intuitively recognize why autonomous driving is possible and why autonomous driving is not possible. Therefore, it is possible to more easily present to the driver whether or not the vehicle is capable of autonomous driving.

[0099] (Embodiment 2) In the first embodiment, an example has been described in which a condition presentation image for autonomous driving conditions for level 3 autonomous driving is displayed, but this is not necessarily limited to this. For example, a condition presentation image for autonomous driving conditions for level 2 or lower autonomous driving may be displayed. As an example, this may be applied when switching between level 2 autonomous driving and level 1 autonomous driving or manual driving. Alternatively, this may be applied when switching between level 1 autonomous driving and manual driving. The determination of whether level 1 or 2 autonomous driving is possible may be performed, for example, by the first autonomous driving ECU 81. For example, for autonomous driving at level 3 or lower, the number of autonomous driving conditions may increase as the automation level increases.

[0100] It may also be configured to display a condition presentation image for autonomous driving conditions for autonomous driving of level 4 or higher. In addition, it may be configured to change the autonomous driving conditions as the autonomous level of the vehicle's autonomous driving increases or decreases, and to change the condition presentation images that can be displayed in response to the change in the autonomous driving conditions.

[0101] (Embodiment 3) In the above-described embodiment, a configuration was shown in which a change in the display of a portion of a foreground image corresponding to an autonomous driving condition is displayed as a condition presentation image, but this is not necessarily limited to this. For example, a configuration (hereinafter, referred to as embodiment 3) in which icon images (hereinafter, icon images) for each of a plurality of types of autonomous driving conditions are displayed side by side as the condition presentation image may be used. An example of embodiment 3 will be described below with reference to the drawings. The vehicle system 1 of embodiment 3 is similar to the vehicle system 1 of embodiment 1, except that it includes an HCU 10a instead of the HCU 10.

[0102] <Schematic Configuration of HCU10a> Next, the schematic configuration of HCU10a will be described with reference to FIG. 12. As shown in FIG. 12, with respect to the control of the display on the display 91, HCU10a includes an information acquisition unit 101, a condition identification unit 102, a shift request acquisition unit 103, and a display control unit 104a as functional blocks. HCU10a is the same as HCU10 of Embodiment 1 except that it includes a display control unit 104a instead of the display control unit 104. This HCU10a corresponds to the vehicle display control device of the claims. Also, the execution of the processing of each functional block of HCU10a by a computer corresponds to the execution of the vehicle display control method.

[0103] The display control unit 104a is the same as the display control unit 104 of Embodiment 1 except that, as a condition presentation image, it displays icon images for each of a plurality of types of classified automatic driving conditions arranged side by side instead of displaying the change in the display of the portion of the foreground image corresponding to the automatic driving conditions. The processing in this display control unit 104a corresponds to the display control step.

[0104] Here, with reference to FIGS. 13 to 16, an example of arranging and displaying icon images for each of a plurality of types of classified automatic driving conditions as a condition presentation image will be described. In this embodiment, the case of displaying a condition presentation image for the automatic driving conditions of level 3 automatic driving will be described as an example. Here, as the automatic driving conditions, in addition to the separation structure condition, vehicle speed condition, number of lanes condition, and other vehicle conditions described in Embodiment 1, the case where the condition regarding the driver state is also used as an automatic driving condition will be described as an example. The condition regarding the driver state (hereinafter, the driver state condition) was also described in Embodiment 1, and it is the condition that the driver is not in a state where driving shift is impossible.

[0105] In order to prevent the display of multiple icon images from becoming cumbersome for the driver, the display control unit 104a preferably groups multiple autonomous driving conditions into higher-level autonomous driving conditions. Then, icon images for each grouped autonomous driving condition can be displayed side by side. The icon images may be displayed side by side horizontally or vertically. As an example, separating structure conditions and lane number conditions can be grouped into lane conditions. Here, the vehicle speed condition, other vehicle situation condition, and driver state condition will be described as each forming a group independently.

[0106] When it is time to display the condition presentation image, the display control unit 104a displays icon images for each vehicle speed condition, other vehicle situation condition, lane condition, and driver state condition, as shown in Fig. 13. The start and end timings of the display of the condition presentation image may be the same as those described in the first embodiment. VIc in Fig. 13 shows the icon image for the vehicle speed condition. OVIc in Fig. 13 shows the icon image for the other vehicle situation condition. LIc in Fig. 13 shows the icon image for the lane condition. DSIc in Fig. 13 shows the icon image for the driver state condition.

[0107] As shown in Fig. 13, an icon image indicating that the condition is met may be a checked image. On the other hand, an icon image indicating that the condition is not met may be an unchecked image. Whether or not the condition is met may be indicated by other changes in the display mode, such as changing the brightness or color of the image.

[0108] The display control unit 104a may display an image indicating that autonomous driving can be performed when all icon images have become icon images indicating that the conditions are met, as shown in Fig. 14. As an example, a text image such as "Autonomous driving OK" may be displayed as shown in Fig. 15.

[0109] The display control unit 104a may display an icon image indicating that a condition is not met for an autonomous driving condition that is not met, such as an image in which the icon image of LIc is surrounded by a dashed circle in Fig. 16. Note that the display control unit 104a may display a mixture of icon images indicating that a condition is met and icon images indicating that a condition is not met, as shown in Fig. 16. Furthermore, the display control unit 104a may be configured to display only one of the icon image indicating that a condition is met and the icon image indicating that a condition is not met.

[0110] Furthermore, when the host vehicle transitions from a state in which the conditions for level 3 autonomous driving are satisfied to a state in which the conditions for level 3 autonomous driving are not satisfied, or when the host vehicle transitions from a state in which the conditions for level 3 autonomous driving are satisfied to a state in which the conditions for level 3 autonomous driving are not satisfied, the display control unit 104a is preferably configured to display an icon image indicating that the host vehicle does not satisfy the conditions for level 3 autonomous driving for the autonomous driving conditions that caused the transition to a state in which the conditions for level 3 autonomous driving are not satisfied. This makes it easier for the driver to recognize the cause of the conditions for autonomous driving no longer being satisfied. Note that the display of the icon image indicating that the host vehicle does not satisfy the conditions for level 3 autonomous driving may be configured to be maintained for a certain period of time immediately after level 3 autonomous driving is canceled and then terminated. The certain period of time may be any configurable period of time. In this case, the icon image may be configured to be an unhighlighted icon image, as shown in LIc in FIG. 13 .

[0111] An example of an icon image indicating that the conditions are not met is an image in which the icon image of LIc is surrounded by a dashed circle in Fig. 16. Other examples include a configuration in which the icon image itself blinks, the periphery of the icon image is illuminated, or the periphery of the icon image is blinked.

[0112] Furthermore, the display control unit 104a may be configured to display an icon image indicating that the conditions for level 3 autonomous driving are met when the host vehicle transitions from a state in which the conditions for level 3 autonomous driving are not met to a state in which the conditions for level 3 autonomous driving are met, but not to display an icon image indicating that the conditions are not met, whereas the display control unit 104a may be configured to display an icon image indicating that the conditions are not met when the host vehicle transitions from a state in which the conditions for level 3 autonomous driving are met to a state in which the conditions for level 3 autonomous driving are not met, or when the host vehicle has transitioned from a state in which the conditions for level 3 autonomous driving are met to a state in which the conditions for level 3 autonomous driving are not met. In this way, by displaying an icon specific to when autonomous driving is canceled, it becomes easier for the driver to recognize the reason why the conditions for autonomous driving are no longer met.

[0113] Display control unit 104a may display the icon image on a display 91 different from display 91 that displays the foreground image. Note that the icon image may be displayed superimposed on the foreground image on display 91 that displays the foreground image. Alternatively, the icon image may be displayed in a display area separate from the foreground image on display 91 that displays the foreground image.

[0114] The grouping of multiple autonomous driving conditions may be configured to be changeable in response to an input selecting a combination of autonomous driving conditions to be grouped, received from the user via the user input device 92. As for the icon images, the icon images for each combination of autonomous driving conditions that can be grouped may be stored in advance in the non-volatile memory of the HCU 10a, so that the icon images can be used by the display control unit 104a.

[0115] Here, the case where a condition presentation image for autonomous driving conditions for autonomous driving of level 3 is displayed has been described as an example, but this is not necessarily limited to this. As described in the second embodiment, a condition presentation image for autonomous driving conditions for autonomous driving other than level 3 may also be displayed.

[0116] Furthermore, the autonomous driving conditions may be changed in accordance with the increase or decrease in the level of autonomous driving of the vehicle, and the displayable condition presentation image may also be changed in accordance with the change in the autonomous driving conditions. For example, when entering an ST section, when certain conditions such as traffic congestion are met, or when there is a request to switch from level 3 to level 2 or lower autonomous driving or manual driving, a condition presentation image for the autonomous driving conditions for level 2 autonomous driving may be displayed. On the other hand, when entering a non-ST section, or when it is necessary to switch from level 2 to level 1 autonomous driving or manual driving, a condition presentation image for the autonomous driving conditions for level 2 autonomous driving may be displayed.

[0117] When displaying a condition presentation image for autonomous driving conditions for level 2 autonomous driving, the combination of icon images can be changed from that of the condition presentation image for autonomous driving conditions for level 3 autonomous driving, as shown in Fig. 17. If the number of autonomous driving conditions changes as the automation level of the autonomous driving of the host vehicle increases or decreases, the number of icon images can also be changed according to the change in the number of autonomous driving conditions. The example in Fig. 17 includes icon images for vehicle speed conditions and lane conditions, but does not include icon images for other vehicle situation conditions and driver state conditions.

[0118] <Summary of Embodiment 3> The configuration of the third embodiment also enables the driver to easily recognize whether or not the conditions for autonomous driving are met by looking at the condition presentation image displayed on the display 91. Furthermore, since the condition presentation image is displayed for each of a plurality of types of conditions, it is possible to present to the driver in an easy-to-understand manner whether or not the vehicle is capable of autonomous driving. Furthermore, according to the configuration of the third embodiment, icon images indicating whether or not the conditions are met for each autonomous driving condition are displayed side by side, making it easier for the driver to recognize why autonomous driving is possible and why autonomous driving is not possible. Therefore, it is possible to present to the driver in an easy-to-understand manner whether or not the vehicle is capable of autonomous driving.

[0119] (Embodiment 4) For example, as a condition presentation image, a configuration (hereinafter, Embodiment 4) may be adopted in which an image of a graph (hereinafter, graph image) showing the degree of satisfaction of each condition by arranging the automatic driving conditions classified into multiple types as items is displayed. Hereinafter, an example of Embodiment 4 will be described with reference to the drawings. The vehicle system 1 of Embodiment 4 is the same as the vehicle system 1 of Embodiment 1 except that it includes an HCU10b instead of the HCU10.

[0120] <Schematic Configuration of HCU10b> Subsequently, the schematic configuration of the HCU10b will be described with reference to FIG. 18. As shown in FIG. 18, the HCU10b includes an information acquisition unit 101, a condition identification unit 102, a shift request acquisition unit 103, and a display control unit 104b as functional blocks with respect to the control of the display on the display 91. The HCU10b is the same as the HCU10 of Embodiment 1 except that it includes a display control unit 104b instead of the display control unit 104. This HCU10b corresponds to the vehicle display control device in the claims. Also, the execution of the processing of each functional block of the HCU10b by a computer corresponds to the execution of the vehicle display control method.

[0121] The display control unit 104b is the same as the display control unit 104 of Embodiment 1 except that, instead of causing the display change of the portion corresponding to the automatic driving condition in the foreground image to be displayed as the condition presentation image, a graph image showing the degree of satisfaction of each condition by arranging the automatic driving conditions classified into multiple types as items is displayed as the condition presentation image. The processing in this display control unit 104b corresponds to the display control step.

[0122] Furthermore, it is preferable that the display control unit 104b displays the degree to which the autonomous driving conditions are satisfied in the graph image, for each of the autonomous driving conditions classified into multiple types. In this case, the information acquisition unit 101 may be configured to acquire information that can identify the degree to which the autonomous driving conditions are satisfied. Then, the display control unit 104b may identify the degree to which the autonomous driving conditions are satisfied from this information and display the degree to which the autonomous driving conditions are satisfied. An example of information that can identify the degree to which the autonomous driving conditions are satisfied is information used by the autonomous driving ECU 80 to determine whether the autonomous driving conditions are satisfied. Another example is information on the degree to which the autonomous driving conditions are satisfied, in the case where the autonomous driving ECU 80 is configured to identify the degree to which the autonomous driving conditions are satisfied.

[0123] 19, an example of a graph image as a condition presentation image in which autonomous driving conditions categorized into multiple types are listed as items and the degree to which each condition is satisfied will be described. In this embodiment, an example will be described in which a condition presentation image for autonomous driving conditions for level 3 autonomous driving is displayed. Here, an example will be described in which the driver state condition described in embodiment 3 is also used as an autonomous driving condition in addition to the separating structure condition, vehicle speed condition, number of lanes condition, and other vehicle situation condition described in embodiment 1.

[0124] In order to prevent the items in the graph image from becoming too cumbersome for the driver, the display control unit 104b preferably groups multiple automated driving conditions as items in the graph image into higher-level automated driving conditions. Then, the items for each grouped automated driving condition can be displayed side by side. The items may be displayed side by side either horizontally or vertically. As an example, a separating structure condition and a lane number condition can be grouped into a lane condition. Here, the vehicle speed condition, other vehicle situation condition, and driver state condition will be described as each forming a group independently.

[0125] When it is time to display the condition presentation image, the display control unit 104b may display an image of a bar graph showing the degree to which each condition is satisfied, with vehicle speed conditions, other vehicle situation conditions, lane conditions, and driver state conditions arranged as items, as shown in FIG. 19. The timing of starting and ending the display of the condition presentation image may be the same as that described in the first embodiment. "Vehicle speed" in FIG. 13 indicates the vehicle speed condition item. "Nearby vehicles" in FIG. 19 indicates the other vehicle situation condition item. "Lane" in FIG. 19 indicates the lane condition item. "Driver" in FIG. 19 indicates the driver state condition. Furthermore, Th1 in FIG. 19 indicates the line representing the threshold at which level 3 autonomous driving can be performed.

[0126] The display control unit 104b displays the bars of the bar graph with lengths corresponding to the degree to which the autonomous driving conditions specified for each autonomous driving condition are satisfied, so as to be comparable to the threshold at which autonomous driving can be performed, as shown in FIG. 19 . This allows the driver to recognize the degree to which the autonomous driving conditions are satisfied based on the degree of deviation between the threshold at which autonomous driving can be performed and the tip position of the bar in the bar graph. Therefore, the display control unit 104b displays the degree to which the autonomous driving conditions are satisfied for each of the multiple types of autonomous driving conditions in the graph image. If the tip position of the bar in the bar graph corresponding to an autonomous driving condition does not reach the threshold, it indicates that the autonomous driving condition is not satisfied and the degree to which the autonomous driving condition is insufficient. On the other hand, if the tip position of the bar in the bar graph corresponding to an autonomous driving condition exceeds the threshold, it indicates that the autonomous driving condition is satisfied and the degree to which the autonomous driving condition is satisfactory.

[0127] Display control unit 104b may display the graph image on a display 91 different from display 91 that displays the foreground image. Note that the graph image may be displayed superimposed on the foreground image on display 91 that displays the foreground image. Alternatively, the graph image may be displayed in a display area separate from the foreground image on display 91 that displays the foreground image.

[0128] The grouping of multiple autonomous driving conditions may be configured to be changeable in response to an input selecting a combination of autonomous driving conditions to be grouped, received from the user via the user input device 92. As for the items for each autonomous driving condition in the graph image, items for each combination of autonomous driving conditions that can be grouped may be stored in advance in the non-volatile memory of the HCU 10b, so that the items can be used by the display control unit 104b.

[0129] Here, the case where a condition presentation image for autonomous driving conditions for autonomous driving of level 3 has been described as an example, but this is not necessarily limited to this. As described in the second embodiment, a configuration may be adopted in which a condition presentation image for autonomous driving conditions for autonomous driving other than level 3 is displayed. Furthermore, as described in the second embodiment, a configuration may be adopted in which the autonomous driving conditions are changed in accordance with the increase or decrease in the automation level of the autonomous driving of the host vehicle, and the condition presentation images that can be displayed are also changed in accordance with the change in the autonomous driving conditions.

[0130] Alternatively, the display control unit 104b may be configured to collectively display condition presentation images for autonomous driving conditions for autonomous driving at multiple automation levels. As an example, the display control unit 104b may be configured to display lines representing thresholds at which autonomous driving can be performed for each automation level on a bar graph image showing the degree to which each autonomous driving condition is satisfied, as shown in FIG. 20. FIG. 20 will be described using an example in which a line representing the threshold at which level 2 autonomous driving can be performed and a line representing the threshold at which level 3 autonomous driving can be performed are displayed. Th2 in FIG. 20 indicates the line representing the threshold at which level 2 autonomous driving can be performed. This makes it possible to simultaneously present to the driver the degree to which the autonomous driving conditions for level 2 autonomous driving and the degree to which the autonomous driving conditions for level 3 autonomous driving are satisfied, using the same graph image.

[0131] <Summary of the Fourth Embodiment> The configuration of the fourth embodiment also enables the driver to easily recognize whether or not the conditions for autonomous driving are met by looking at the condition presentation image displayed on the display 91. Moreover, because the condition presentation image is displayed for each of a plurality of types of conditions, it is possible to clearly present to the driver whether or not the vehicle is capable of autonomous driving. Furthermore, according to the configuration of the fourth embodiment, an image of a graph showing the degree to which the autonomous driving conditions are met is displayed alongside items for each autonomous driving condition, making it easier for the driver to recognize why autonomous driving is possible and why autonomous driving is not possible. Therefore, it is possible to more easily present to the driver whether or not the vehicle is capable of autonomous driving.

[0132] Although the fourth embodiment has been described using a bar graph as an example, the present invention is not limited to this. Any graph other than a bar graph may be used as long as it can indicate the degree to which the autonomous driving conditions are satisfied.

[0133] (Embodiment 5) In the third and fourth embodiments, an example of a configuration in which condition presentation images are displayed side by side for multiple types of categorized autonomous driving conditions has been shown, but this is not necessarily limited to this. A configuration in which condition presentation images are displayed side by side for multiple types of categorized autonomous driving conditions may also be used in a display manner other than that shown in the third and fourth embodiments. According to a configuration in which condition presentation images are displayed side by side for multiple types of categorized autonomous driving conditions, displaying them side by side for each autonomous driving condition makes it easier for the driver to recognize why autonomous driving can be performed and why autonomous driving cannot be performed.

[0134] (Embodiment 6) In the above-described embodiment, a condition presentation image is displayed for each of the multiple types of autonomous driving conditions, but this is not necessarily limited to this. For example, a configuration may be adopted in which a display is made to indicate whether all of the multiple types of autonomous driving conditions for level 3 or higher autonomous driving are met, or whether any one of these autonomous driving conditions is not met. These displays may be displayed separately from a display indicating whether autonomous driving at level 3 or higher can be performed. For example, a text image such as "Insufficient autonomous driving conditions" may be displayed separately from a text image such as "LV3 not possible."

[0135] With the above configuration, the driver can easily recognize whether or not the conditions for autonomous driving of the vehicle are met by looking at the condition presentation image displayed on the display 91. As a result, it is possible to present to the driver in an easy-to-understand manner whether or not the vehicle is capable of autonomous driving.

[0136] The present disclosure is not limited to the above-described embodiments, and various modifications are possible within the scope of the claims. Embodiments obtained by appropriately combining the technical means disclosed in different embodiments are also within the technical scope of the present disclosure. The control unit and method described in the present disclosure may be implemented by a special-purpose computer comprising a processor programmed to execute one or more functions embodied in a computer program. Alternatively, the apparatus and method described in the present disclosure may be implemented by a special-purpose hardware logic circuit. Alternatively, the apparatus and method described in the present disclosure may be implemented by one or more special-purpose computers configured by combining a processor executing a computer program with one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by a computer on a computer-readable non-transitory tangible recording medium. [Explanation of symbols]

[0137] 1 Vehicle system (vehicle display control system), 10, 10a, 10b HCU (vehicle display control device), 91 display, 92 user input device (input reception unit), 93 automatic driving SW (input reception unit), f101 information acquisition unit, 102 condition specification unit, 103 changeover request acquisition unit, 104, 104a, 104b display control unit

Claims

1. It is used in vehicles capable of autonomous driving, where the vehicle system can perform all driving tasks. a condition specifying unit (102) that specifies whether or not a condition for executing the automatic driving is satisfied; a display control unit (104, 104a, 104b) that displays, on a display (91) used in a passenger compartment of the vehicle, a condition presentation image that indicates that the vehicle satisfies the conditions for executing the autonomous driving, according to a result of the identification by the condition identification unit; The condition specification unit specifies whether or not a condition for executing the autonomous driving is satisfied, for each of a plurality of types of conditions, the display control unit starts displaying the condition presentation image in at least one of a situation where the autonomous driving is not being performed and a situation where the autonomous driving is to be terminated, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The display control unit is a vehicle display control device that ends the display of the condition presentation image when the vehicle performs the autonomous driving after displaying the condition presentation image.

2. It is used in vehicles capable of autonomous driving, where the vehicle system can perform all driving tasks. a condition specifying unit (102) that specifies whether or not a condition for executing the automatic driving is satisfied; a display control unit (104, 104a, 104b) that displays, on a display (91) used in a passenger compartment of the vehicle, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing the autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing the autonomous driving, according to the identification result by the condition identification unit; The condition specification unit specifies whether or not a condition for executing the autonomous driving is satisfied, for each of a plurality of types of conditions, the display control unit starts displaying the condition presentation image in at least one of a situation where the autonomous driving is not being performed and a situation where the autonomous driving is to be terminated, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The display control unit is a vehicle display control device that ends the display of the condition presentation image when the vehicle performs the autonomous driving after displaying the condition presentation image.

3. Used in an autonomous vehicle in which a vehicle-side system performs at least some of the driving tasks, a condition specifying unit (102) that specifies whether or not the conditions for executing the automatic driving are satisfied for each of a plurality of types of conditions; a display control unit (104, 104a, 104b) that displays, on a display (91) used in a passenger compartment of the vehicle, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing the autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing the autonomous driving, based on the identification result by the condition identification unit; the display control unit starts displaying the condition presentation image in at least one of a situation where the autonomous driving is not being performed and a situation where the autonomous driving is to be terminated, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The display control unit is a vehicle display control device that ends the display of the condition presentation image when the vehicle performs the autonomous driving after displaying the condition presentation image.

4. In any one of claims 1 to 3, The display control unit (104) causes the display device to display a foreground image that is an image showing a foreground of the vehicle, The display control device for a vehicle causes a change in the display of a portion of the foreground image that corresponds to the condition to be displayed as the condition presentation image.

5. In any one of claims 1 to 3, The display control unit (104a, 104b) displays the condition presentation images in a line according to the conditions classified into a plurality of types.

6. In claim 5, The display control unit (104a) displays, as the condition presentation image, images of icons classified into a plurality of types for each of the conditions, side by side.

7. In claim 6, The display control unit (104a) is a vehicle display control device that, when the vehicle transitions from a state in which the conditions for performing the autonomous driving are satisfied to a state in which the conditions for performing the autonomous driving are not satisfied, or when the vehicle transitions, displays, as the condition presentation image, an image of an icon indicating that the vehicle does not satisfy the conditions for performing the autonomous driving, for the condition that caused the vehicle to transition to a state in which the conditions for performing the autonomous driving are not satisfied.

8. In claim 5, The display control unit (104b) displays, as the condition presentation image, an image of a graph in which the conditions, which are divided into multiple types, are arranged as items and the degree to which each condition is satisfied.

9. In claim 8, The display control unit displays, in the graph image, the degree to which the conditions are satisfied for each of the conditions, which are divided into multiple types.

10. In any one of claims 1 to 3, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The condition specification unit specifies whether or not a condition for executing the autonomous driving is satisfied, for each of a plurality of types of conditions, the display control unit displays the condition presentation image for each of the conditions classified into a plurality of types, The display control unit is configured to start displaying the condition presenting image when a specific condition among the conditions classified into a plurality of types is satisfied.

11. It is used in vehicles capable of autonomous driving, where the vehicle system can perform all driving tasks. a condition specifying unit (102) that specifies whether or not a condition for executing the automatic driving is satisfied; a display control unit (104, 104a, 104b) that displays, on a display (91) used in a passenger compartment of the vehicle, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing the autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing the autonomous driving, according to the identification result by the condition identification unit; the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The condition specification unit specifies whether or not a condition for executing the autonomous driving is satisfied, for each of a plurality of types of conditions, the display control unit starts displaying the condition presenting image when a specific condition among the conditions classified into a plurality of types is satisfied, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The display control unit is a vehicle display control device that ends the display of the condition presentation image when the vehicle performs the autonomous driving after displaying the condition presentation image.

12. In any one of claims 1 to 3 and 11, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The condition specification unit specifies whether or not a condition for executing the autonomous driving is satisfied, for each of a plurality of types of conditions, the display control unit displays the condition presentation image for each of the conditions classified into a plurality of types, The display control unit is a vehicle display control device that starts displaying the condition presentation image when a location that satisfies a specific condition among the conditions, which are divided into multiple types, can be predicted and the vehicle is within a specified distance or a specified time from that location.

13. In any one of claims 1 to 3 and 11, the display control unit starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, The display control unit is a vehicle display control device that starts displaying the condition presentation image when an input requesting the start of autonomous driving is received from an input receiving unit (92, 93) that receives input from a user of the vehicle.

14. Used in vehicles, a display (91) used in the vehicle interior; A vehicle display control system including the vehicle display control device (10, 10a, 10b) according to any one of claims 1 to 13.

15. A vehicle display control method used in an autonomously driven vehicle in which a vehicle-side system can perform all driving tasks, comprising: Executed by at least one processor, a condition specifying step of specifying whether or not a condition for executing the automatic driving is satisfied; and a display control step of displaying, on a display (91) used in a passenger compartment of the vehicle, a condition presentation image which is an image indicating that the vehicle satisfies the conditions for executing the autonomous driving, according to the identification result in the condition identification step; In the condition specification step, whether or not the conditions for executing the automatic driving are satisfied is specified for each of a plurality of types of conditions, In the display control step, display of the condition presentation image is started in at least one of a situation where the autonomous driving is not being performed and a situation where the autonomous driving is to be terminated, The display control step starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, In the display control step, when the vehicle performs the autonomous driving after displaying the condition presentation image, the display of the condition presentation image is terminated.

16. A vehicle display control method used in an autonomously driven vehicle in which a vehicle-side system can perform all driving tasks, comprising: Executed by at least one processor, a condition specifying step of specifying whether or not a condition for executing the automatic driving is satisfied; and a display control step of displaying, on a display (91) used in the cabin of the vehicle, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing the autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing the autonomous driving, according to the identification result in the condition identification step. In the condition specification step, whether or not the conditions for executing the automatic driving are satisfied is specified for each of a plurality of types of conditions, In the display control step, display of the condition presentation image is started in at least one of a situation where the autonomous driving is not being performed and a situation where the autonomous driving is to be terminated, The display control step starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, In the display control step, when the vehicle performs the autonomous driving after displaying the condition presentation image, the display of the condition presentation image is terminated.

17. A vehicle display control method used in an autonomously driven vehicle in which a vehicle-side system can perform all driving tasks, comprising: Executed by at least one processor, a condition specifying step of specifying whether or not a condition for executing the automatic driving is satisfied; and a display control step of displaying, on a display (91) used in the cabin of the vehicle, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing the autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing the autonomous driving, according to the identification result in the condition identification step. The display control step causes the display device to display a foreground image that shows a foreground of the vehicle, In the display control step, display of the condition presentation image is started in at least one of a situation where the autonomous driving is not being performed and a situation where the autonomous driving is to be terminated, The display control step starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, In the display control step, when the vehicle performs the autonomous driving after displaying the condition presentation image, the display of the condition presentation image is terminated.

18. A vehicle display control method used in an autonomously driven vehicle in which a vehicle-side system can perform all driving tasks, comprising: Executed by at least one processor, a condition specifying step of specifying whether or not a condition for executing the automatic driving is satisfied; and a display control step of displaying, on a display (91) used in the cabin of the vehicle, a condition presentation image, which is at least one of an image indicating that the vehicle satisfies the conditions for executing the autonomous driving and an image indicating that the vehicle does not satisfy the conditions for executing the autonomous driving, according to the identification result in the condition identification step. The display control step starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, In the condition specification step, whether or not the conditions for executing the automatic driving are satisfied is specified for each of a plurality of types of conditions, the display control step starts displaying the condition presenting image when a specific condition among the conditions classified into a plurality of types is satisfied; The display control step starts displaying the condition presentation image at least in a situation where the autonomous driving is not being performed, In the display control step, when the vehicle performs the autonomous driving after displaying the condition presentation image, the display of the condition presentation image is terminated.

Images