Position displacement device, position displacement computer program, and position displacement method

Abstract

To provide a position displacement device capable of displacing the seat position of the driver's seat in a short time to a manually controllable seat position of the vehicle when the level to which the driver is contributing to driving is low.SOLUTION: A position displacement device is configured to: set a recommended range of a seat position, capable of displacing the seat position to a manual control position representing the seat position of when a driver is operating a vehicle manually, within a predetermined time, based on the manual control position; set an intermediate position between the manual control position and an automatic control position representing the seat position when the vehicle is controlled at a predetermined automatic driving level set within a recommended range; and determine whether a level to which the driver is contributing to driving is equal to or below a predetermined reference threshold on the basis of information that describes physical condition of the driver. Therein, when the seat position is at the automatic control position and it is determined that the level to which the driver is contributing to driving is equal to or below the reference threshold, the seat position is displaced from the automatic control position to the intermediate position.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present disclosure relates to a position displacement device, a position displacement computer program, and a position displacement method. [Background technology]

[0002] The automatic control system installed in a vehicle controls the vehicle at different automatic driving levels depending on the vehicle's situation or the driver's judgment. When driving a vehicle with so-called automatic driving level 2 or below, the automatic control system requires the driver to be in a state where they can operate the vehicle in principle. In particular, when the vehicle is in manual control, represented by so-called automatic driving level 0, the driver drives the vehicle.

[0003] On the other hand, when driving a so-called automated driving level 3 vehicle, the automatic control system does not require the driver to be in a state where they can always control the vehicle. Therefore, when driving an automated driving level 3 vehicle, the driver can, for example, adjust the seat position so that they can assume a relaxed posture.

[0004] Even when driving a Level 3 autonomous vehicle, if the automatic control system determines that the vehicle cannot be driven safely under automatic control, it requests the driver to take over control of the vehicle from the automatic control system (Transition Demand). In response to this control transition request, the driver must begin manual control of the vehicle. The automatic control system executes the control transition so that control of the vehicle is transferred to the driver within a predetermined control transition time (e.g., 10 seconds) from the time the control transition request is generated.

[0005] When an automatic control system requests the driver to transfer control of the vehicle from the automatic control system to the driver while the driver is seated in a relaxed position, the time required for the driver to change the seat position to a position where the driver can manually control the vehicle may exceed the control transfer time, which may result in the driver being unable to initiate manual control in response to the control transfer request.

[0006] Patent document 1 proposes a vehicle control system that includes a driving control unit that switches between automatic and manual driving of the vehicle, a seat that can be changed into different configurations during automatic and manual driving, and a seat control unit that controls the operation of the seat when changing configurations, and that can limit the amount of displacement when changing the seat from a configuration during manual driving to a configuration during automatic driving to an amount that takes into account the time required to switch from automatic driving to manual driving. [Prior art documents] [Patent documents]

[0007] [Patent Document 1] Japanese Patent Application Publication No. 2018-167623 Summary of the Invention [Problem to be solved by the invention]

[0008] When the driver is in a seat position that allows the driver to assume a relaxed posture, the driver may become drowsy and the level of engagement in driving may decrease.

[0009] Therefore, even if the driver's seat position is changed to a position where the driver can manually control the vehicle within the control transition time from the time the control transition request is generated, depending on the driver's level of involvement in driving, the driver may not be able to start driving the vehicle.

[0010] Therefore, an object of the present disclosure is to provide a position displacement device that can displace the driver's seat position in a short time to a seat position where the vehicle can be operated manually when the driver's level of involvement in driving is low. [Means for solving the problem]

[0011] (1) According to one embodiment, there is provided a position displacement device comprising: a seat position control unit that controls a seat position of a seat in which a driver is seated so as to be displaceable; a recommended range setting unit that sets a recommended range of the seat position within a range in which the seat position control unit can displace the seat to the manual control position within a predetermined time based on a manual control position that represents the seat position when the driver manually drives the vehicle; an intermediate position setting unit that sets an intermediate position of the seat position between the manual control position and an automatic control position that represents the seat position when the vehicle is controlled at a predetermined automatic driving level and that is set within the recommended range; and a first determination unit that determines whether the driver's involvement in driving is equal to or lower than a predetermined reference threshold based on information representing the driver's physical state, wherein the seat position control unit moves the seat position from the automatic control position to the intermediate position when it is determined that the seat position is in the automatic control position and that the driver's involvement in driving is equal to or lower than the reference threshold.

[0012] (2) In the position displacement device of (1), it is preferable that the seat position control unit displaces the seat position to a manual control position when the driver requests that the driver take control of the vehicle from the automatic control device.

[0013] (3) In the position displacement device of (1) or (2), it is preferable to have a second judgment unit that judges whether there is a control transition section within a predetermined distance from the current position of the vehicle in the direction of travel, based on the current position of the vehicle, the navigation route of the vehicle, and map information, in which the main driver of the vehicle is expected to be shifted from the automatic control device to the driver, and if there is a control transition section, the seat position is in an automatic control position, and it is estimated that the time required for the vehicle to reach the control transition section is longer than the predetermined time, the seat position control unit moves the seat position from the current position to the manual control position over a time longer than the predetermined time.

[0014] (4) In the position displacement device of (1) or (2), it is preferable to have a third judgment unit that judges whether the seat position requested by the driver is included in the recommended range, and a notification control unit that, if the seat position requested by the driver is not included in the recommended range, notifies the driver via the notification unit that the seat position requested by the driver is not included in the recommended range, and if the third judgment unit determines that the driver has again requested a seat position that is not included in the recommended range after the driver has been notified via the notification unit that the seat position requested by the driver is not included in the recommended range, the third judgment unit stores in the memory unit that the driver has requested a seat position that is not included in the recommended range, and sets the seat position that is not included in the recommended range as the automatically controlled position.

[0015] (5) In any of the position displacement devices (1) to (4), when the seat position control unit moves the seat position from the automatically controlled position to the intermediate position, it is preferable that the seat position control unit provides a stimulus to the driver via the stimulus providing unit to increase the driver's level of involvement in driving.

[0016] (6) According to another embodiment, there is provided a computer program for position displacement, which causes a processor to: variably control the seat position of a seat in which a driver is seated, set a recommended seat position range within a range in which the seat can be displaced to the manual control position within a predetermined time based on a manual control position representing the seat position when the driver manually drives the vehicle, set an intermediate seat position between the manual control position and an automatic control position representing the seat position when the vehicle is controlled at a predetermined automatic driving level set within the recommended range, and determine whether the driver's level of involvement in driving is equal to or lower than a predetermined reference threshold based on information representing the driver's physical state; and, when it is determined that the seat position is in the automatic control position and the driver's level of involvement in driving is equal to or lower than the reference threshold, cause the processor to move the seat position from the automatic control position to the intermediate position.

[0017] (7) According to yet another embodiment, there is provided a position displacement method, the position displacement method comprising: a position displacement device that displaceably controls a seat position of a seat in which a driver is seated, sets a recommended seat position range within a range in which the seat can be displaced to the manual control position within a predetermined time based on a manual control position that represents the seat position when the driver manually drives the vehicle, sets an intermediate seat position between the manual control position and an automatic control position that represents the seat position when the vehicle, set within the recommended range, is controlled at a predetermined automatic driving level, and determines whether the driver's involvement in driving is equal to or lower than a predetermined reference threshold based on information representing the driver's physical state; and when it is determined that the seat position is in the automatic control position and the driver's involvement in driving is equal to or lower than the reference threshold, the position displacement device moves the seat position from the automatic control position to the intermediate position. [Effects of the Invention]

[0018] The position displacement device of the present disclosure can displace the driver's seat position to a seat position where the vehicle can be operated by manual control in a short time when the driver's level of involvement in driving is low, so the driver can start driving the vehicle with ease after the driver's seat position has been displaced to the manual control position. [Brief explanation of the drawings]

[0019] [Figure 1] 1A and 1B illustrate an overview of the operation of the position displacement device of this embodiment, where 1A is a diagram showing a vehicle and 1B is a diagram showing the driver's seat in a manual control position. [Figure 2] (A) and (B) explain the outline of the operation of the determination device of this embodiment, where (A) is a diagram showing the driver's seat in an automatic control position, and (B) is a diagram showing the driver's seat in an intermediate position. [Figure 3] 1 is a schematic configuration diagram of a vehicle in which a position displacement system including a position displacement device according to an embodiment of the present invention is implemented. [Figure 4] 10 is an example of an operational flowchart relating to a position setting process of the position displacement device according to the present embodiment. [Figure 5] 1 is a first example of an operational flowchart relating to a position displacement process of the position displacement device of this embodiment. [Figure 6] 10 is a second example of an operational flowchart relating to the position setting process of the position displacement device of this embodiment. [Figure 7] 10 is a third example of an operational flowchart relating to the position setting process of the position displacement device of the present embodiment. [Figure 8] 10 is a fourth example of an operational flowchart relating to the position setting process of the position displacement device of the present embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0020] Figures 1(A) and 1(B) and Figures 2(A) and 2(B) explain the outline of the operation of the position displacement device of this embodiment, where Figure 1(A) is a diagram showing a vehicle and Figure 1(B) is a diagram showing the driver's seat in a manual control position, Figure 2(A) is a diagram showing the driver's seat in an automatic control position, and Figure 2(B) is a diagram showing the driver's seat in an intermediate position.

[0021] As shown in FIG. 1(A), the vehicle 10 has an automatic control device 12 and a position displacement device 13. In an automatic control mode in which the automatic control device 12 is primarily responsible for driving (operating) the vehicle 10, the automatic control device 12 drives the vehicle 10. If the automatic control mode has multiple automatic driving levels, the automatic control device 12 controls the vehicle 10 in accordance with the automatic driving level. In a manual control mode in which the driver 40 is primarily responsible for driving the vehicle 10, the automatic control device 12 controls the operation of the vehicle 10 based on the operation of the driver 40.

[0022] 1(B) is a diagram showing the driver's seat in the manual control position. In response to the operation of the seat operating unit 4 by the driver 40, the position displacement device 13 sets a manual control position that represents the seat position of the driver's seat 31 when the driver 40 drives the vehicle 10 under manual control in the manual control mode.

[0023] A driver 40 sits in the driver's seat 31 in the manual control position so as to be able to operate a steering wheel 32, a brake pedal 33, and an accelerator pedal 34.

[0024] Even when the vehicle 10 is being driven in automatic control mode, if the automatic control device 12 determines that the vehicle 10 cannot be driven safely under automatic control, it notifies the driver of a control transfer request requesting that the subject of driving of the vehicle 10 be transferred from the automatic control device 12 to the driver 40. The automatic control device 12 executes the control transfer so as to transfer control of the vehicle 10 to the driver within a control transfer time from the time the control transfer request is generated.

[0025] The position displacement device 13 sets a recommended seat position range for the driver's seat 31 based on the manual control position of the driver's seat 31 within a range in which the driver's seat 31 can be displaced to the manual control position within a predetermined control transition time (e.g., 10 seconds).

[0026] When a control transition request is generated, the position displacement device 13 can displace the seat position of the driver's seat 31 from a seat position within the recommended range to a manual control position within the control transition time, thereby allowing the driver 40 to start manual control of the vehicle 10 in response to the control transition request.

[0027] 2(A), the position displacement device 13 sets an automatic control position representing the seat position of the driver's seat 31 in the automatic control mode so that the seat position is within a recommended range in response to the operation of the seat operating unit 4 by the driver 40. The position displacement device 13 may set the automatic control position in response to each of the automatic driving levels. In the automatic control position, the driver 40 can sit in the driver's seat 31 in a relaxed posture.

[0028] As shown in FIG. 2(B), the position displacement device 13 sets an intermediate seat position between the manual control position, which represents the seat position of the driver's seat 31 when the driver 40 drives the vehicle 10 under manual control, and the automatic control position. The intermediate seat position is within a recommended range. The driver's seat 31 in the intermediate position is closer to the steering wheel 32 and the like than the automatic control position, and the posture of the driver's seat 31 is more suitable for driving.

[0029] In the automatic control mode, the position displacement device 13 displaces the driver's seat 31 from the manual control position to the automatic control position in response to the driver's 40 approval.

[0030] The position displacement device 13 determines the driver's involvement level in driving based on information indicating the physical condition of the driver 40 acquired by the heart rate sensor 3 or the like.

[0031] When the position displacement device 13 determines that the seat position is in the automatically controlled position and that the driver's 40 involvement level in driving is below a predetermined standard threshold, it displaces the seat position of the driver's seat 31 from the automatically controlled position to an intermediate position.

[0032] Furthermore, when a control transition request is made to the driver 40 via the user interface 11 or the like, the position displacement device 13 displaces the seat position of the driver's seat 31 to the manual control position.

[0033] As described above, the position displacement device 13 of this embodiment displaces the seat position of the driver's seat 31 from the automatic control position to the intermediate position when the driver 40 has a low level of involvement in driving. Furthermore, when a control transition request is generated, the position displacement device 13 can displace the seat position of the driver's seat 31 in a short time from the intermediate position within the recommended range to a manual control position where the vehicle 10 can be operated manually. This allows the driver 40 to start driving the vehicle 10 with ample time to spare.

[0034] Furthermore, by displacing the seat position of the driver's seat 31 from the automatically controlled position to the intermediate position, the driver 40 changes from a relaxed posture to a posture more suited to driving, so the position displacing device 13 can increase the level of involvement of the driver 40 in driving. As a result, the driver 40 is in a state of high involvement in driving the vehicle 10, and can drive the vehicle 10 accurately.

[0035] 3 is a schematic configuration diagram of a vehicle 10 in which a position displacement system 1 including a position displacement device 13 of this embodiment is implemented. The position displacement system 1 includes a monitoring camera 2, a heart rate sensor 3, a seat operation unit 4, a seat drive unit 5, a seat position detection sensor 6, a seat belt drive unit 7, a steering position detection sensor 8, a position operation unit 9, a user interface (UI) 11, an automatic control device 12, a position displacement device 13, etc.

[0036] The surveillance camera 2, heart rate sensor 3, seat operation unit 4, seat drive unit 5, seat position detection sensor 6, seat belt drive unit 7, steering position detection sensor 8, position operation unit 9, UI 11, automatic control device 12, and position displacement device 13 are communicatively connected via an in-vehicle network 14 that complies with a standard such as a controller area network.

[0037] The surveillance camera 2 is disposed in the passenger compartment 30 so as to be able to capture surveillance images including the face of the driver operating the vehicle 10. The surveillance camera 2 is an example of an imaging unit. The surveillance camera 2 captures surveillance images showing the area around the driver's seat 31, for example, at a surveillance image capturing time having a predetermined cycle. The surveillance camera 2 has a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to infrared light, such as a CCD or C-MOS, and an imaging optical system that forms an image of the area to be captured on the two-dimensional detector. The surveillance image is used, for example, when a manual control position is set by the position displacement device 13.

[0038] The heart rate sensor 3 detects the heart rate of the driver 40. The heart rate sensor 3 detects the heart rate of the driver 40 seated in the driver's seat 31 at the manual control position, the intermediate position, or the automatic control position, and outputs the heart rate of the driver 40 to the position displacement device 13. The heart rate sensor 3 measures minute movements of the skin surface of the driver 40 using, for example, a millimeter-wave radar to detect the heart rate of the driver 40. As shown in FIG. 2(A), the heart rate sensor 3 is preferably positioned so that it can irradiate millimeter waves also to the chest of the driver 40 seated in the driver's seat 31 at the automatic control position.

[0039] The driver's seat 31 has a seat back 31a, a seat cushion 31b, and a headrest 31c. The driver's seat 31 is an example of a component involved in the driver's driving. As shown in FIG. 2(A), the seat back 31a can be displaced in 10 discrete steps. The seat cushion 31b can be displaced in 10 discrete steps both in the front-rear direction and in the up-down direction. The headrest 31c can be displaced in 10 discrete steps both in the up-down direction and the down-down direction. In this specification, the seat position of the driver's seat 31 includes the inclination and position of each part of the driver's seat 31.

[0040] The seat operation unit 4 is operated by the driver 40 and outputs an operation signal indicating the position to which the driver's seat 31 should be displaced to the position displacement device 13. The position displacement device 13 generates a drive signal for displacing the seat position of the driver's seat 31 based on the operation signal and outputs the drive signal to the seat drive unit 5. The seat drive unit 5 displaces the driver's seat 31 based on the drive signal. The seat operation unit 4 has switches for operating each of the seat back 31a, seat cushion 31b, and headrest 31c.

[0041] The seat drive unit 5 has a drive device such as a motor for displacing the seat back 31a, the seat cushion 31b, or the headrest 31c. In Fig. 1(B) and other figures, the seat drive unit 5 is disposed in the seat cushion 31b, but the seat drive unit 5 may be disposed separately in each of the seat back 31a, the seat cushion 31b, and the headrest 31c.

[0042] The seat position detection sensor 6 detects the tilt or position of each part of the driver's seat 31. The seat position detection sensor 6 detects the tilt of the seat back 31a and outputs tilt information indicating the tilt of the seat back 31a to the position displacement device 13. The seat position detection sensor 6 also detects the front-rear and up-down positions of the seat cushion 31b and outputs position information indicating the front-rear and up-down positions of the seat cushion 31b to the position displacement device 13. The seat position detection sensor 6 also detects the tilt and up-down position of the headrest 31c and outputs tilt information indicating the tilt of the headrest 31c and position information indicating the up-down position to the position displacement device 13.

[0043] The seat position detection sensor 6 may include sensors that mechanically, optically, or magnetically detect the positions of the seat back 31a, the seat cushion 31b, and the headrest 31c. In Fig. 1(B) and other figures, the seat position detection sensor 6 is disposed on the seat cushion 31b, but the seat position detection sensor 6 may be disposed separately on each of the seat cushion 31b and the headrest 31c.

[0044] The seat belt drive unit 7 is controlled by the position displacement device 13 to adjust the tension of the seat belt 35 worn by the driver 40 to a predetermined value. When the driver's seat 31 is in the automatically controlled position, the seat belt drive unit 7 is controlled by the position displacement device 13 to allow the driver 40 to loosen the tension of the seat belt 35 within a predetermined range.

[0045] The steering position detection sensor 8 detects the position of the steering wheel 32. The steering wheel 32 is an example of a component involved in driving by the driver. As shown in FIG. 2(A), the steering wheel 32 can be displaced in 10 discrete steps in both the front-rear and up-down directions. The steering position detection sensor 8 outputs position information indicating the positions of the steering wheel 32 in the front-rear and up-down directions to the position displacement device 13 via the in-vehicle network 14. The steering position detection sensor 8 may include a sensor that detects the position of the steering wheel 32 mechanically, optically, or magnetically.

[0046] The position operation unit 9 is operated by the driver 40 and outputs a position operation signal representing the operation of the driver 40 to the position displacement device 13. When the driver's seat 31 is in a seat position other than the manual control position, the driver 40 can displace the driver's seat 31 to the manual control position by operating the position operation unit 9. When the position displacement device 13 receives a position operation signal from the position operation unit 9, it outputs a drive signal to the seat drive unit 5 to displace the driver's seat 31 to the manual control position.

[0047] The UI 11 is an example of a notification unit. The UI 11 is controlled by the automatic control device 12 or the position displacement device 13 to notify the driver 40 of information related to the vehicle 10, such as a control transition request. The UI 11 has a display device 11a, such as a liquid crystal display or a touch panel, for displaying the control transition request or the like. The UI 11 may also have an audio output device (not shown) for notifying the driver 40 of the control transition request or the like. The UI 11 also has, for example, a touch panel or an operation button as an input device for inputting operation information from the driver 40 to the vehicle 10. The UI 11 outputs the input operation information to the automatic control device 12 or the like via the in-vehicle network 14.

[0048] The automatic control device 12 controls the operation of the vehicle 10. The automatic control device 12 has an automatic control mode in which the vehicle 10 is driven automatically, and a manual control mode in which the operation of the vehicle 10 is controlled based on the driver's operation. The automatic control device 12 drives the vehicle 10 in the automatic control mode. In the automatic control mode, the automatic control device 12 controls operations such as steering, driving, and braking based on detection information from sensors (not shown) mounted on the vehicle 10. When starting operation in the automatic control mode, the automatic control device 12 outputs information indicating that operation in the automatic control mode is to start to the position displacement device 13.

[0049] In the manual control mode, the automatic control device 12 controls the operation of the vehicle 10, such as steering, driving, and braking, based on the driver's operation. In the manual control mode, the automatic control device 12 controls the operation of the vehicle 10 based on the driver's operation of at least one of the steering wheel 32, the brake pedal 33, and the accelerator pedal 34.

[0050] The automatic control device 12 may have multiple automatic driving levels in the automatic control mode. In this specification, the multiple automatic driving levels may include so-called automatic driving levels 3 to 5. At automatic driving level 3, the automatic control device 12 corresponds to an automatic driving device, and the vehicle 10 corresponds to a conditionally automatic vehicle. At automatic driving level 4, the automatic control device 12 corresponds to an automatic driving device, and the vehicle 10 corresponds to an automatic vehicle. At automatic driving level 5, the automatic control device 12 corresponds to an automatic driving device, and the vehicle 10 corresponds to a fully automatic vehicle. Also, in this specification, the manual control mode may include so-called automatic driving levels 0 to 2.

[0051] The automatic control device 12 outputs to the position displacement device 13, at output times having a predetermined cycle, positioning information indicating the current position of the vehicle 10, a navigation route from the current position of the vehicle 10 to the destination position, map information (high-precision map information) of an area (for example, a range of 100 m to 10 km square) including the current position indicated by the positioning information, and the speed of the vehicle 10, etc.

[0052] The automatic control device 12 detects objects, such as other vehicles, around the vehicle 10 based on detection information from sensors (not shown) mounted on the vehicle 10. In the automatic control mode, if the automatic control device 12 cannot maintain a predetermined distance or more between the vehicle 10 and another object, the automatic control device 12 notifies the driver 40 via the UI 11 of a control transfer request, which requests that the driver 40 transfer control of the vehicle 10 from the automatic control device 12 to the driver 40. Also, in the automatic control mode, the automatic control device 12 notifies the driver 40 via the UI 11 of a control transfer request, which requests that the driver 40 transfer control of the vehicle 10 from the automatic control device 12 to the driver 40, before entering an area where automatic control driving is not permitted. Examples of areas where automatic control driving is not permitted include areas without high-precision maps. Furthermore, in the automatic control mode, the automatic control device 12 notifies the driver 40 of the control transfer request via the UI 11 when it determines that the vehicle 10 cannot be safely controlled due to an abnormality in a sensor or the like. The automatic control device 12 also outputs the control transfer request to the position displacement device 13 via the in-vehicle network 14. "The automatic control device 12 is primarily responsible for driving the vehicle 10" means that the automatic control device 12 controls the steering, driving, and braking operations without the involvement of the driver. "The driver 40 is primarily responsible for driving the vehicle 10" means that the driver is involved in controlling at least one of the steering, driving, and braking operations.

[0053] The automatic control device 12 executes control transfer so as to transfer control of the vehicle 10 to the driver within a predetermined control transfer time from the time when the control transfer request is notified to the driver 40. If the driver 40's approval action in response to the control transfer request is not confirmed within the control transfer time, the automatic control device 12 safely stops the vehicle 10 (Minimal Risk Maneuver processing). For example, when the automatic control device 12 recognizes any one of the following three approval actions of the driver, it transfers control of the vehicle 10 to the driver: (1) the driver 40 is maintaining the steering wheel 32 and operating the accelerator pedal 34, (2) the driver 40 is maintaining the steering wheel 32 and operating the brake pedal 33, or (3) the driver 40 is maintaining the steering wheel 32 and operating the steering wheel 32.

[0054] When a control transition request is input from the automatic control device 12, the position displacement device 13 displaces the seat position of the driver's seat 31 to a manual control position.

[0055] The position displacement device 13 executes control processing, setting processing, position determination processing, driver determination processing, and section determination processing. To this end, the position displacement device 13 has a communication interface (IF) 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 are connected via a signal line 24. The communication interface 21 has an interface circuit for connecting the position displacement device 13 to the in-vehicle network 14.

[0056] The memory 22 is an example of a storage unit and includes, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores computer programs of applications used in information processing executed by the processor 23 and various data.

[0057] All or part of the functions of the position displacement device 13 are functional modules realized by, for example, a computer program running on the processor 23. The processor 23 includes a control unit 231, a setting unit 232, a position determination unit 233, a driver determination unit 234, and a section determination unit 235. Alternatively, the functional modules of the processor 23 may be dedicated arithmetic circuits provided in the processor 23. The processor 23 includes one or more central processing units (CPUs) and their peripheral circuits. The processor 23 may further include other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit. The position displacement device 13 is, for example, an electronic control unit (ECU). Details of the operation of the position displacement device 13 will be described later.

[0058] In FIG. 3, the automatic control device 12 and the position displacement device 13 are illustrated as separate devices (e.g., an Electronic Control Unit: ECU), but all or part of these devices may be configured as a single device.

[0059] 4 is an example of an operational flowchart relating to the position setting process of the position displacement device of this embodiment. The position setting process shown in FIG. 4 is executed every time the position displacement system 1 is started up.

[0060] First, the setting unit 232 inputs physical information of the driver 40 via the UI 5 (step S101). For example, height (mass) and weight can be used as the physical information of the driver 40. The driver 40 inputs the height (mass) and weight by operating the UI 5. The setting unit 232 may estimate the physical information of the driver 40 based on an image including the driver 40 captured by the monitoring camera 2.

[0061] Next, the setting unit 232 sets the manual control positions of the steering wheel 32 and the driver's seat 31 during manual control (step S102). The driver 40 operates the steering wheel 32 to move it in the front-to-rear and up-to-down directions to adjust the operation positions during manual control. The setting unit 232 may also set the manual control positions of the brake pedal 33 and the accelerator pedal 34 during manual control. The driver 40 also operates the seat operation unit 4 to adjust the tilt of the seat back 31a. The driver 40 also operates the seat operation unit 4 to adjust the front-to-rear and up-to-down positions of the seat cushion 31b. The driver 40 also operates the seat operation unit 4 to adjust the tilt and up-to-down position of the headrest 31c.

[0062] The setting unit 232 receives position information indicating the positions of the steering wheel 32 in the forward / backward and upward directions detected by the steering position detection sensor 8, and stores the information in the memory 22 as the manual control position of the steering wheel 32. The manual control position of the steering wheel 32 is expressed as which of 10 stages the positions of the steering wheel 32 in the forward / backward and upward directions is located. In this way, the setting unit 232 sets the manual control position of the steering wheel 32.

[0063] The setting unit 232 also receives tilt information indicating the tilt of the seat back 31a, position information indicating the front-rear and up-down positions of the seat cushion 31b, and tilt information indicating the tilt and up-down positions of the headrest 31c, all of which are detected by the seat position detection sensor 6, and stores these in the memory 22 as the manual control position of the driver's seat 31. The manual control position of the driver's seat 31 is expressed by which of 10 levels each of the tilt of the seat back 31a, the front-rear and up-down positions of the seat cushion 31b, and the tilt and up-down positions of the headrest 31c are located. In this way, the setting unit 232 sets the manual control position of the driver's seat 31.

[0064] When the eyes of the driver 40 cannot be identified in the monitoring image captured by the monitoring camera 2 with the driver's seat 31 in the manual control position, the setting unit 232 notifies the driver 40 via the UI 5 of information indicating that the eyes of the driver 40 cannot be identified. The driver 40 adjusts the manual control position of the driver's seat 31 so that the eyes of the driver 40 can be identified in the monitoring image. As a result, the setting unit 232 sets the manual control position of the driver's seat 31 so that the eyes of the driver 40 can be identified in the monitoring image. When the driver's seat 31 is in the manual control position, the automatic control device 12 estimates the driver 40's level of involvement in driving based on the monitoring image captured by the monitoring camera 2. At this time, the automatic control device 12 can use the gaze direction or the degree of eye opening based on the eyes of the driver 40 shown in the monitoring image.

[0065] Next, the setting unit 232 sets a recommended range for the seat position of the driver's seat 31 (step S103). The setting unit 232 is an example of a recommended range setting unit. The setting unit 232 sets the recommended range for the seat position so that the seat back 31a, the seat cushion 31b, and the headrest 31c of the driver's seat 31 can be displaced from the automatic control position to the manual control position within the control transition time.

[0066] For example, the setting unit 232 calculates a distance by which the driver's seat 31 and the driver 40 can be displaced to the manual control position within the control transition time based on the weight (mass) of the driver 40, the mass of the driver's seat 31, the force with which the seat drive unit 5 drives the driver's seat 31 (seat cushion 31b) in the front-rear direction, and the front-rear distance between the automatic control position and the manual control position, and sets a recommended range for the front-rear position of the seat cushion 31b. The recommended range for the front-rear position of the seat cushion 31b is expressed between the manual control position, which is expressed as the minimum value of 10-level values, and the position, which is expressed as the maximum value of 10-level values.

[0067] The setting unit 232 may set the recommended range wider by a predetermined value when the height of the driver 40 is higher than the standard range, and may set the recommended range narrower by a predetermined value when the height of the driver 40 is lower than the standard range.

[0068] Furthermore, the setting unit 232 determines a range of tilt within which the seat back 31a, the headrest 31c, and the driver 40 can be displaced to the manual control position within the control transition time based on the weight (mass) of the driver 40, the mass of the seat back 31a and the headrest 31c, and the force with which the seat drive unit 5 drives the seat back 31a and the headrest 31c, and sets a recommended range of tilt for the seat back 31a. Here, when determining the range of tilt, the setting unit 232 may use a value that is half the weight (mass) of the driver 40. The recommended range of tilt for the seat back 31a is expressed between the manual control position, which is represented by the minimum value among 10 levels, and the position, which is represented by the maximum value among 10 levels.

[0069] Furthermore, the setting unit 232 may set recommended ranges for the vertical direction of the seat cushion 31b and the tilt and vertical position of the headrest 31c.

[0070] Next, the setting unit 232 inputs the seat position of the driver's seat 31 during automatic control (step S104). The driver 40 operates the seat operation unit 4 to adjust the tilt of the seat back 31a. The driver 40 also operates the seat operation unit 4 to adjust the front-to-rear and up-to-down positions of the seat cushion 31b. Furthermore, the driver 40 operates the seat operation unit 4 to adjust the tilt and up-to-down position of the headrest 31c.

[0071] Next, the position determination unit 233 determines whether the input seat position of the driver's seat 31 is within a recommended range (step S105). The position determination unit 233 is an example of a third determination unit. The position determination unit 233 determines whether the front-rear position of the seat cushion 31b and the tilt of the seat back 31a are each within a recommended range. Note that for the vertical direction of the seat cushion 31b and the tilt and vertical position of the headrest 31c, for which recommended ranges are not set, the input tilt and position become the automatically controlled positions.

[0072] If the seat position of the driver's seat 31 is within the recommended range (step S105-Yes), the setting unit 232 stores the input seat position of the driver's seat 31 in the memory 22. The automatically controlled position of the driver's seat 31 is expressed by the position or inclination of each part of the driver's seat 31, out of 10 levels. In this way, the setting unit 232 sets the automatically controlled position of the driver's seat 31 (step S106).

[0073] Next, the setting unit 232 sets an intermediate position of the driver's seat 31 based on the manual control position and the automatic control position (step S107), and ends the series of processes. Then, the control unit 231 displaces the seat position of the driver's seat 31 to the manual control position using the seat drive unit 5. The setting unit 232 is an example of an intermediate position setting unit. The intermediate position is used to stimulate the driver 40 and increase the level of involvement in driving by displacing the seat position of the driver's seat 31 from the automatic control position to the intermediate position when the driver 40's level of involvement in driving is low. The intermediate position of the driver's seat 31 is included in the recommended range. The intermediate position of the driver's seat 31 does not have to be an intermediate position between the manual control position and the automatic control position. The intermediate position of the driver's seat 31 may be between the manual control position and the automatic control position.

[0074] For example, the setting unit 232 sets a position midway between the manual control position and the automatic control position of the driver's seat 31 as the intermediate position of the driver's seat 31. Specifically, the setting unit 232 sets the tilt of the seat back 31a midway between the manual control position and the automatic control position as the intermediate position of the tilt of the seat back 31a. The setting unit 232 sets the positions of the seat cushion 31b in the front-rear direction and the up-down direction to be midway between the manual control position and the automatic control position as the intermediate positions of the front-rear direction and the up-down direction of the seat cushion 31b. The setting unit 232 sets the tilt and position of the headrest 31c midway between the manual control position and the automatic control position as the intermediate positions of the headrest 31c in the up-down direction and the tilt of the headrest 31c. The setting unit 232 stores the intermediate position of the driver's seat 31 in the memory 22. The intermediate position of the driver's seat 31 is expressed by the inclination or position of each part of the driver's seat 31 being at one of 10 levels.

[0075] The intermediate position of the driver's seat 31 does not have to be midway between the manual control position and the automatic control position. For example, the intermediate position of the driver's seat 31 may be closer to the manual control position than the midway between the manual control position and the automatic control position. Also, the intermediate position of the driver's seat 31 may be closer to the automatic control position than the midway between the manual control position and the automatic control position.

[0076] On the other hand, if the seat position of the driver's seat 31 is not within the recommended range (step S105-No), the control unit 231 notifies the driver that the input seat position is outside the recommended range (step S108). Then, the control unit 231 notifies the driver via the UI 5 to re-input a seat position within the recommended range. The control unit 231 is an example of a notification control unit.

[0077] Specifically, when the position of the seat cushion 31b in the front-rear direction is not within the recommended range, the control unit 231 notifies the driver that the position of the seat cushion 31b in the front-rear direction is outside the recommended range via the UI 5. Furthermore, the control unit 231 may notify the driver that the position of the seat cushion 31b in the front-rear direction is outside the recommended range by preventing the position of the seat cushion 31b in the front-rear direction from being displaced outside the recommended range even when the driver 40 operates the seat operating unit 4.

[0078] When the inclination of the seat back 31a is not within the recommended range, the control unit 231 notifies the driver that the inclination of the seat back 31a is outside the recommended range via the UI 5. Furthermore, the control unit 231 may notify the driver that the inclination of the seat back 31a is outside the recommended range by preventing the inclination of the seat back 31a from being outside the recommended range even when the driver 40 operates the seat operating unit 4.

[0079] Next, the position determination unit 233 determines whether the seat position re-input by the driver 40 is within the recommended range (step S109). If the seat position re-input is within the recommended range (step S109-Yes), the process proceeds to steps S106 and S107, and the series of processes ends.

[0080] On the other hand, if the re-input seat position is outside the recommended range (step S109-No), the position determination unit 233 stores in the memory 22 that the driver 40 has requested a seat position that is not included in the recommended range (step S110). Then, the process proceeds to steps S106 and S107, and the series of processes ends. The automatically controlled position of the driver's seat 31 is set with priority given to the request of the driver 40, but the fact that the automatically controlled position is outside the recommended range is saved as a record.

[0081] In the above description, the automatic control device 12 has a manual control mode (so-called automatic driving level 0) and one automatic control mode (so-called automatic driving level 3). If the automatic control mode has multiple automatic driving levels, the automatic control position of the driver's seat 31 may be set for each of the multiple automatic driving levels. Note that the same automatic control position may be set for multiple automatic driving levels.

[0082] The setting unit 232 may perform the setting process of the automatic control position in response to the operation of the seat operating unit 4 by the driver 40 when the vehicle 10 is being driven in the automatic control mode.

[0083] Next, the process of displacing the driver's seat 31 from the manual control position to the automatic control position will be described below with reference to Fig. 5. Fig. 5 is an example of an operational flowchart relating to the position displacement process of the position displacement device of this embodiment. The position displacement process shown in Fig. 5 is executed every time the position displacement device 13 receives information indicating the start of operation in the automatic control mode from the automatic control device 12.

[0084] First, the control unit 231 notifies the driver 40 via the UI 5 of a proposal to move the seat position of the driver's seat 31 to an automatically controlled position (step S201).

[0085] Next, the control unit 231 determines whether the driver 40 has accepted the proposal to move to the automatic control position (step S202). The driver 40 operates the UI 5 to input a response to the proposal to move to the automatic control position.

[0086] If the driver 40 accepts the proposal to move to the automatic control position (step S202-Yes), the control unit 231 uses the seat drive unit 5 to move the seat position of the driver's seat 31 from the manual control position to the automatic control position (step S203), and ends the series of processes. The control unit 231 uses the seat drive unit 5 to move the seat back 31a, the seat cushion 31b, and the red rest 31c from the manual control position to the automatic control position. The control unit 231 is an example of a seat position control unit. The control unit 231 controls the seat position of the driver's seat 31, in which the driver is seated, so that it can be moved via the seat drive unit 5.

[0087] On the other hand, if the driver 40 does not accept the proposal to move to the automatically controlled position (step S202-No), the series of processes ends. Note that if the driver 40 does not accept the proposal to move to the automatically controlled position, the control unit 231 may execute the position change process shown in Fig. 5 at a proposed time having a predetermined cycle.

[0088] Next, the position change process for changing the driver's seat 31 from the automatically controlled position to the intermediate position will be described below with reference to Fig. 6. Fig. 6 is an example of an operational flowchart relating to the position change process of the position change device of this embodiment. The position change process shown in Fig. 6 is executed at a driver determination time having a predetermined cycle when the seat position of the driver's seat 31 is in the automatically controlled position.

[0089] First, the driver determination unit 234 determines whether the driver 40's level of involvement in driving is equal to or lower than a reference threshold (step S301). The driver determination unit 234 is an example of a first determination unit. When the heart rate of the driver 40 input from the heart rate sensor 3 is within a predetermined reference range, the driver determination unit 234 determines that the driver 40's level of involvement in driving is higher than the reference threshold (step S301-No). The heart rate is an example of information representing the driver's physical state. The driver's physical state may include the driver's biological information, facial expression, or behavior. On the other hand, when the heart rate of the driver 40 input from the heart rate sensor 3 is outside the reference range, the driver determination unit 234 determines that the driver 40's level of involvement in driving is equal to or lower than the reference threshold (step S301-Yes). When the driver 40's heart rate is lower than the reference range, the driver 40 may be feeling drowsy. Furthermore, if the heart rate of the driver 40 is higher than the reference range, the driver 40 may have a physical condition problem.

[0090] If the driver 40's level of involvement in driving is equal to or lower than the reference threshold, the control unit 231 uses the seat drive unit 5 to displace the seat position of the driver's seat 31 from the automatically controlled position to the intermediate position (step S302), and ends the series of processes. The control unit 231 uses the seat drive unit 5 to displace the seat back 31a, the seat cushion 31b, and the red rest 31c from the automatically controlled position to the intermediate position. When displacing the seat position of the driver's seat 31 from the automatically controlled position to the intermediate position, the control unit 231 may use the UI 5 to output sound, such as music, to stimulate the driver 40 to improve his / her level of involvement in driving. When displacing the seat position of the driver's seat 31 from the automatically controlled position to the intermediate position, the control unit 231 may use the seat drive unit 5 to vibrate the driver's seat 31 to stimulate the driver 40 to improve his / her level of involvement in driving. The UI 5 and the seat drive unit 5 are examples of a stimulus providing unit.

[0091] If the driver 40 is feeling drowsy, the seat position of the driver's seat 31 is displaced from the automatically controlled position to the intermediate position, thereby providing a stimulus to the driver 40 and making it possible to relieve the drowsiness.

[0092] Furthermore, if the driver 40 has a physical condition problem, the seat position of the driver's seat 31 is displaced from the automatic control position to the intermediate position, and the driver 40 can further operate the position operating unit 9 to displace the driver's seat 31 to the manual control position, making it easier to start appropriate actions such as stopping the vehicle 10.

[0093] The driver determination unit 234 may use the second monitoring camera 2a (see FIG. 2(A)) to monitor the state of the driver 40 when the driver's seat 31 is in the automatic control position, and estimate the level of involvement of the driver 40 in driving. For example, the driver determination unit 234 may detect the degree of eye opening (hereinafter also referred to as eye opening degree) and the degree of mouth opening (hereinafter also referred to as mouth opening degree) based on the monitoring image captured by the second monitoring camera 2a, and determine whether the level of involvement of the driver in driving is equal to or lower than a predetermined reference threshold based on the detected eye opening degree and mouth opening degree. A classifier trained to identify the eyes and mouth from images can be used to identify the eyes and mouth of the driver 40 shown in the monitoring image.

[0094] 6 may also be executed when the seat position of the driver's seat 31 is outside the recommended range. When the driver's involvement level in driving of the driver 40 is equal to or lower than the reference threshold, the control unit 231 uses the seat driving unit 5 to displace the seat position of the driver's seat 31, which is outside the recommended range, to an intermediate position.

[0095] On the other hand, if the driver's involvement level in driving is higher than the reference threshold, the series of processes ends.

[0096] Next, the position change process for changing the driver's seat 31 from the automatic control position to the manual control position will be described below with reference to Fig. 7. Fig. 7 is an example of an operational flowchart related to the position change process of the position change device of this embodiment. The position change process shown in Fig. 7 is executed at a first control transition determination time having a predetermined period when the seat position of the driver's seat 31 is in the automatic control position or an intermediate position.

[0097] First, the control unit 231 determines whether a control transfer request to transfer the subject of vehicle driving from the automatic control device 12 to the driver 40 has been input from the automatic control device 12 (step S401).

[0098] If a control transition request has been input (step S401-Yes), the control unit 231 uses the seat drive unit 5 to displace the seat position of the driver's seat 31 from the automatic control position or the intermediate position to the manual control position (step S402), and ends the series of processes. The control unit 231 uses the seat drive unit 5 to displace the seat back 31a, the seat cushion 31b, and the red rest 31c from the automatic control position or the intermediate position to the manual control position. In addition, the control unit 231 uses the seat belt drive unit 7 to adjust the tension of the seat belt 35 worn by the driver 40 to a predetermined value.

[0099] On the other hand, if a control transfer request has not been input (step S401-No), the series of processes ends.

[0100] When a control transition request is generated, the control unit 231 can move the driver's seat 31 from an automatic control position or an intermediate position within the recommended range to a manual control position within the control transition time. When the driver's seat 31 is moved from an automatic control position to a manual control position, the driver 40's level of involvement in driving is already high. Also, when the driver's seat 31 is moved from an intermediate position to a manual control position, the driver 40's level of involvement in driving is increased from a low level. As a result, the driver 40 is in a state of high involvement in driving the vehicle 10, and can start driving the vehicle 10.

[0101] 7 may be executed even when the seat position of the driver's seat 31 is outside the recommended range. When a control transition request has been input, the control unit 231 uses the seat drive unit 5 to displace the seat position of the driver's seat 31 that is outside the recommended range to the manual control position.

[0102] Next, another position change process for changing the driver's seat 31 from the automatic control position to the manual control position will be described below with reference to Fig. 8. Fig. 8 is an example of an operational flowchart relating to the position change process of the position change device of this embodiment. The position change process shown in Fig. 8 is executed at a second control transition determination time having a predetermined period when the seat position of the driver's seat 31 is in the automatic control position or an intermediate position.

[0103] First, the section determination unit 235 determines whether or not there is a control transition section, where the driving responsibility of the vehicle 10 is scheduled to be transitioned from automatic control to manual control, within a predetermined distance from the current position of the vehicle 10 in the traveling direction, based on the current position of the vehicle 10, the navigation route of the vehicle 10, and map information (step S501). The map information input from the automatic control device 12 includes position information of the control transition section. The section determination unit 235 is an example of a second determination unit.

[0104] If a control transition section is present (step S501-Yes), the section determination unit 235 determines whether the time required for the vehicle 10 to reach the control transition section is estimated to be longer than the control transition time (step S502). The section determination unit 235 estimates the time required for the vehicle 10 to reach the control transition section based on the most recent average speed of the vehicle 10 and the distance between the current position of the vehicle 10 and the control transition section.

[0105] If the time required for the vehicle 10 to reach the control transition section is longer than the control transition time (step S502-Yes), the control unit 231 uses the seat drive unit 5 to displace the seat position of the driver's seat 31 from the current position (automatic control position or intermediate position) to the manual control position over a period of time longer than the control transition time. The control unit 231 uses the seat drive unit 5 to displace the seat back 31a, the seat cushion 31b, and the red rest 31c from the automatic control position or intermediate position to the manual control position. The seat position of the driver's seat 31 needs to be displaced to the manual control position by the time the vehicle 10 reaches the control transition section, but a slower displacement speed is more comfortable for the driver. If the seat position of the driver's seat 31 is in the automatic control position, the control unit 231 may displace the seat position of the driver's seat 31 from the automatic control position to the intermediate position, and then stop the driver's seat 31 once before displacing it to the manual control position.

[0106] On the other hand, if there is no control transition section (step S501-No), or if the time required for the vehicle 10 to reach the control transition section is not longer than the control transition time (step S502-No), the series of processes ends.

[0107] In the position change processing shown in FIG. 8, when it is determined that there is a control transition section, execution of the next processing is stopped until the vehicle 10 passes through this control transition section.

[0108] As described above, the position displacement device of this embodiment displaces the driver's seat position from the automatic control position to the intermediate position when the driver's level of involvement in driving is low. Furthermore, when a control transition request is generated, the position displacement device can displace the driver's seat position from the intermediate position within the recommended range to a manual control position where the vehicle can be operated manually in a short time. Because the intermediate position is closer to the manual control position than the automatic control position, the time required for the driver's seat to be displaced from the intermediate position to the manual control position is shorter than the time required for the driver's seat to be displaced from the automatic control position to the manual control position. After the driver's seat position is displaced to the manual control position, the driver must acknowledge the control transition request before starting to drive the vehicle 10. Therefore, when the driver's level of involvement in driving is low, the position displacement device displaces the driver's seat position from the automatic control position to the intermediate position in advance, so that the driver can start driving the vehicle with ample time after the driver's seat position is displaced to the manual control position.

[0109] Furthermore, by displacing the driver's seat position from the automatically controlled position to the intermediate position, the driver's posture changes from a relaxed posture to a posture more suitable for driving, so the position displacing device can increase the driver's level of involvement in driving. As a result, the driver is in a state of high involvement in driving the vehicle, and can drive the vehicle accurately.

[0110] In the present disclosure, the position displacement device, the position displacement computer program, and the position displacement method of the above-described embodiments can be modified as appropriate without departing from the spirit of the present disclosure. Furthermore, the technical scope of the present disclosure is not limited to those embodiments, but extends to the inventions set forth in the claims and their equivalents.

[0111] For example, the position displacement system may include an operation unit drive unit that displaces the position of an operation unit such as a steering wheel. The control unit may control the operation unit position so that the driver can manually control the vehicle. The setting unit may set a recommended range of operation unit positions within a range within which the control unit can manually displace the operation unit position to a position where the driver can manually operate the vehicle within a predetermined time. The position determination unit may determine whether the operation unit position requested by the driver is included in the recommended range of operation unit positions. If the operation unit position requested by the driver is not included in the recommended range of operation unit positions, the control unit may notify the driver that the operation unit position requested by the driver is not included in the recommended range of operation unit positions. If the driver requests that the driver take control of the vehicle from an automatic control device to the driver, the control unit may displace the operation unit to a position where the driver can manually operate the vehicle. [Explanation of symbols]

[0112] 1 Position Displacement System 2. Surveillance cameras 3 Heart Rate Sensor 4 Seat operation section 5 Seat drive unit 6 Seat position detection sensor 7 Seat belt drive unit 8. Steering position detection sensor 9 Position operation section 10 vehicles 11 User Interface (UI) 11a Display device 12 Automatic control devices 13 Position displacement device 21 Communication Interface 22 Memory 23 processors 231 Control Unit 232 Settings 233 Position determination section 234 Driver Judgment Unit 235 Section Determination Unit 14 In-vehicle network 30 Cabin 31 Driver's seat 31a Seat back 31b Seat cushion 31c Headrest 32 Steering wheel 33 Brake pedal 34 Accelerator pedal 35 Seatbelt

Claims

1. a seat position control unit that controls the seat position of a seat in which a driver is seated so that the seat position can be displaced; a recommended range setting unit that sets a recommended range of the seat position within a range in which the seat position control unit can move the seat to the manual control position within a predetermined time based on a manual control position that represents the seat position when a driver drives a vehicle under manual control; an intermediate position setting unit that sets an intermediate position of the seat position between the manual control position and an automatic control position that represents the seat position when the vehicle is controlled at a predetermined automatic driving level set within the recommended range; a first determination unit that determines whether or not the driver's level of involvement in driving is equal to or lower than a predetermined reference threshold based on information representing the driver's physical condition; and The seat position control unit moves the seat position from the automatically controlled position to the intermediate position when the seat position is at the automatically controlled position and the driver's involvement level in driving is determined to be equal to or lower than the reference threshold.

2. 2. The position displacement device according to claim 1, wherein the seat position control unit displaces the seat position to the manually controlled position when a driver requests that the driver take control of the vehicle from an automatic control device.

3. a second determination unit that determines whether or not there is a control transition section within a predetermined distance from the current position of the vehicle in the traveling direction, based on the current position of the vehicle, the navigation route of the vehicle, and map information, in which the subject of driving of the vehicle is scheduled to be transferred from an automatic control device to a driver; 2. The position displacement device according to claim 1, wherein, when the control transition section is present, the seat position is at the automatically controlled position, and it is estimated that the time required for the vehicle to reach the control transition section is longer than the predetermined time, the seat position control unit moves the seat position from the current position to the manually controlled position over a time longer than the predetermined time.

4. a third determination unit that determines whether the seat position requested by the driver is within the recommended range; a notification control unit configured to, when the seat position requested by the driver is not within the recommended range, notify the driver via a notification unit that the seat position requested by the driver is not within the recommended range; and and 2. The position displacement device according to claim 1, wherein, after the driver is notified via the notification unit that the seat position requested by the driver is not included in the recommended range, if the third determination unit determines that the driver has again requested the seat position that is not included in the recommended range, the third determination unit stores in a memory unit that the driver has requested the seat position that is not included in the recommended range, and sets the seat position that is not included in the recommended range as the automatically controlled position.

5. 5. The position displacement device according to claim 1, wherein the seat position control unit, when moving the seat position from the automatically controlled position to the intermediate position, provides a stimulus to the driver via a stimulus providing unit to increase the driver's level of involvement in driving.

6. The seat position of the seat in which the driver sits is controlled so as to be displaceable; based on a manual control position representing the seat position when a driver drives a vehicle under manual control, set a recommended range of the seat position within a range in which the seat can be displaced to the manual control position within a predetermined time; an intermediate position of the seat position is set between the manual control position and an automatic control position that represents the seat position when the vehicle, which is set within the recommended range, is controlled at a predetermined automatic driving level; determining whether the driver's level of involvement in driving is equal to or lower than a predetermined reference threshold based on information representing the driver's physical condition; and having the processor execute the A computer program for position change, characterized in that when the seat position is at the automatically controlled position and it is determined that the driver's involvement level in driving is equal to or lower than the reference threshold, the computer program causes the processor to move the seat position from the automatically controlled position to the intermediate position.

7. The seat position of the seat in which the driver sits is controlled so as to be displaceable; based on a manual control position representing the seat position when a driver drives a vehicle under manual control, set a recommended range of the seat position within a range in which the seat can be displaced to the manual control position within a predetermined time; an intermediate position of the seat position is set between the manual control position and an automatic control position that represents the seat position when the vehicle, which is set within the recommended range, is controlled at a predetermined automatic driving level; determining whether the driver's level of involvement in driving is equal to or lower than a predetermined reference threshold based on information representing the driver's physical condition; The position displacement device executes this, A position change method characterized in that, when the seat position is at the automatically controlled position and it is determined that the driver's involvement level in driving is equal to or lower than the reference threshold, the position change device moves the seat position from the automatically controlled position to the intermediate position.

Images