car

Abstract

This automobile is provided with: an entertainment execution device (41) that executes entertainment software, communicates with a radio control device (RC), or plays back a video content; and a display device (6) that displays an image outputted from the entertainment execution device on a flexible display (65) that is capable of being raised or lowered between a steering wheel (501) and a windshield (W) or a front windshield (W1).

Description

[Technical Field]

[0001] The present invention relates to a vehicle, and more particularly to a vehicle that allows entertainment within the vehicle cabin. [Background technology]

[0002] There are known automobiles that allow drivers to enjoy racing games inside the vehicle by operating various operating devices such as a display, steering wheel, accelerator pedal, and brake pedal installed inside the vehicle (see the article in Non-Patent Document 1). [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] https: / / response.jp / article / 2019 / 06 / 23 / 323716.html Article published on June 23, 2019 on the Automotive Media Response website: "Play games on Tesla's in-car display, latest title is 'Beach Buggy Racing 2'...Controlled by steering wheel and pedals" Summary of the Invention [Problem to be solved by the invention]

[0004] However, in the above-mentioned conventional automobiles, the display that displays the game content is provided on the center console, and the driver's line of sight is directed downward and toward the center of the vehicle, which causes neck fatigue.

[0005] The problem to be solved by the present invention is to provide a vehicle in which a passenger can enjoy entertainment such as games in a comfortable position inside the vehicle. [Means for solving the problem]

[0006] The present invention solves the above problem by displaying images output from an entertainment execution device on a flexible display that can be raised and lowered between the windshield or front windshield and the steering wheel in a vehicle equipped with an entertainment execution device. [Effects of the Invention]

[0007] According to the present invention, a person can enjoy entertainment such as games in a comfortable position inside the vehicle. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a block diagram showing an embodiment of a vehicle according to the present invention; [Figure 2] FIG. 2 is a schematic diagram showing an example of the steering device of FIG. 1. [Figure 3] FIG. 10 is a front view showing an example of a display for allowing the driver to select between an entertainment mode and a driving mode. [Figure 4] 2 is a schematic diagram showing a situation in which a car racing game is played using the entertainment execution device of FIG. 1. FIG. [Figure 5] 2 is a schematic diagram illustrating a situation in which a radio-controlled toy car is controlled using the entertainment execution device of FIG. 1; [Figure 6] FIG. 2 is a diagram illustrating an example of the display device of FIG. [Figure 7A] FIG. 10 is a diagram showing another example of the display device of FIG. 1 (in an elevated state and entertainment mode); [Figure 7B] FIG. 10 is a diagram showing another example of the display device of FIG. 1 (lowering state, operating mode). [Figure 8A] FIG. 10 is a diagram showing yet another example of the display device of FIG. 1 (in operation mode). [Figure 8B] FIG. 10 is a diagram showing yet another example of the display device of FIG. 1 (entertainment mode). [Figure 9] FIG. 2 is a plan view showing an example of the monitoring device of FIG. [Figure 10] 2 is a flowchart showing an information processing flow executed by the automobile of FIG. 1. [Figure 11A]11 is a flowchart (part 1) showing a subroutine of the operation mode (S6) of FIG. 10. [Figure 11B] 11 is a flowchart (part 2) showing a subroutine of the operation mode (S6) of FIG. 10. [Figure 12] 11 is a flowchart showing a subroutine of the entertainment mode (S7) of FIG. 10. [Figure 13] 13 is a flowchart showing a subroutine of the monitoring mode (S74) of FIG. 12. [Figure 14A] 13 is a flowchart (part 1) showing a subroutine of the game mode (S76) of FIG. 12. [Figure 14B] 13 is a flowchart (part 2) showing a subroutine of the game mode (S76) of FIG. 12. [Figure 15A] 13 is a flowchart (part 1) showing a subroutine of the radio control mode (S77) in FIG. 12. [Figure 15B] 13 is a flowchart (part 2) showing a subroutine of the radio control mode (S77) in FIG. 12. [Figure 16] 13 is a flowchart showing a subroutine of the video mode (S78) of FIG. 12. DETAILED DESCRIPTION OF THE INVENTION

[0009] Main Configuration of Automobile V According to the Embodiment Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing an embodiment of a vehicle according to the present invention. The vehicle V of this embodiment is equipped with an entertainment execution device 41. By activating the entertainment execution device 41 while the vehicle V is stopped and operating various operating devices provided in the vehicle cabin, such as the display device 6, steering wheel 501, accelerator pedal 14, and brake pedal 15, the vehicle occupant can enjoy racing games, driving radio-controlled toys, and the like. The vehicle V of this embodiment also allows the entertainment execution device 41 to play movies and other video content on the display device 6, allowing the vehicle occupant to watch videos in the vehicle cabin.

[0010] Therefore, the automobile V of this embodiment is equipped with an entertainment execution device 41 that runs racing games or other entertainment software, communicates with radio-controlled toys or other radio-controlled devices, or plays video content, and a display device 6 that displays images output from the entertainment execution device 41 on a flexible display 65 that can be raised and lowered between the windshield W of the vehicle body B or the front windshield W1 and the steering wheel 501.

[0011] The automobile V of this embodiment is also equipped with a steering device 5 of a so-called steer-by-wire (SBW) type in which the steering wheel 501 is mechanically separated from the steered wheels 502 and the operation of the steering wheel 501 is transmitted to the steered wheels 502 as an electrical signal, and a mode selection control device 2 that can select between an entertainment mode for operating the entertainment execution device 41 and a driving mode for driving the automobile V. However, the steering device 5 of the steer-by-wire type and the mode selection control device 2 are not essential components of the automobile according to the present invention and may be omitted.

[0012] First, the display device 6 of this embodiment will be described. Fig. 6 is a diagram showing an example of the display device of this embodiment, as viewed from the front of the vehicle interior. The display device 6 of this embodiment includes a center display 61 and a meter display 62 provided on the instrument panel B1, as well as a display 63 provided on the front windshield W1 and a display 64 provided on the interior mirror M.

[0013] The surface of the front windshield W1 is divided into a first area R1 where it is permitted to display information and a second area R2 where it is not permitted, in order to ensure forward visibility under regulations such as the Road Traffic Act. The upper and lower ends of the front windshield W1 shown in Figure 6 are the first area R1 where it is permitted to display information, and the center between them is the second area R2 where it is not permitted to display information. In this example, the display 63 provided on the front windshield W1 is set over an area that includes at least the second area R2, and preferably over the entire front windshield W1.

[0014] There are no particular limitations on the specific means for providing the display 63 on the front windshield W1, but it can be realized, for example, by providing a thin-film display made of organic light-emitting diodes (OLEDs) on the front windshield W1. Alternatively, it can be realized by configuring the front windshield W1 with light-control glass that has an electronic light-blocking function, and installing a projector on the roof trim or the like to project an image onto the light-control glass in light-blocking mode. Furthermore, a head-up display device may be used to project a virtual image onto the front windshield W1, thereby serving as the display 63.

[0015] The display 64 provided on the interior mirror M can be configured as a liquid crystal display and may be used in common with the display of the electronic interior mirror. The center display 61 displays map information from the navigation system, input / output information from the air conditioning system 7, input / output information from the audio system 8, etc., while the meter display 62 displays various information related to the driving state, such as speed and remaining fuel.

[0016] The display device 6 of this embodiment is not limited to the display 63 provided on the front windshield W1, and may include other types of displays. Figures 7A and 7B are diagrams showing other examples of the display device 6 of this example. Figure 7A shows a state in which the flexible display 65 of this example is raised (entertainment mode), and Figure 7B shows a state in which the flexible display 65 of this example is lowered (driving mode), both of which are views of the front of the vehicle from inside the passenger compartment.

[0017] The flexible display 65 of this example is provided on the instrument panel B1 between the front windshield W1 and the steering wheel 501, and is provided so as to be able to rise and fall between the raised position shown in Fig. 7A and the lowered position shown in Fig. 7B. The flexible display 65 of this example can be configured, for example, from a sheet-like organic EL display, and by winding and unwinding the sheet-like organic EL display inside the instrument panel B1, a lifting mechanism for the flexible display 65 can be realized in a small space.

[0018] When a driving mode is selected by the mode selection control device 2 (described later) and the vehicle V is driven, the flexible display 65 of this example is lowered as shown in Fig. 7B, ensuring forward visibility through the entire front windshield W1. That is, the flexible display 65 of this example is lowered to a position where it does not obstruct forward visibility. In this lowered state, a portion of the flexible display 65 protrudes from the instrument panel B1, and the information displayed on the center display 61 and the meter display 62 is displayed on its display surface.

[0019] In contrast, when the entertainment mode is selected by the mode selection control device 2, the screen is raised as shown in FIG. 7A, and an image output from the entertainment execution device 41 can be displayed on this enlarged large screen.

[0020] The display device 6 of this embodiment is not limited to the display 63 provided on the front windshield W1, the display 64 provided on the interior mirror M, and the flexible display 65 shown in Fig. 6, and may further include displays of other types. Figs. 8A and 8B are diagrams showing still another example of the display device 6 of this embodiment, and are views showing the rear of a vehicle including the rear seats of a minivan-type automobile.

[0021] In this example, the two side windshields W2, W3 (there may be four in total, left and right) and the rear windshield W4 are made of photochromic glass. Photochromic glass is glass that can be switched between a transparent state (translucent mode) that allows light to pass through and an opaque state (light blocking mode) that blocks light, and can be achieved by attaching photochromic film to the glass of the side windshields W2, W3 and the rear windshield W4.

[0022] In the display device 6 of this example, the roof trim is provided with a projector PJ1 that projects an image onto the side windshield W2, a projector PJ2 that projects an image onto the side windshield W3, and a projector PJ3 that projects an image onto the rear windshield W4.

[0023] When the driving mode is selected by the mode selection control device 2 (described later) and the vehicle V is driven, the light-controlling glass of the side windshields W2, W3 and the rear windshield W4 is set to the light-transmitting mode, as shown in Fig. 8A, to ensure the occupants' visibility to the outside world. On the other hand, when the entertainment mode is selected by the mode selection control device 2 and an image from the entertainment execution device 41 is displayed, the light-controlling glass of the side windshields W2, W3 and the rear windshield W4 is set to the light-blocking mode, as shown in Fig. 8B, and images are projected onto the side windshields W2, W3 and the rear windshield W4 from the respective projectors PJ1, PJ2, PJ3. Although not shown, if the vehicle V is equipped with a sunroof or moonroof, images may be projected onto these roof windshields using a similar configuration.

[0024] In addition, when displaying an image from the entertainment device 41 on the side windshields W2, W3 or rear windshield W4 shown in Figures 8A and 8B, a thin-film display made of organic light-emitting diodes (OLED) may be provided on these side windshields W2, W3 or rear windshield W4 instead of the above-mentioned dimming glass and projectors PJ1 to PJ3.

[0025] As described above, the vehicle V of this embodiment may have the windshield W in the shaded mode and may be used for entertainment within the vehicle. Therefore, the driver may not notice a suspicious person approaching the vehicle. For this reason, the vehicle V of this embodiment is provided with a monitoring device 17. FIG. 9 is a plan view showing an example of the monitoring device 17 of this embodiment.

[0026] As shown in Fig. 9, the monitoring device 17 of this embodiment includes five cameras 171 to 175 and four radar or sonar sensors. The cameras include camera 171, which is provided in the center of the front bumper and captures an image in front of the vehicle, camera 172, which is provided near the interior mirror and captures an image in front of the vehicle, camera 173, which is provided in the right door mirror and captures an image on the right side of the vehicle, camera 174, which is provided in the left door mirror and captures an image on the left side of the vehicle, and camera 175, which is provided in the center of the rear bumper and captures an image behind the vehicle. The imaging ranges of each of these cameras 171 to 175 are shown by solid lines in Fig. 9.

[0027] The radar or sonar sensors include a radar or sonar sensor 176 mounted on the right side of the front bumper for scanning the area in front of the vehicle to the right, a radar or sonar sensor 177 mounted on the left side of the front bumper for scanning the area in front of the vehicle to the left, a radar or sonar sensor 178 mounted on the right side of the rear bumper for scanning the area in the rear right of the vehicle, and a radar or sonar sensor 179 mounted on the left side of the rear bumper for scanning the area in the rear left of the vehicle. The scanning ranges of these radar or sonar sensors 176 to 179 are shown by dotted lines in Fig. 9.

[0028] The monitoring device 17 of this embodiment reads detection signals from these cameras 171-175 and radar or sonar sensors 176-179 and monitors whether there is an abnormality around the vehicle. The method by which the monitoring device 17 detects an abnormality is not particularly limited, but it may determine that an abnormality exists when a moving object such as an animal including a human or a vehicle is detected. Furthermore, as will be described in detail later, when the entertainment mode is selected and the monitoring device 17 detects an abnormality around the vehicle, the mode selection control device 2 controls the display device 6 to stop or suspend the display of images output from the entertainment execution device 41. This allows the driver to temporarily stop the entertainment and visually check the surroundings of the vehicle, thereby preventing vandalism and theft of the vehicle.

[0029] Next, the steer-by-wire steering device 5 of this embodiment will be described. Fig. 2 is a schematic diagram showing an example of the steering device 5 of this embodiment, which includes a steering wheel 501 that can be steered by the driver, steerable wheels 502 which are the left and right front wheels, and a steering shaft 503. The steering wheel 501 is connected to the steering shaft 503 and is provided so as to be mechanically separable from the steerable wheels 502, 502. A steering angle sensor 504, a reaction force motor 505, and a steering torque sensor 506 are provided on this steering shaft 503.

[0030] The steering angle sensor 504 detects the steering angle of the steering wheel 501 and can be configured with an encoder or the like.

[0031] The reaction force motor 505 applies torque to the steering shaft 503 to give a steering reaction force to the steering wheel 501, and the steering reaction force is a force that acts in the opposite direction to the operating direction in which the driver steers the steering wheel 501. The reaction force motor 505 can be configured with a brushless motor or the like, and is driven in accordance with a reaction force motor drive current output by a first control unit 51 of the SBW controller ECU 5, which will be described later.

[0032] Steering torque sensor 506 detects the steering torque transmitted from steering wheel 501 to steering shaft 503. Steering torque sensor 506 is configured to detect the steering torque by detecting the torsional angle displacement of a torsion bar with a potentiometer, for example.

[0033] The steering device 5 of this embodiment further includes a clutch 507, a pinion shaft 508, a steering motor 509, a steering motor angle sensor 510, a pinion gear 511, a rack shaft 512, a tie rod 513, a knuckle arm 514, and a SBW controller ECU5.

[0034] Clutch 507 is interposed between steering wheel 501 and steered wheels 502, and switches between an engaged state and a disengaged state in accordance with a clutch command current from SBW controller ECU 5. Clutch 507 in this example is a non-excitation engaging type electromagnetic clutch. When the electromagnetic coil is de-energized, for example, a cam roller mechanism causes rollers to mesh between the cam surface of the input shaft and the outer ring of the output shaft, engaging the input shaft and the output shaft to an engaged state. On the other hand, when the electromagnetic coil is excited, attraction of the armature releases the roller meshing between the cam surface of the input shaft and the outer ring of the output shaft, disconnecting the input shaft and the output shaft to an engaged state. Clutch 507 in this example is in a disengaged state when the SBW system is operating normally, and is in an engaged state when some abnormality occurs in the SBW system.

[0035] Furthermore, in the clutch 507 of this example, when it is in a disengaged state, the torque transmission path between the steering wheel 501 and the steerable wheels 502 is mechanically separated, so that the steering operation of the steering wheel 501 is not transmitted to the steerable wheels 502. On the other hand, when the clutch 507 is in an engaged state, the torque transmission path between the steering wheel 501 and the steerable wheels 502 is mechanically connected, so that the steering operation of the steering wheel 501 is transmitted to the steerable wheels 502.

[0036] One end of pinion shaft 508 is connected to clutch 507, and the other end is provided with pinion gear 511. Pinion gear 511 meshes with a rack gear provided between both ends of rack shaft 512. Both ends of rack shaft 512 are connected to steered wheels 502 via tie rods 513 and knuckle arms 514. As a result, rack shaft 512 is displaced in the vehicle width direction in accordance with the rotation of pinion gear 511, and steered wheels 502 are turned via tie rods 513 and knuckle arms 514. As a result, the traveling direction of automobile V changes.

[0037] Like reaction force motor 505, steering motor 509 is formed by a brushless motor or the like, and is driven in accordance with a steering motor drive current output by SBW controller ECU 5. Steering motor 509 is driven in accordance with the steering motor drive current, thereby outputting a steering torque for steering steered wheels 502. A worm is provided at the tip of the output shaft of steering motor 509, and a worm wheel is provided on pinion shaft 508, and the rotation of steering motor 509 is transmitted to pinion shaft 508 by meshing of worm gear 515 consisting of this worm and worm wheel.

[0038] Steering motor 509 is provided with steering motor angle sensor 510. Steering motor angle sensor 510 detects the rotation angle of steering motor 509. Here, the steering angle of steered wheels 502 is uniquely determined by the rotation angle of steering motor 509, the gear ratio of worm gear 515, and the gear ratio between pinion gear 511 and the rack gear of rack shaft 512, so the steering angle of steered wheels 502 can be found from the rotation angle of steering motor 509. In other words, the steering angle of steered wheels 502 can be found from the angle detected by steering motor angle sensor 510.

[0039] SBW controller ECU 5 is composed of a microcomputer including a processor, and reads steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering torque T detected by steering torque sensor 506, and steering angle θr detected by steering motor angle sensor 510. In addition to these, SBW controller ECU 5 receives as input vehicle speed Vd and yaw rate γ from a controller of another system (not shown). When clutch 507 is in a disengaged state, SBW controller ECU 5 drives and controls steering motor 509 in accordance with the steering state of steering wheel 501 to steer steered wheels 502. As a result, steering angle θr of steered wheels 502 coincides with the steering command angle in accordance with the steering state of steering wheel 501. At the same time, SBW controller ECU 5 drives and controls reaction force motor 505 in accordance with the steering state of steered wheels 502 to apply a steering reaction force to steering wheel 501. As a result, a steering reaction force simulating a road reaction force is applied to the steering wheel 501. In this way, the SBW controller ECU 5 performs steer-by-wire control (hereinafter also referred to as SBW control).

[0040] More specifically, the SBW controller ECU5 is configured to include a first control unit 51 and a second control unit 52, and the first control unit 51 outputs a first control amount corresponding to the steering reaction force on the steering wheel to a reaction force motor 505, and the second control unit 52 outputs a second control amount corresponding to the steering angle of the steered wheels to a steering motor 509.

[0041] Although not particularly limited, in SBW controller ECU 5 of the present embodiment, first control unit 51 and second control unit 52 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering torque T detected by steering torque sensor 506, steering angle θr detected by steering motor angle sensor 510, vehicle speed Vd, yaw rate γ, and based on these, independently calculate a first control amount to be output to reaction force motor 505 and a second control amount to be output to steering motor 509.

[0042] Then, before outputting to reaction force motor 505 and steering motor 509, it is determined whether the first control amount and second control amount calculated by first control unit 51 match the first control amount and second control amount calculated by second control unit 52, and if they do not match, it is determined that some kind of abnormality has occurred in steering device 5, and a signal indicating an abnormality is output.

[0043] Although details will be described later, in a driving mode in which automobile V is driven, first control unit 51 outputs a first control amount corresponding to the steering reaction force applied to steering wheel 501 to reaction force motor 505, and second control unit 52 outputs a second control amount corresponding to the steering angle of steered wheels 502 to steering motor 509. However, in an entertainment mode in which automobile V is stopped and entertainment execution device 41 is operated to enjoy a game or the like, first control unit 51 outputs a first control amount corresponding to the steering reaction force applied to steering wheel 501 to reaction force motor 505, while second control unit 52 outputs 0 to steering motor 509 as a control amount that does not change the steering angle of steered wheels 502. This makes it possible to stop the steering of steered wheels 502 even when steering wheel 501 is turned, while feeling a steering reaction force in accordance with the content of the game at steering wheel 501.

[0044] Returning to FIG. 1 , the automobile V of this embodiment is equipped with an IVI controller 4 including an entertainment execution device 41. The IVI controller 4 in this embodiment refers to an in-vehicle infotainment system, which is comprised of a microcomputer including a processor and provides information and entertainment. The IVI controller 4 in this embodiment provides information by using a car navigation system to provide route guidance and road traffic information. The IVI controller 4 also provides entertainment by using an audio device 8 including a TV tuner and a display device 6 to provide music, movies, television programs, and the like. In particular, the IVI controller 4 in this embodiment is equipped with an entertainment execution device 41 that runs racing games and other entertainment software, communicates with radio-controlled toys and other radio-controlled devices, and plays movies and other video content on the display device 6 and audio device 8.

[0045] When game software is executed using the entertainment execution device 41, the software content can be accessed by connecting to a cloud server CS, for example. When movies or other video content is played using the entertainment execution device 41, the video content can be downloaded by connecting to the cloud server CS, for example. When movies or other video content is played, a disc medium such as a DVD or BD that stores the video content can be played using the audio device 8 and displayed on the display device 6 of this embodiment.

[0046] The automobile V of this embodiment is equipped with a mode selection control device 2, which is composed of a microcomputer including a processor and can select between an entertainment mode for operating the entertainment device 41 and a driving mode for driving the automobile V. The mode selection control device 2 of this example includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when a main switch 3 for starting the automobile V is turned on. FIG. 3 is a front view showing an example of a selection switch displayed on a center display 61 of an instrument panel for allowing the driver to select between the entertainment mode and the driving mode. If the center display 61 is configured as an LCD touch panel or the like, the driver can select the desired mode by touching either a portion P1 on the left indicating the driving mode or a portion P2 on the right indicating the entertainment mode. The main switch 3 for starting the automobile V corresponds to an ignition switch in automobiles V equipped with an internal combustion engine, and corresponds to a power switch in electric vehicles and hybrid vehicles.

[0047] Incidentally, the mode selection control device 2 of this example requires the driver to select between the entertainment mode and the driving mode every time the main switch 3 for starting the automobile V is turned on, and this selection operation may be cumbersome for drivers who are not interested in the entertainment mode. For this reason, it is preferable that the mode selection control device 2 of this example be set as one of the so-called optional items when the automobile V is manufactured in accordance with the driver's request, and that it be installed only in automobiles V purchased by customers who require the entertainment mode.

[0048] The mode selection control device 2 of this example has a function of allowing the driver to select between an entertainment mode and a driving mode when starting the vehicle, and also has a function of controlling the steering device 5 so that the steered wheels 502 do not turn even when the steering wheel 501 is operated when the entertainment mode is selected. This will be described later.

[0049] Furthermore, mode selection control device 2 of this example sets the maximum rotation angle of steering wheel 501 when entertainment mode is selected to be smaller than the maximum rotation angle of steering wheel 501 when driving mode is selected. If the magnitude of the rotation angle of steered wheels 502 relative to the rotation angle of steering wheel 501 is defined as the turning angle of the steered wheels, mode selection control device 2 sets the turning angle of the steered wheels when entertainment mode is selected to be larger than the turning angle of the steered wheels when driving mode is selected. This eliminates the need to turn steering wheel 501 greatly when playing games or operating a radio-controlled vehicle, and enables agile steering operation with a small operating angle.

[0050] As shown in FIG. 1 , the automobile V of this embodiment includes a body control module 1. The body control module 1 of this embodiment is an electronic control unit that comprehensively controls the overall functions of the vehicle body and is composed of a microcomputer including a processor. Like a typical automobile, the automobile V of this embodiment also includes a display device 6, an air conditioning unit 7, an audio system 8 including speakers, a radio tuner, a TV tuner, and a CD / DVD / BD player, a seat position adjustment device 9 that adjusts the position and posture of the seat using an actuator, an air suspension system 10 that adjusts the posture of the vehicle body, steering switches 11 provided on the steering wheel 501, a gear shift lever 12 also known as a floor shift lever, paddle shifters 13 provided on the steering wheel 501, an accelerator pedal 14, a brake pedal 15, and a monitoring device 17. In addition to these, the automobile V also includes lighting devices inside and outside the vehicle, door locking / unlocking devices, door window glass raising / lowering devices, door mirrors, interior mirrors, wipers, etc.

[0051] In the automobile V of this embodiment, a communication path is constructed using an in-vehicle communication network (in-vehicle LAN) standard such as CSMA / CA multiplex communication (CAN: Controller Area Network) or FlexRay, and each controller including the body control module 1 is connected to each other via a communication line 16 so that they can communicate with each other.

[0052] When a driving mode is selected by the mode selection control device 2, that information is output from the mode selection control device 2 to the body control module 1, and the body control module 1 controls each controller shown in FIG. 1 in the normal driving mode.

[0053] On the other hand, when the entertainment mode is selected by the mode selection control device 2, a signal to that effect is output from the mode selection control device 2 to the body control module 1, and the body control module 1 controls each controller in accordance with the entertainment content being executed by the entertainment execution device 41. For example, an example of control of various devices of the automobile V will be described using the case where an automobile racing game is played using the entertainment execution device 41. Figure 4 is a schematic diagram showing a situation where an automobile racing game is played using the entertainment execution device 41.

[0054] In a car racing game such as that shown in Fig. 4, game software is displayed on display device 6, and the driver operates steering wheel 501, accelerator pedal 14, and brake pedal 15 while viewing this screen. Operational inputs other than those for accelerating, decelerating, and turning the racing car are also performed using various buttons on steering switch 11, paddle shift 13, and gear shift lever 12. The operation amounts of operation signals input from steering wheel 501, accelerator pedal 14, brake pedal 15, various buttons on steering switch 11, paddle shift 13, and gear shift lever 12 are output to entertainment execution device 41 via communication line 16 and body control module 1, and are input to the game software as control amounts for each operation defined by the game software. This allows the racing game to be played using steering wheel 501 and the like of car V.

[0055] On the other hand, when playing a car racing game, images are displayed on the display device 6 as described above, but the sounds output from the racing game are output from speakers using the audio device 8. To enhance the sense of realism in the racing game, the actuator of the seat position adjustment device 9 may be controlled to impart vibrations to the driver's seat. Similarly, the actuator of the air suspension device may be controlled to change the vehicle body position, thereby providing a sense of cornering and acceleration / deceleration. Furthermore, when playing a role-playing game (RPG), the air conditioning device 7 may be operated to change the temperature inside the vehicle depending on the environment in the game, thereby providing a sense of realism. Thus, by controlling at least one of the display device 6, the air conditioning device 7, the audio device 8, the seat position adjustment device 9, and the air suspension device 10 in response to a control signal from the entertainment execution device 41, the sense of realism of the entertainment can be further enhanced.

[0056] The entertainment execution device 41 of this embodiment is used not only to execute games and other entertainment software, but also to remotely control a radio-controlled car or a radio-controlled drone by communicating with a radio-controlled device RC. Fig. 5 is a schematic diagram showing a situation in which the entertainment execution device 41 is used to operate a radio-controlled device RC such as a radio-controlled car toy or a radio-controlled drone toy.

[0057] In a radio-controlled device RC, such as a radio-controlled car or drone as shown in FIG. 5, an image captured by a CCD camera mounted on the radio-controlled car or drone is displayed on display device 6, and the driver operates steering wheel 501, accelerator pedal 14, and brake pedal 15 while viewing this screen. Operational inputs other than those for accelerating, decelerating, and turning the radio-controlled car or drone are input using various buttons on steering switch 11, paddle shifters 13, and gearshift lever 12. The operation amounts of operation signals input from steering wheel 501, accelerator pedal 14, brake pedal 15, various buttons on steering switch 11, paddle shifters 13, and gearshift lever 12 are output to entertainment execution device 41 via communication line 16 and body control module 1, and are input to radio-controlled device RC as control amounts for each operation defined by radio-controlled device RC. This allows the radio-controlled car or drone to be controlled using steering wheel 501 of automobile V.

[0058] Meanwhile, when operating a radio-controlled car or a radio-controlled drone, the camera image is displayed on the display device 6 as described above, but the sound output from the radio control device RC is output from a speaker using the audio device 8. To enhance the sense of realism of the radio-controlled car or the radio-controlled drone, the actuator of the seat position adjustment device 9 may be controlled to impart vibration to the driver's seat. Similarly, the actuator of the air suspension device may be controlled to change the vehicle body position to provide a sense of cornering or acceleration / deceleration. Furthermore, the air conditioning device 7 may be operated to change the temperature inside the vehicle depending on the driving or flight environment, thereby providing a sense of realism. In this way, the sense of realism of the entertainment can be further enhanced by controlling at least one of the display device 6, the air conditioning device 7, the audio device 8, the seat position adjustment device 9, and the air suspension device 10 in response to a control signal from the entertainment execution device 41.

[0059] Operation of the Vehicle According to the Embodiment Next, the operation of the automobile V of this embodiment will be described. Figure 10 is a flowchart showing the information processing flow executed by the automobile V of this embodiment. First, in step S1, when the driver turns on the main switch 3 of the automobile V, the internal combustion engine starts in the case of an automobile equipped with an internal combustion engine, and the supply of power from the main power supply to the electrical system starts in the case of an electric automobile. In the following step S2, control by the SBW controller ECU 5 is started, and if it is determined that there is no ≦ in the steering device 5, the clutch 507 is released in step S3 and put into a non-engaged state.

[0060] 3 is displayed on the center display 61 of the display device 6, so in step S5, if the driving mode is desired, touch portion P1, and if the entertainment mode is desired, touch portion P2. If portion P1 indicating the driving mode is touched, the process proceeds to step S6, whereas if portion P2 indicating the entertainment mode is touched, the process proceeds to step S7.

[0061] In step S8, if the driving mode is selected, the driving mode continues until the driver turns off the main switch 3 of the automobile V, and if the entertainment mode is selected, the entertainment mode continues until the driver turns off the main switch 3 of the automobile V. When the driver turns off the main switch 3, the internal combustion engine stops in the case of an automobile equipped with an internal combustion engine, and the power supply from the main power source to the electrical system stops in the case of an electric automobile, so in step S9, the clutch 507 is engaged, changing from its previous disengaged state to an engaged state.

[0062] <<Operation mode>> Next, the operation of the driving mode in step S6 will be described. Figures 11A and 11B are flowcharts showing a subroutine when the driving mode in step S6 of Figure 10 is selected. The calculation processes shown in Figures 11A and 11B are repeated at predetermined time intervals (for example, every few msec). When the driver selects a driving mode in step S5 of Figure 10, the process proceeds to step S601 of Figure 11A. In step S601, the detection signal from steering angle sensor 504 is read out, and the steering angle of steering wheel 501 is detected.

[0063] When the steering angle of steering wheel 501 is detected in step S601, in the subsequent steps S602 and S603, first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, as well as steering torque T detected by steering torque sensor 506, vehicle speed Vd, and yaw rate γ, and based on these, independently calculate a second control variable to be output to steering motor 509. This second control variable is obtained as an output control value to steering motor 509 that corresponds to the steering angle of steered wheels 502. Here, the second control variable calculated by first control unit 51 is designated θ1, and the second control variable calculated by second control unit 52 is designated θ2. Note that, although not particularly limited in the automobile according to the present invention, by performing the same calculation in first control unit 51 and second control unit 52 and checking the agreement of the calculation results as in this embodiment, an abnormality in related equipment can be discovered.

[0064] In step S604, it is determined whether the second control variables θ1 and θ2 calculated in steps S602 and S603 match. A certain tolerance range may be set for this determination of match, taking into account calculation errors, etc. If the second control variables θ1 and θ2 match (θ1=θ2), the process proceeds to step S608 in FIG. 11B, where normal steering control is executed. On the other hand, if the second control variables θ1 and θ2 do not match (θ1≠θ2), ​​the process proceeds to step S605, where a warning light provided on the meter display 62 of the instrument panel or the like is turned on to indicate that an abnormality has been detected.

[0065] Following this, in step S606, excitation of the electromagnetic coil of the clutch 507 is stopped, and the previous disengaged state is changed to an engaged state. Alternatively, if the steering device 5 is configured in advance as a redundant system in which a plurality of sensors, controllers, and motors are provided, redundant control may be initiated to activate the backup system.

[0066] Following this, clutch 507 is engaged and the steering torque of steering wheel 501 is transmitted to pinion shaft 508, so in step S607 the process shifts to EPS control for using steering motor 509 as an actuator for electric power steering that assists the driver's steering operation. Thereafter, electric power steering control is performed with clutch 507 engaged.

[0067] Returning to step S604 in Fig. 11A, if second control variables θ1 and θ2 match (θ1 = θ2), the process proceeds to step S608 in Fig. 11B. In steps S608 to S610 in Fig. 11B, second control unit 52 outputs second control variable θ2 found by calculation to steering motor 509, and performs angle servo control to steer steerable wheels 502 via pinion shaft 508, pinion gear 511, rack shaft 512, etc. As a result, steerable wheels 502 are turned in accordance with the amount of operation of steering wheel 501 by the driver, and vehicle V turns in the desired direction.

[0068] In step S611, it is determined whether or not there is an input from the road surface to the steering gear via the steered wheels 502. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing is terminated.

[0069] On the other hand, if there is an input from the road surface, the process proceeds to steps S612 and S613, where first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, steering angle θr detected by steering motor angle sensor 510, steering torque T detected by steering torque sensor 506, vehicle speed Vd, and yaw rate γ, and independently calculate a first control amount to be output to reaction force motor 505 based on these detection values. This first control amount is obtained as an output control value to reaction force motor 505 corresponding to the steering reaction force torque of steering wheel 501. Here, the first control amount calculated by first control unit 51 is designated F1, and the first control amount calculated by second control unit 52 is designated F2. Note that, although not particularly limited in the automobile according to the present invention, an abnormality in related equipment can be discovered by having first control unit 51 and second control unit 52 perform the same calculation and confirming the agreement of the calculation results as in this embodiment.

[0070] In step S614, the first control amounts F1 and F2 calculated in steps S612 and S613 are determined to be consistent with each other. A certain tolerance may be set for this consistency determination, taking into account calculation errors and the like. If the first control amounts F1 and F2 are consistent (F1=F2), the process proceeds to step S615, where reaction force control by the first control unit is performed as in a normal case. On the other hand, if the first control amounts F1 and F2 are not consistent (F1≠F2), the process proceeds to step S617, where a warning light provided on the meter display 62 of the instrument panel or the like is turned on to indicate that an abnormality has been detected.

[0071] Following this, in step S618, F=0 is output as the first control amount to reaction force motor 505. That is, in the following step S619, clutch 507 is engaged, so that the original mechanical reaction force is applied to steering wheel 501, or instead, redundant control is started, and therefore the first control amount output to reaction force motor 505 is set to F=0 here.

[0072] Following this, in step S619, excitation of the electromagnetic coil of the clutch 507 is stopped, and the previous disengaged state is changed to an engaged state. Alternatively, if the steering device 5 is configured in advance as a redundant system in which a plurality of sensors, controllers, and motors are provided, redundant control may be initiated to activate the backup system.

[0073] Following this, clutch 507 is engaged and the steering torque of steering wheel 501 is transmitted to pinion shaft 508, so in step S620 the process shifts to EPS control for using steering motor 509 as an actuator for electric power steering that assists the driver's steering operation. Thereafter, electric power steering control is performed with clutch 507 engaged.

[0074] Returning to step S614, if the first control amounts F1 and F2 match (F1=F2), the process proceeds to step S615. In steps S615 and S616, the calculated first control amount F1 is output to reaction force motor 505, and a pseudo force equivalent to the steering reaction force input from the road surface is applied to steering wheel 501. This allows the driver to feel the reaction force corresponding to the driving operation.

[0075] Entertainment mode operation Next, the operation of the entertainment mode in step S7 of Fig. 10 will be described. Fig. 12 is a flowchart showing a subroutine when the entertainment mode is selected in step S7 of Fig. 10. When the driver selects the entertainment mode in step S5 of Fig. 10, the process proceeds to step S71 of Fig. 12. In step S71, the entertainment execution device 41 starts up, and in the following step S72, an initial screen and a selection screen are displayed on the display device 6. The entertainment execution device 41 of this embodiment has a game mode for enjoying games, a radio control mode for enjoying radio control devices, and a video mode for watching videos such as movies, and therefore in the following step S75, the driver is prompted to select which of the game mode, radio control mode, or video mode he or she wishes to execute.

[0076] When the initial screen or selection screen is displayed on the screen of the display device 6 in step S72, the monitoring device 17 is started in step S73, and the monitoring mode is executed in step S74. Figure 13 is a flowchart showing the subroutine of the monitoring mode in step S74.

[0077] First, in step S741, detection signals from the cameras 171-175 and radar or sonar sensors 176-179 provided on the vehicle body B are read at predetermined time intervals to monitor whether there are any abnormalities around the vehicle. If a moving object such as an animal or vehicle is detected and it is determined that this is the case, the process proceeds to step S742, where the display of images output from the entertainment device 41 to the display device 6 is stopped. This causes the entertainment device 41 to temporarily stop in step S743. The driver checks the surroundings of the vehicle visually or otherwise to confirm whether there are any abnormalities. If there are no abnormalities, the re-display of images on the display device 6 is permitted (OK) in step S744, but image display will continue to be stopped unless the abnormality is resolved.

[0078] If redisplay of the image on the display device 6 is permitted (OK) in step S744, the entertainment execution device 41 is restarted in step S745, and the image is displayed on the display device 6 in step S746. The monitoring mode shown in Fig. 13 continues while any of the game mode, radio control mode, and video mode in Fig. 12 is being executed.

[0079] Returning to step S75 in Figure 12, if the driver selects the game mode, the process proceeds to step S76; if the driver selects the radio control mode, the process proceeds to step S77; and if the driver selects the video mode, the process proceeds to step S78. Details of the game mode in step S76, the radio control mode in step S77, and the video mode in step S78 will be described later. In the following step S79, if the driver selected the game mode in step S76, it is determined whether the game has ended; if the driver selected the radio control mode in step S77, it is determined whether the operation of the radio control device has ended; and if the driver selected the video mode in step S78, it is determined whether the playback of the video content has ended; and if so, the process ends.

[0080] Game mode behavior in recreational mode Next, a description will be given of the operation when the driver selects the game mode in step S75 of Fig. 12. Fig. 14A and Fig. 14B are flowcharts showing the game mode subroutine in step S76 of Fig. 12. Note that in the processing flow of Fig. 14A, one routine of calculation is executed when the game mode is selected, and the processing flow of Fig. 14B is repeatedly executed at predetermined time intervals (for example, every few msec) after the game control enters a standby state in step S769 of Fig. 14A.

[0081] First, when the driver selects the game mode, in step S761 of Figure 14A, the IVI controller 4 starts overall control of the entertainment execution device 41, and the entertainment execution device 41 starts application software for executing a game. Then, in step S762, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud game platform, and starts the desired game software, in this case a racing car game. In step S763, the display device 6 for displaying game images is selected from the display 63 mounted on the front windshield W1, the display 64 mounted on the interior mirror M, and the windshield W made of light-controlling glass.

[0082] If the driver selects the display 63 provided on the front windshield W1, the process proceeds to step S764, where the entertainment execution device 41 displays the content of the selected racing car game on the display 63 provided on the front windshield W1. Similarly, if the driver selects the display 64 provided on the interior mirror M, the process proceeds to step S765, where the entertainment execution device 41 displays the content of the selected racing car game on the display 64 provided on the interior mirror M. Similarly, if the driver selects the windshield W made up of photochromic glass, the process proceeds to step S766, where the photochromic glass is set to the light-blocking mode, and then the process proceeds to step S767, where the entertainment execution device 41 displays the content of the selected racing car game on the windshield W made up of photochromic glass.

[0083] In step S768, second control unit 52 outputs θ3=0 as the steering angle to steering motor 509. Here, if main switch 3 of automobile V is turned ON in step S1 of FIG. 10 and then entertainment mode is selected in step S7, SBW control by SBW controller ECU 5 is started in the previous step S2, and clutch 507 is put into a disengaged state in step S3. Therefore, when steering wheel 501 is operated to operate a racing car in a racing car game, steered wheels 502 are also steered by SBW control. In this embodiment, in step S744 before the start of the game, second control unit 52 outputs θ3=0 as the steering angle to steering motor 509 so that steered wheels 502 of automobile V are not steered when the game is executed.

[0084] In step S769, the standby state is entered in which preparations for game control are complete, and a game start button and the like are displayed on the display device 6.

[0085] In step S769, game control enters a standby state, and when the game starts, the process proceeds to step S7601 in FIG. 14B. Around the same time, images and background music of the game content are output from the cloud game platform of cloud server CS. Entertainment execution device 41 receives these images and background music, and displays the images of the content on selected display device 6 via body control module 1, while outputting background music from speakers using audio device 8. When the racing game actually starts, the driver operates accelerator pedal 14 and brake pedal 15 while operating steering wheel 501 to drive the racing car in the game. In step S7401, the detection signal from steering angle sensor 504 is read, and the steering angle of steering wheel 501 is detected.

[0086] When the steering angle of steering wheel 501 is detected in step S7601, in the following steps S7602 and S7603, first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, as well as steering torque T detected by steering torque sensor 506, vehicle speed Vd, yaw rate γ, and the like, and based on these, independently calculate the second control variable to be output to steering motor 509. Note that since automobile V is stopped while the entertainment mode is being executed, the detection values ​​of vehicle speed Vd, yaw rate γ, etc. are the detection values ​​for the stopped state.

[0087] However, the second control amount in the game mode is calculated as an output control value corresponding to the steering angle of the steered wheels of a racing car in the game content, rather than the steered wheels 502 of the automobile V. Here, the second control amount calculated by the first control unit 51 is designated as θ1, and the second control amount calculated by the second control unit 52 is designated as θ2. Although not particularly limited to the automobile according to the present invention, even in the game mode as in the present embodiment, by performing the same calculations in the first control unit 51 and the second control unit 52 and checking the consistency of the calculation results, it is possible to discover an abnormality in related devices before driving the automobile V again.

[0088] In step S7604, the second control variables θ1 and θ2 calculated in steps S7602 and S7603 are determined to be consistent. A certain tolerance may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 are consistent (θ1 = θ2), the process proceeds to step S7606, where normal steering control is executed. On the other hand, if the second control variables θ1 and θ2 are not consistent (θ1 ≠ θ2), the process proceeds to step S7605, where a warning light provided on the meter display 62 of the instrument panel B1 is turned on to indicate that an abnormality has been detected, and the game mode is then terminated.

[0089] Returning to step S7604, if the second control variables θ1 and θ2 match (θ1 = θ2), proceed to step S7606. In steps S7606 and S7607, the second control unit 52 outputs the calculated second control variable θ2 to the cloud game platform of the cloud server CS via the body control module 1 and the entertainment execution device 41, and steers the steered wheels of the racing car. As a result, the steered wheels of the racing car are turned in accordance with the amount of operation of the steering wheel 501 by the driver, and the racing car in the game turns in the desired direction.

[0090] Subsequently, in step S7608, the cloud game platform of the cloud server CS determines whether there is an input from the road surface during the game to the steering gear via the steering wheels of the racing car. If there is no input from the road surface, there is no need to apply a reaction force to the steering wheel 501, and the subsequent processing ends.

[0091] On the other hand, if there is an input from the road surface, the process proceeds to step S7609, where the cloud game platform of the cloud server CS converts and calculates a control signal related to the steering reaction force based on various detection values ​​during the game into a first control amount F1 to be output to the reaction force motor 505 of the automobile V. This first control amount F1 is calculated as an output control value to the reaction force motor 505 that corresponds to the steering reaction force torque of the steering wheel 501.

[0092] In steps S7610 to S7612, the first control amount F1 output from the cloud game platform of the cloud server CS is output to the first control unit 51, and the first control unit 51 that has received this output outputs the first control amount F1 to the reaction force motor 505. As a result, a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501, allowing the driver to feel a reaction force corresponding to the driving operation.

[0093] Although not shown in Figure 14B, in addition to reflecting the reaction force that the racing car receives from the road surface to the steering wheel 501 of the automobile V, the impacts and acceleration / deceleration forces that the racing car receives (gravitational force G that the driver receives) can be detected by the cloud game platform of the cloud server CS and output from the cloud game platform to the entertainment execution device 41, and the actuator of the seat posture adjustment device 9 can be controlled to impart vibration to the driver's seat, or the posture of the vehicle body can be changed by controlling the actuator of the air suspension device to impart a sense of cornering or acceleration / deceleration.

[0094] 《Radio control mode operation in entertainment mode》 Next, we will explain the operation when the driver selects the radio control mode in step S75 of Fig. 12. Figures 15A and 15B are flowcharts showing the radio control mode subroutine in step S77 of Fig. 12. Note that in the processing flow of Fig. 15A, one routine of calculations is executed when the radio control mode is selected, and the processing flow of Fig. 15B is repeatedly executed at predetermined time intervals (for example, every few msec) after the radio control enters standby state in step S779 of Fig. 15A.

[0095] First, when the driver selects the radio-controlled car mode, the IVI controller 4 starts overall control of the entertainment execution device 41 in step S771 of Fig. 15A, and the entertainment execution device 41 starts application software for performing radio-controlled car operations. Then, in step S772, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud game platform, and connects to the desired radio-controlled device RC, in this case, a radio-controlled car.

[0096] In step S773, the display device 6 for displaying the game images is selected from among a display 63 provided on the front windshield W1, a display 64 provided on the interior mirror M, and a windshield W made of dimming glass.

[0097] If the driver selects the display 63 provided on the front windshield W1, the process proceeds to step S774, where the entertainment execution device 41 displays the content of the selected racing car game on the display 63 provided on the front windshield W1. Similarly, if the driver selects the display 64 provided on the interior mirror M, the process proceeds to step S775, where the entertainment execution device 41 displays the content of the selected racing car game on the display 64 provided on the interior mirror M. Similarly, if the driver selects the windshield W made of photochromic glass, the process proceeds to step S776, where the photochromic glass is set to the light-blocking mode, and then the process proceeds to step S777, where the entertainment execution device 41 displays the content of the selected racing car game on the windshield W made of photochromic glass. As a result, the entertainment execution device 41 displays an image captured by the camera mounted on the selected radio-controlled car on the selected display device 6.

[0098] In step S778, second control unit 52 outputs θ3=0 as the steering angle to steering motor 509. Here, if main switch 3 of automobile V is turned ON in step S1 of FIG. 10 and then entertainment mode is selected in step S7, SBW control by SBW controller ECU 5 is started in the previous step S2, and clutch 507 is put into a disengaged state in step S3. Therefore, when steering wheel 501 is operated to operate the radio-controlled car, steered wheels 502 are also steered by SBW control. In this embodiment, in step S778 before the start of radio-controlled operation, second control unit 52 outputs θ3=0 as the steering angle to steering motor 509 so that steered wheels 502 of automobile V are not steered when radio-controlled operation is performed.

[0099] In step S779, the radio control operation is ready and the standby state is entered, and a radio control operation start button and the like are displayed on the display device 6.

[0100] In step S779, the radio-controlled car operation control enters a standby state, and when radio-controlled car operation begins, the process proceeds to step S7701 in Figure 15B. Around this time, radio control device RC outputs camera images and microphone-collected audio. Entertainment execution device 41 receives these signals and, via body control module 1, displays the camera images on the selected display device 6 and outputs the collected audio from the speaker using audio device 8. When remote control of the radio-controlled car actually begins, the driver operates steering wheel 501 while operating accelerator pedal 14 and brake pedal 15 to drive the remotely controlled radio-controlled car. In step S7501, the detection signal from steering angle sensor 504 is read, and the steering angle of steering wheel 501 is detected.

[0101] When the steering angle of steering wheel 501 is detected in step S7701, in the following steps S7702 and S7703, first control unit 51 and second control unit 52 of SBW controller ECU 5 each read detection values ​​required for calculation, such as steering angle θs of steering wheel 501 detected by steering angle sensor 504, as well as steering torque T detected by steering torque sensor 506, vehicle speed Vd, yaw rate γ, and the like, and based on these, independently calculate the second control variable to be output to steering motor 509. Note that since automobile V is stopped while the entertainment mode is being executed, the detection values ​​of vehicle speed Vd, yaw rate γ, etc. are those detected in a stopped state.

[0102] However, the second control amount in the radio control mode is calculated as an output control value corresponding to the steering angle of the steered wheels of the radio-controlled car being operated, rather than the steered wheels 502 of the automobile V. Here, the second control amount calculated by the first control unit 51 is designated as θ1, and the second control amount calculated by the second control unit 52 is designated as θ2. Although not particularly limited to the automobile according to the present invention, even in the radio control mode, as in this embodiment, by performing the same calculations in the first control unit 51 and the second control unit 52 and checking the agreement of the calculation results, it is possible to discover an abnormality in related devices before driving the automobile V again.

[0103] In step S7704, the second control variables θ1 and θ2 calculated in steps S7702 and S7703 are determined to be consistent. A certain tolerance may be set for this consistency determination, taking into account calculation errors, etc. If the second control variables θ1 and θ2 are consistent (θ1 = θ2), the process proceeds to step S7706, where normal steering control is performed. On the other hand, if the second control variables θ1 and θ2 are not consistent (θ1 ≠ θ2), the process proceeds to step S7705, where a warning light provided on the meter display 62 of the instrument panel is turned on to indicate that an abnormality has been detected, and the radio control mode is then terminated.

[0104] Returning to step S7704, if the second control variables θ1 and θ2 match (θ1 = θ2), proceed to step S7706. In steps S7706 and S7707, second control unit 52 outputs the calculated second control variable θ2 to radio control device RC via body control module 1 and entertainment execution device 41, and steers the steered wheels of the radio-controlled car. As a result, the steered wheels of the radio-controlled car are turned in accordance with the amount of operation of steering wheel 501 by the driver, and the radio-controlled car being remotely controlled turns in the desired direction.

[0105] Following this, in step S7708, radio control device RC determines whether there is an input from the road surface to the steering gear via the steering wheels of the radio-controlled car. If there is no input from the road surface, there is no need to apply a reaction force to steering wheel 501, and the subsequent processing ends.

[0106] On the other hand, if there is an input from the road surface, the process proceeds to step S7709, where the radio control device RC converts and calculates a control signal related to the steering reaction force based on various detection values ​​during radio control operation into a first control amount F1 to be output to the reaction force motor 505 of the automobile V. This first control amount F1 is calculated as an output control value to the reaction force motor 505 that corresponds to the steering reaction force torque of the steering wheel 501.

[0107] In steps S7710 to S7712, the first control amount F1 output from the radio control device RC is output to the first control unit 51, and the first control unit 51 that has received this output outputs the first control amount F1 to the reaction force motor 505. As a result, a pseudo force equivalent to the steering reaction force input from the road surface is applied to the steering wheel 501, allowing the driver to feel a reaction force corresponding to the driving operation.

[0108] Although not shown in Figure 15B, in addition to reflecting the reaction force that the radio-controlled car receives from the road surface to the steering wheel 501 of the automobile V, the radio control device RC can detect the impact and acceleration / deceleration forces (gravitational force G that the driver receives) that the radio-controlled car receives, and output them from the radio control device RC to the entertainment execution device 41, which can then control the actuator of the seat posture adjustment device 9 to impart vibration to the driver's seat, or control the actuator of the air suspension device to change the posture of the vehicle body and give the driver a sense of cornering or acceleration / deceleration.

[0109] <<Video mode operation in entertainment mode>> Next, a description will be given of the operation when the driver selects the video mode in step S75 of Fig. 12. Fig. 16 is a flowchart showing the video mode subroutine in step S78 of Fig. 12. In the processing flow of Fig. 16, one routine of calculation is executed when the video mode is selected.

[0110] First, when the driver selects the video mode, in step S781 of Figure 16, the IVI controller 4 starts overall control of the entertainment execution device 41, and the entertainment execution device 41 starts application software for playing videos. Then, in step S782, the entertainment execution device 41 accesses the cloud server CS, connects to the cloud video platform, and plays the desired video, in this case, a movie. In step S783, the display device 6 for displaying the movie is selected from the display 63 mounted on the front windshield W1, the display 64 mounted on the interior mirror M, and the windshield W made of light-control glass.

[0111] If the driver selects the display 63 provided on the front windshield W1, the process proceeds to step S784, where the entertainment execution device 41 displays the content of the selected movie on the display 63 provided on the front windshield W1. Similarly, if the driver selects the display 64 provided on the interior mirror M, the process proceeds to step S785, where the entertainment execution device 41 displays the content of the selected movie on the display 64 provided on the interior mirror M. Similarly, if the driver selects the windshield W made up of photochromic glass, the process proceeds to step S786, where the photochromic glass is set to the blackout mode, and then the process proceeds to step S787, where the entertainment execution device 41 displays the content of the selected movie on the windshield W made up of photochromic glass. The display on the selected display device 6 continues until the playback of the movie is completed.

[0112] <<Actions and Effects of the Embodiments>> As described above, the automobile V of this embodiment is equipped with an entertainment execution device 41 that executes entertainment software, communicates with a radio control device RC, or plays video content, and a display device 6 that displays images output from the entertainment execution device 41 on a flexible display 65 that can be raised and lowered between the windshield W or front windshield W1 and the steering wheel 501, so that passengers can enjoy entertainment using the entertainment execution device 41 in a comfortable position within the passenger compartment.

[0113] Furthermore, in the automobile V of this embodiment, the windshield W includes the front windshield W1, so that images from the entertainment device 41 can be displayed on a large screen, thereby enhancing the sense of realism.

[0114] Furthermore, the automobile V of this embodiment is selectable between an entertainment mode in which the entertainment device 41 is operated and a driving mode in which the automobile V is driven, and is equipped with a mode selection control device 2 that executes control according to the respective modes. When the driving mode is selected, the mode selection control device 2 controls the display device 6 so that an image output from the entertainment device 41 is displayed in a first region R1 of the windshield W where display is permitted by law, or on the flexible display 65 in the lowered state, and when the entertainment mode is selected, the display device 6 is controlled so that an image output from the entertainment device 41 is displayed in a second region R2 of the windshield W that is wider than the first region R1, or on the flexible display 65 in the raised state. As a result, in the driving mode, forward visibility can be secured while complying with regulations, and in the entertainment mode, an image from the entertainment device 41 can be displayed on a larger screen, enhancing the sense of realism.

[0115] Furthermore, automobile V of this embodiment further includes a steering device 5 in which a steering wheel 501 is mechanically separated from steered wheels 502 and transmits the operation of the steering wheel 501 to the steered wheels 502 as an electrical signal, and when the entertainment mode is selected, the mode selection control device 2 controls the steering device 5 so that the steered wheels 502 are not turned even when the steering wheel 501 is operated, thereby suppressing so-called stationary steering. As a result, damage to tires and loss of wheel alignment are suppressed, and entertainment such as games can be enjoyed inside the vehicle without adversely affecting the mechanisms of the automobile.

[0116] Furthermore, in the automobile V of this embodiment, the mode selection control device 2 includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when the main switch for starting the automobile V is turned on. In other words, the entertainment mode is selected only when the main switch 3 is turned on to start the automobile V, so that the entertainment mode can be prevented from being selected while driving the automobile V.

[0117] Furthermore, in the automobile V of this embodiment, the mode selection control device 2 is installed in the automobile when the automobile is manufactured in accordance with the driver's request. In other words, since the mode selection control device 2 is an optional setting when the automobile is manufactured, drivers who do not need the entertainment mode can choose not to install the mode selection control device 2. This avoids the hassle of having to perform a mode selection operation every time the automobile V is started.

[0118] In addition, in the automobile V of this embodiment, the windshield W includes the side windshields W2, W3, the rear windshield W4, and the roof windshield, so that not only the driver's seat and the passenger seat, but also the rear seats can enjoy entertainment. Also, entertainment can be enjoyed not only in a seated position, but also in a lying position or a supine position.

[0119] Furthermore, in the automobile V of this embodiment, the display device 6 also displays images output from the entertainment device 41 on the interior mirror M, so that the passenger can enjoy entertainment provided by the entertainment device 41 in a comfortable position inside the vehicle.

[0120] Furthermore, in the automobile V of this embodiment, the windshield W includes photochromic glass, and the display device 6 displays an image output from the entertainment execution device 41 on the photochromic glass in the shading mode, so that even when parked outdoors, the driver can enjoy entertainment while protecting his or her privacy.

[0121] In addition, the automobile V of this embodiment is further provided with a monitoring device 17 that monitors the surroundings of the vehicle V, and when the entertainment mode is selected, the mode selection control device 2 controls the display device 6 to stop or interrupt the display of images output from the entertainment execution device 41 if the monitoring device 17 detects an abnormality around the vehicle V. Therefore, when the image display is stopped or interrupted, the surroundings of the vehicle can be checked visually, etc., thereby preventing vandalism or theft of the vehicle. [Explanation of symbols]

[0122] V…Automobile 1...Body Control Module (BCM) 2...Mode selection control device 3...Main switch 4...IVI controller (in-vehicle information and entertainment device) 41...Entertainment device 5...Steering gear ECU5...SBW controller 51...First control section 52...Second control section 501...Steering wheel 502...Steering wheel 503...Steering shaft 504...Steering angle sensor 505...Reaction motor (first actuator) 506...Steering torque sensor 507...Clutch 508...Pinion shaft 509...Steering motor (second actuator) 510...Steering motor angle sensor 511...Pinion gear 512...Rack shaft 513...Tie rod 514...Knuckle arm 515...worm gear 6…Display device 61...Center display 62...Meter display 63...Display (front windshield) 64...Display (interior mirror) 65...Flexible display 7...Air conditioning unit 8...Audio equipment 9...Seat position adjustment device 10...Air suspension device 11...Steering switch 12...Gear shift lever 13...Paddle shift 14...Accelerator pedal 15...Brake pedal 16...Communication line 17...Monitoring device 171~175...Camera 176~179...Radar or sonar sensor RC...Radio controlled equipment CS: Cloud server B...Body B1...Instrument panel W...Windshield W1...Front windshield

Claims

1. an entertainment execution device that runs entertainment software, communicates with a radio-controlled device, or plays video content; a display device that displays an image output from the entertainment device on a flexible display that is arranged between a windshield or a front windshield and a steering wheel and can be raised and lowered; a mode selection control device that is capable of selecting an entertainment mode for operating the entertainment device and a driving mode for driving the automobile, and that executes control according to each mode; The mode selection control device includes: When the driving mode is selected, an image output from the entertainment device is displayed in a first area of ​​the windshield that is legally displayable or on the flexible display in a lowered state; A vehicle that controls the display device so that, when the entertainment mode is selected, the image output from the entertainment execution device is displayed on a second area of ​​the windshield that is wider than the first area, or on the flexible display in a raised position.

2. The vehicle of claim 1 , wherein the windshield comprises the front windshield.

3. The vehicle further includes a steering device in which the steering wheel is mechanically separated from the steered wheels and the operation of the steering wheel is transmitted to the steered wheels as an electrical signal, 3. The automobile according to claim 1, wherein the mode selection control device controls the steering device so that the steered wheels are not turned even when the steering wheel is operated when the entertainment mode is selected.

4. 3. The automobile according to claim 1, wherein the mode selection control device includes a selection switch that allows the driver to select between the entertainment mode and the driving mode when a main switch for starting the automobile is turned on.

5. 3. The vehicle according to claim 1, wherein the mode selection control device is installed in the vehicle during manufacture in response to a driver's request.

6. 3. The automobile according to claim 1, wherein the windshield includes a side windshield, a rear windshield, and a roof windshield.

7. 3. The automobile according to claim 1, wherein the display device also displays the image output from the entertainment device on an interior mirror.

8. the windshield includes photochromic glass; 3. The automobile according to claim 1, wherein the display device displays an image output from the entertainment device on the light-control glass in a light-blocking mode.

9. Further, a monitoring device for monitoring the surroundings of the vehicle is provided, 3. The automobile according to claim 1, wherein the mode selection control device controls the display device so as to stop or suspend the display of images output from the entertainment execution device when the entertainment mode is selected and an abnormality is detected around the vehicle by the monitoring device.

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