Control device, control method, and program

Abstract

To improve a convenient characteristic of a user.SOLUTION: A control device comprises: a travel control unit that controls a travel of a moving object without operation by a crew member of the moving object; and a display control unit that displays on a target display unit either of a first display screen that displays a control state of the travel control unit, and a second display screen that does not display the control state of the travel control unit, on which the crew member has performed a selection operation, wherein: in the case that the travel control unit determines that it will actually control the travel of the moving object when the crew member selects to display the second display screen on the display unit, the display control unit switches the second display screen to the first display screen and displays the first display screen on the display unit, regardless of the selection operation of the crew member.SELECTED DRAWING: Figure 1

Description

Technical Field

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

Background Art

[0002] In recent years, efforts have been actively made to provide a sustainable transportation system that takes various situations into consideration. In order to achieve this, research and development have focused on further improving traffic safety and convenience through research and development related to driving support technology. A vehicle guidance display device has been disclosed that displays a road image in front of the vehicle on a display and creates a guidance arrow at a branch point and overlays and displays it on the road image in front (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the conventional technology, it is not disclosed to perform display according to the running of the moving body, and there are cases where the convenience of the passengers of the moving body is low.

[0005] The present invention has been made in consideration of such circumstances, and one of its objects is to provide a control device, a control method, and a program that can improve the convenience for passengers (for example, drivers) of a moving body. Subsequently, it contributes to the development of a sustainable transportation system.

Means for Solving the Problems

[0006] The control device, the control method, and the program according to this invention adopt the following configuration. (1) A control device according to one aspect of the present invention comprises a driving control unit that controls the movement of a mobile body without relying on the operation of the occupant of the mobile body, and a display control unit that causes the occupant to display the screen selected by the occupant on a target display unit from among a first display screen which is a display relating to the control state of the driving control unit and a second display screen which is not a display relating to the control state of the driving control unit, wherein when the occupant has selected to display the second display screen on the display unit, the driving control unit determines that it will actually control the movement of the mobile body, and without relying on the occupant's selection operation, switches the second display screen to the first display screen and displays the first display screen on the display unit.

[0007] (2): In the embodiment of (1) above, the display relating to the control state is a display relating to the automatic lane change control in which the moving body changes lanes automatically.

[0008] (3) In the embodiment of (2) above, the vehicle lane change control is performed on a branch road connected to the first lane on which the vehicle is traveling, and the display control unit causes the vehicle to display the second display screen on the display unit when the vehicle is performing deceleration control for lane change by the vehicle lane change control before the branch road, and after the deceleration control, displays the first display screen on the display unit.

[0009] (4): In any embodiment of (1) above, the second display screen includes a navigation screen that indicates the direction of travel of the moving body or the direction of the destination of the moving body.

[0010] (5) In the embodiment of (1) above, the second display screen includes a screen that shows the fuel consumption or electricity consumption of the mobile unit.

[0011] (6) In the embodiment of (5) above, when the driving control unit determines that it is actually controlling the movement of the moving body, the display control unit switches the second display screen to the first display screen and displays the second display screen on the display unit, without relying on the selection operation of the occupant, and when the driving control unit completes the control of the movement and the moving body is in a state of steady movement, it switches the first display screen back to the second display screen and displays the second display screen on the display unit.

[0012] (7): In the embodiment of (2) above, when the driving control unit determines that it will perform the vehicle lane change control, the display control unit switches the second display screen to the first display screen and displays the first display screen on the display unit, without regard to the occupant's selection operation, and when the vehicle lane change control is completed, it switches the first display screen back to the second display screen and displays the second display screen on the display unit.

[0013] (8) A control method according to another aspect of the present invention involves a computer performing the following: a process to control the movement of a mobile body without relying on the operation of the occupant of the mobile body; a process to display on a target display unit the screen selected by the occupant from among a first display screen which is a display relating to the control state of the process for controlling the movement of the mobile body and a second display screen which is not a display relating to the control state; and when the occupant has selected to display the second display screen on the display unit, and the process for actually controlling the movement determines that the movement of the mobile body should be controlled, the computer performing the following: a process to switch the second display screen to the first display screen and display the first display screen on the display unit without relying on the occupant's selection operation.

[0014] (9): A program according to another aspect of the present invention is a program that causes a computer to execute: a process for controlling the movement of a mobile body without relying on the operation of the occupant of the mobile body; a process for displaying on a target display unit the screen selected by the occupant from a first display screen which is a display relating to the control state of the process for controlling the movement of the mobile body and a second display screen which is not a display relating to the control state; and when the occupant has selected to display the second display screen on the display unit, and the process for actually controlling the movement determines that the movement of the mobile body should be controlled, a process for switching the second display screen to the first display screen and displaying the first display screen on the display unit without relying on the occupant's selection operation. [Effects of the Invention]

[0015] According to the embodiments of (1)-(9), user convenience can be improved. When it is possible to switch between the first screen display and the second screen display, the first display screen related to the control is displayed according to the timing at which control that actually affects the movement of the moving object occurs, so that the occupants can understand what kind of control is being performed and for what reason at the time or before the movement actually occurs.

[0016] According to the embodiment of (2), when automatic lane change control is performed on a branch road or the like, the occupants can be aware of the timing at which the lane change control actually occurs, as determined by the driving control unit.

[0017] According to the embodiment of (3), the first screen display is shown after deceleration before the branching point. The timing of this first screen display is before the lateral movement after braking control occurs, so that the occupants can understand that a lane change will be made before the lateral movement occurs.

[0018] According to the aspect of (4), even if the navigation screen is selected, it is switched to the first screen display related to the driving control before the driving control that actually affects the driving of the moving body occurs. Therefore, the driver can grasp, before the driving of the moving body actually occurs, what driving control is performed for what reason, etc.

[0019] According to the aspect of (5), even if the screen related to fuel consumption or electricity cost is selected, it is switched to the first screen display related to the driving control before the driving control that actually affects the driving of the moving body occurs. Therefore, the driver can grasp, before the driving of the moving body actually occurs, what driving control is performed for what reason, etc.

[0020] According to the aspect of (6), when the lane change is completed, it is quickly returned to the second screen display, so that it is possible to suppress giving the driver a sense of discomfort in the display.

[0021] According to the aspect of (7), when the lane change to the adjacent lane is completed, it is returned to the selected second screen display, so that it is possible to suppress giving the driver a sense of discomfort in the display. [[ID=Q14]]

Brief Description of Drawings

[0022] [Figure 1] It is a configuration diagram of a vehicle system 1 using the vehicle control system according to the embodiment. [Figure 2] It is a diagram (part 1) for explaining the processing of this embodiment. [Figure 3] It is a diagram (part 2) for explaining the processing of this embodiment. [Figure 4] [[ID=Q29]]It is a flowchart showing an example of the flow of processing executed by the driving support device 100. [Figure 5] [[ID=Q32]]It is a diagram for explaining the scene where the vehicle M changes lanes. [[ID=Q35]]

Mode for Carrying Out the Invention

[0023] [Overall Configuration] Figure 1 is a diagram showing the configuration of a vehicle system 1 utilizing a vehicle control system according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharge power from a secondary battery or fuel cell. This embodiment is described as being applicable to a vehicle, but it may be applied to other mobile bodies instead of a vehicle.

[0024] Vehicle system 1 includes, for example, a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU 60, an operator 80, a turn signal 90, a driver assistance device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. The configuration shown in Figure 1 is merely an example, and some of the configuration may be omitted, or other configurations may be added. The driver assistance device 100 is an example of a "control device".

[0025] Camera 10 is a digital camera that utilizes a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 10 is mounted at any location on the vehicle (hereinafter referred to as vehicle M) on which the vehicle system 1 is installed. When imaging the area in front, camera 10 is mounted on the top of the front windshield, behind the rearview mirror, etc. Camera 10 periodically and repeatedly images the area around vehicle M. Camera 10 may also be a stereo camera.

[0026] The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to determine at least the position (distance and bearing) of the object. The radar device 12 can be mounted at any location on the vehicle M. The radar device 12 may also detect the position and velocity of the object using the FM-CW (Frequency Modulated Continuous Wave) method.

[0027] LIDAR14 irradiates light (or electromagnetic waves with a wavelength close to light) around vehicle M and measures the scattered light. Based on the time from emission to reception, LIDAR14 detects the distance to the target. The irradiated light is, for example, pulsed laser light. LIDAR14 can be attached to any location on vehicle M.

[0028] The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the position, type, speed, etc., of an object. The object recognition device 16 outputs the recognition results to the driver assistance device 100. The object recognition device 16 may output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driver assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1.

[0029] The communication device 20 communicates with other vehicles in the vicinity of vehicle M, or with various server devices via a wireless base station, for example, by using a cellular network, Wi-Fi network, Bluetooth®, DSRC (Dedicated Short Range Communication), etc.

[0030] The HMI30 presents various information to the occupants of vehicle M and accepts input operations from the occupants. The HMI30 includes various display devices, speakers, buzzers, touch panels, switches, keys, etc. The HMI30 is equipped with a display device. The display device is a display device, also known as a multi-information display, that displays various information in vehicle M, such as a speedometer showing the vehicle's speed or a tachometer showing the rotational speed of the internal combustion engine in vehicle M, and is located in the center of the instrument panel of vehicle M.

[0031] The vehicle sensor 40 includes a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting acceleration, a yaw rate sensor for detecting angular velocity around the vertical axis, and an orientation sensor for detecting the orientation of the vehicle M.

[0032] The navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53. The navigation device 50 stores first map information 54 in a storage device such as an HDD (Hard Disk Drive) or flash memory. The GNSS receiver 51 determines the position of the vehicle M based on signals received from GNSS satellites. The position of the vehicle M may be determined or supplemented by an INS (Inertial Navigation System) that utilizes the output of the vehicle sensors 40. The navigation HMI 52 includes a display device, speakers, a touch panel, keys, etc. The navigation HMI 52 may be partially or completely shared with the HMI 30 described above. The route determination unit 53 determines, for example, a route (hereinafter referred to as the route on the map) from the position of the vehicle M determined by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52, by referring to the first map information 54. The first map information 54 is, for example, information in which the road shape is represented by links indicating roads and nodes connected by those links. The first map information 54 may also include information such as road curvature and POI (Point of Interest) information. The route on the map is output to the MPU 60. The navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map. The navigation device 50 may be implemented, for example, by the functions of a terminal device such as a smartphone or tablet held by an occupant. The navigation device 50 may transmit the current location and destination to the navigation server via the communication device 20 and obtain a route equivalent to the route on the map from the navigation server.

[0033] The MPU 60 includes, for example, a recommended lane determination unit 61 and stores second map information 62 in a storage device such as an HDD or flash memory. The recommended lane determination unit 61 divides the map route provided by the navigation device 50 into multiple blocks (for example, every 100m with respect to the vehicle's direction of travel) and determines a recommended lane for each block by referring to the second map information 62. The recommended lane determination unit 61 makes decisions such as which lane from the left the vehicle should travel in. If there is a branching point on the map route, the recommended lane determination unit 61 determines a recommended lane so that the vehicle M can travel along a reasonable route to proceed to the branching point. For example, if the vehicle M reaches a predetermined distance before a branching road it is traveling on, the recommended lane determination unit 61 determines the lane connecting to the branching road as the recommended lane. The recommended lane determination unit 61 and the second map information 62 may be functional units or information included in other devices such as the driver assistance device 100.

[0034] The second map information 62 is map information with higher accuracy than the first map information 54. The second map information 62 includes, for example, information on the center of lanes or information on lane boundaries. The second map information 62 may also include road information, traffic regulation information, address information (address and postal code), facility information, telephone number information, etc. The second map information 62 may be updated as needed by the communication device 20 communicating with other devices.

[0035] The control elements 80 include, for example, the steering wheel 82, as well as the accelerator pedal, brake pedal, shift lever, and other control elements. The control elements 80 are equipped with sensors that detect the amount of operation or whether or not an operation is performed, and the detection results are output to the driver assistance device 100, or to some or all of the driving force output device 200, brake device 210, and steering device 220. The steering wheel 82 does not necessarily have to be annular, and may take the form of an irregularly shaped steering wheel, joystick, buttons, etc. The control elements 80 include a first control element 84. The turn signal 90 lights up or turns off in response to the operation of the first control element 84.

[0036] The first operator 84 is, for example, a turn signal lever switch. For example, when the driver operates the first operator 84, the turn signal 90 illuminates in response to the operation. When the driver performs a predetermined operation on the first operator 84, the control unit 150 activates the ALC (Auto Lane Change) function and causes the vehicle M to perform an automatic lane change. The predetermined operation is an operation that triggers the activation of the ALC function. The predetermined operation is, for example, operating the turn signal lever switch in the direction in which the lane change is desired for a predetermined time, or pushing the turn signal lever switch to a predetermined position. More specifically, the predetermined operation is to operate the turn signal lever switch in the direction in which the lane change is desired and maintain a predetermined position for a predetermined time. The first operator 84 may be in the form of a button or other means instead of a turn signal lever switch. The ALC function may also be activated by operating on a predetermined button or other operator.

[0037] The driver assistance device 100 includes, for example, a recognition unit 110 and a control unit 150. The recognition unit 110 and the control unit 150 are realized, for example, by a hardware processor such as a CPU (Central Processing Unit) executing a program (software). Some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or SOC (System On Chip), or by the cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device with a non-transient storage medium) such as the HDD or flash memory of the driver assistance device 100, or it may be stored in a removable storage medium such as a DVD or CD-ROM and installed in the HDD or flash memory of the driver assistance device 100 when the storage medium (non-transient storage medium) is mounted on a drive device.

[0038] The recognition unit 110 recognizes the position and state of objects around the vehicle M, such as their speed and acceleration, based on information input from the camera 10, radar device 12, and LIDAR 14 via the object recognition device 16. The position of an object is recognized as a position on an absolute coordinate system with a representative point of the vehicle M (such as the center of gravity or the center of the drive axis) as the origin, and is used for control. The position of an object may be represented by a representative point such as the center of gravity or a corner of the object, or it may be represented by a region. The "state" of an object may include the object's acceleration, jerk, or "action state" (for example, whether or not it is changing lanes or attempting to change lanes).

[0039] The recognition unit 110 recognizes, for example, the lane in which the vehicle M is traveling. For example, the recognition unit 110 recognizes the driving lane by comparing the pattern of road markings (for example, an arrangement of solid and dashed lines) obtained from the second map information 62 with the pattern of road markings around the vehicle M recognized from the image captured by the camera 10. The recognition unit 110 may also recognize the driving lane by recognizing not only road markings, but also road boundaries (road boundaries) including road markings, shoulders, curbs, median strips, guardrails, etc. In this recognition, the position of the vehicle M obtained from the navigation device 50 and the processing results by INS may also be taken into consideration. The recognition unit 110 recognizes stop lines, obstacles, red lights, toll booths, and other road events.

[0040] When recognizing a driving lane, the recognition unit 110 recognizes the position and orientation of the vehicle M relative to the driving lane. For example, the recognition unit 110 may recognize the deviation of the vehicle M's reference point from the center of the lane, and the angle it makes with a line connecting the centers of the lanes in the direction of travel, as the relative position and orientation of the vehicle M relative to the driving lane. Alternatively, the recognition unit 110 may recognize the position of the vehicle M's reference point relative to any side edge of the driving lane (road marking or road boundary), etc., as the relative position of the vehicle M relative to the driving lane.

[0041] The control unit 150 performs driver assistance control. For example, the control unit 150 automatically controls the driving force output device 200 and the brake device 210 without relying on the driver's operation to automatically control the speed of the vehicle M. The control unit 150 also performs so-called ACC (Adaptive Cruise Control). The control unit 150 controls the vehicle M to travel at a set speed, or to follow a preceding vehicle at a predetermined distance from the preceding vehicle.

[0042] The control unit 150 controls the steering device 220 to prevent the vehicle M from deviating from its lane. For example, the control unit 150 controls the steering device 220 so that the vehicle M travels in the center or near the center of the lane recognized by the recognition unit 110. Hereinafter, this control may be referred to as "lane keeping control". The control unit 150 performs both hands-on lane keeping control and hands-off lane keeping control.

[0043] Hands-on lane keeping control is a control system that is performed when the driver is holding the steering wheel (when the steering grip sensor, not shown, detects that the driver is gripping the steering wheel). The conditions under which hands-on lane keeping control can be performed are less stringent than the conditions under which hands-off lane keeping control can be performed.

[0044] Hands-off lane keeping control is a control system that is performed when the driver is not holding the steering wheel (when the steering grip sensor, not shown, does not detect that the driver is holding the steering wheel). Hands-off lane keeping control can be performed, for example, when the following conditions are met: the speed of vehicle M is above a predetermined speed, vehicle M is traveling on a predetermined road (for example, a road or type of road that has been set in advance as being capable of performing hands-off lane keeping control), and the driver is monitoring the road ahead. Hands-off lane keeping control is performed when the driver is monitoring the road ahead, and is not performed or is stopped when the driver is not monitoring the road ahead.

[0045] The conditions under which hands-on lane keeping control and hands-off lane keeping control can be performed, as described above, are examples, and other conditions (for example, that vehicle M is following the vehicle in front) may be included, or some conditions may be omitted. The conditions under which hands-on lane keeping control can be performed are less stringent than the conditions under which hands-off lane keeping control can be performed (and the conditions under which hands-off lane keeping control can be performed are stricter than the conditions under which hands-on lane keeping control can be performed). The driver assistance device 100 recognizes whether the driver is monitoring the road ahead based on images captured by a camera (not shown) that captures images of the driver.

[0046] The control unit 150 includes a processing unit 152 (display control unit) and a support control unit 154 (driving control unit). The processing unit 152 displays various images on the display unit. The support control unit 154 automatically changes the lane of the vehicle M. The control for automatic lane changes may be conditional on the execution of hands-off lane keeping control or hands-on lane keeping control.

[0047] The driving force output device 200 outputs driving force (torque) to the drive wheels for the vehicle M to move. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, and a transmission, and an ECU that controls them. The ECU controls the above configuration according to information input from the driver assistance device 100 or from the operator 80.

[0048] The braking system 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the driver assistance device 100 or from the control element 80, so that brake torque corresponding to the braking operation is output to each wheel.

[0049] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheels. The steering ECU drives the electric motor to change the direction of the steering wheels according to information input from the driver assistance device 100 or from the control element 80.

[0050] [Display Control] Figure 2 is a diagram (part 1) illustrating the processing of this embodiment. For example, vehicle M is traveling in the first lane L1. Vehicle M is scheduled to change lanes to the second lane L2, which is adjacent to the first lane L1. The second lane L2 is a branching lane that branches off from the first lane L1. For example, the following control is executed when the target route for vehicle M is set to travel in the second lane L2. This control is also executed when the occupant (driver) of vehicle M performs an operation to instruct vehicle M to change lanes to the second lane L2 at a predetermined distance before the connection point where the first lane L1 and the second lane L2 connect. The instruction operation is any operation, such as operating a predetermined lane change reservation button or operating the first operator 84. For example, by operating the reservation button, branching support control is executed, in which a lane change to the branching lane is performed automatically.

[0051] For example, when the support control unit 154 approaches a branching lane, it automatically decelerates, illuminates the turn signal 90 at the appropriate time, and automatically controls the steering to change the vehicle M into the branching lane without driver intervention. This support control may be performed, for example, when hands-off lane keeping control or hands-on lane keeping control is in operation.

[0052] Time T is when vehicle M reaches the first predetermined distance before the connection point. Time T+1 is when vehicle M reaches the second predetermined distance before the connection point. The second predetermined distance is shorter than the first predetermined distance. Time T+2 is when vehicle M reaches the third predetermined distance before the connection point. The third predetermined distance is shorter than the second predetermined distance. Time T+2 is when the turn signal 90 illuminates. Time T+3 is when the lane change to the second lane L2 begins (or just before it begins).

[0053] Up to time T+2, the selected content can be displayed on the display unit (or is displayed), and from time T+2 until time T+5 (described below), the dedicated content is displayed on the display unit. After time T+5, the selected content can be displayed on the display unit (or is displayed).

[0054] The selected content is an example of a "second display screen that does not display the control status of the driving control unit." The dedicated content is an example of a "first display screen that displays the control status of the driving control unit." The dedicated content is a screen related to so-called ADAS (Advanced driver-assistance systems). The dedicated content is, for example, a display related to the control or function of ADAS. For example, up to time T+2, or after time T+5, the processing unit 152 displays the screen selected by the occupant from among the selected content (one or more selected contents) and the dedicated content on the target display unit.

[0055] The selected content is a display different from the display of the vehicle M's control status (such as lane changes, lane keeping control, and ACC) by the support control unit 154, such as image IM1 and image IM2. The occupant can display any content from among multiple selected contents on the display unit by performing a predetermined operation. For example, the processing unit 152 displays image IM2 on the display unit instead of image IM1 in response to the occupant's operation. Image IM1 is a navigation screen showing the direction of travel of the vehicle M or the direction of the vehicle M's destination. Image IM2 is a screen showing the vehicle M's fuel consumption or electric energy consumption.

[0056] When the occupant has selected to display selected content on the display unit, the processing unit 152, when it determines that the support control unit 154 will actually control the driving of the vehicle M, switches the selected content to dedicated content and displays the dedicated content on the display unit, regardless of the occupant's selection operation. The timing at which the support control unit 154 "determines that the support control unit 154 will actually control the driving of the vehicle M" is when the support control unit 154 starts changing the lane of the vehicle M, a predetermined time before the above start timing, a predetermined time after the above start timing, or when it lights up the turn signal 90 in response to the start of the lane change.

[0057] At time T+2, when vehicle M begins to change lanes, the processing unit 152 displays dedicated content on the display unit instead of the selected content. The dedicated content is a display related to the automatic lane change control in which vehicle M automatically changes lanes, as shown in images IM3, IM4, and IM5. For example, in the section from time T+1 to time T+2 (the section before the fork in the road), the support control unit 154 decelerates vehicle M in order to change lanes. During this time, the processing unit 152 displays selected content on the display unit. At time T+2, after the deceleration control has been performed, the processing unit 152 displays dedicated content on the display unit. In this example, it is explained that the dedicated content is displayed after the deceleration control has been performed, but the dedicated content may also be displayed before the deceleration control is started or when it is decided to change lanes.

[0058] Images IM3, IM4, and IM5 are displayed on the display unit in this order. Image IM3 includes the first lane L1, the third lane L3 adjacent to the first lane, the second lane L2 which is a branching lane adjacent to the first lane, vehicle M (the vehicle at the bottom of the image), information indicating the future trajectory of vehicle M, and direction information (arrow) indicating the direction in which vehicle M will change lanes. Direction information is associated with vehicle M in image IM3. The first lane L1, the second lane L2, and the third lane L3 are images generated from the results recognized by the recognition unit 110 (images captured by the camera 10).

[0059] Image IM4 is similar to Image IM3 in that the directional information is displayed in a different color than the directional information in Image IM3, and additional information is added indicating that the turn signal 90 is illuminated in the image of vehicle M. Image IM5 is an image in which the trajectory of vehicle M is shown moving from the first lane L1 to the second lane L2 in Image IM4. Image IM5 is an image that is displayed on the display unit before vehicle M enters the second lane L2 or before the lane change is completed. Completion of the lane change means that vehicle M has moved to the junction (moved to the vicinity of the center of the junction), or that vehicle M has traveled a predetermined distance after moving to the junction.

[0060] As described above, the processing unit 152 displays dedicated content on the display unit in place of the selected content at the moment when the vehicle M begins to change lanes, allowing the occupants to understand what kind of control is being performed and why, either at the time the lane change actually occurs or before. As a result, user convenience is improved.

[0061] Figure 3 is a diagram (part 2) illustrating the processing of this embodiment. Figure 3 shows the scene from time T+2 onwards, as shown in Figure 2. At time T+3, image IM5 is displayed. At this time, or thereafter, vehicle M begins to change lanes. At time T+4, when vehicle M changes lanes and moves to the second lane L2, image IM6 is displayed. Image IM6 includes information indicating the first lane L1 recognized by the recognition unit 110, the second lane L2 recognized by the recognition unit 110, vehicle M (the vehicle at the bottom of the image), and the future trajectory of vehicle M.

[0062] When image IM6 is displayed, navigation integration is performed at time T+2 and before time T+2. Navigation integration means that the processing unit 152 uses information from the navigation device 50 (for example, road information such as lane markings) to display an image on the display unit, or that it is possible to display an image on the display unit. This allows the processing unit 152 to determine the timing for displaying dedicated content on the display unit.

[0063] When the driving control by the support control unit 154 is completed and the vehicle M is in a steady-state movement state, the processing unit 152 returns the dedicated content to the selected content and displays the selected content on the display unit. For example, when the automatic lane change control is completed, the processing unit 152 returns the dedicated content to the selected content and displays the selected content on the display unit. Assume that the lane change is completed at time T+5. In this case, the processing unit 152 displays the selected content that was displayed on the display unit before time T+2 instead of the dedicated content.

[0064] As described above, the processing unit 152 promptly returns the display to the selected content once the lane change is complete, thereby suppressing any sense of incongruity in the display for the occupants, and furthermore, allowing the occupants to recognize the information they wish to recognize in the selected content. As a result, user convenience is improved.

[0065] [flowchart] Figure 4 is a flowchart showing an example of the processing flow performed by the driver assistance device 100. First, the processing unit 152 acquires the location information of the vehicle M (step S100). Next, the processing unit 152 acquires navigation information (step S102). The navigation information includes information about the destination set in the navigation device 50, information about the target route for the vehicle M guided by the navigation device 50, and the structure of the roads around the target route. The processes in steps S100 and S102 are repeatedly executed at predetermined intervals.

[0066] Next, the processing unit 152 determines whether the target route is set for the branch road based on the information acquired in steps S100 and S102 (step S104). If the target route is not set for the branch road, the process returns to step S100. If the target route is set for the branch road, the processing unit 152 determines whether the vehicle M has reached a predetermined distance before the branch road which is the target route (step S106). If the vehicle M has not reached a predetermined distance before the branch road which is the target route, the process returns to step S100. It is assumed that the selected content is displayed on the display unit up to step S106.

[0067] When vehicle M reaches a predetermined distance before the branching road which is the target route, the processing unit 152 switches the selected content to dedicated content and displays the dedicated content on the display unit (step S108). Next, the processing unit 152 determines whether the lane change has been completed (step S110). If the lane change has not been completed, the process returns to step S108. If the lane change has been completed, the processing unit 152 displays the selected content on the display unit before switching to the dedicated content (step S112). This completes the processing of one routine in this flowchart.

[0068] Instead of performing the process in step S110 described above, it is possible to determine whether or not a condition has been met. The condition may be, for example, that vehicle M has reached a predetermined position or that the state of vehicle M has met any condition. The state of vehicle M having met any condition may be, for example, that the turn signal has been turned off or that a predetermined time has elapsed since the turn signal was turned off.

[0069] The above example describes the control in a scenario where vehicle M is proceeding onto a branching road. However, instead of (or in addition to) this, control with a similar intent may also be performed in a scenario where vehicle M is changing lanes.

[0070] Figure 5 illustrates a scenario in which vehicle M changes lanes. For example, if a slow vehicle is present in front of vehicle M at time T+1, it is assumed that a lane change is necessary. In Figure 5, surrounding vehicles are not depicted. For example, suppose the driver gives an instruction to change lanes automatically. At time T+2, vehicle M recognizes the situation in the adjacent lane and determines that a lane change is possible. At time T+3, vehicle M begins to change lanes. At time T+4, the lane change is in progress. At time T+5, the lane change is assumed to be complete.

[0071] Up to time T+2, the selected content is displayed. From time T+2 to time T+5, dedicated content is displayed. After time T+5, the selected content is displayed. For example, up to time T+2 and after time T+5, the selected content, image IM2, is displayed.

[0072] Additionally, if the driver has selected an image showing the surroundings of vehicle M as selected content, images IM11, IM12, and IM16 showing the surroundings of vehicle M may be displayed until time T+2 and after time T+5. Image IM11 is the image displayed before time T+1. Image IM11 shows vehicles and road markings present around vehicle M (the road diagram shown at the top of the image omits the depiction of other vehicles). Image IM12 includes the content of image IM11, plus information showing the future trajectory of vehicle M and direction information (arrows) indicating the direction in which vehicle M will change lanes. Images IM11, IM12, or IM16 may be other examples of selected content. Images IM11, IM12, and IM16, and images IM13, IM14, and IM15 are, for example, both selectable content and dedicated content. If images IM11, IM12, and IM16, which show the surrounding environment, are selected as the selectable content, then even in sections where dedicated content is displayed, images IM13, IM14, and IM15, which show the surrounding environment corresponding to images IM11, IM12, and IM16, will continue to be displayed.

[0073] At time T+2, image IM13 is displayed; at time T+3, image IM14 is displayed; and at time T+4, image IM15 is displayed. Images IM13, IM14, and IM15 contain information requesting the driver to check the surroundings, such as the lane to which the vehicle will change lanes. Image IM13 includes information showing the future trajectory of vehicle M and direction information (arrow) indicating the direction in which vehicle M will change lanes. In image IM14, the color of the direction information may be displayed differently from the color of the direction information in image IM13. In image IM15, the color of the direction information may be displayed differently from the color of the direction information in image IM14. For example, the direction information may be displayed in a manner that more emphasizes the lane change of vehicle M.

[0074] At time T+5, when the lane change is complete and vehicle M is moving steadily, the dedicated content is returned to the selected content and displayed on the display unit. For example, image IM2 or image IM16 is displayed. Image IM16 is content that shows the surrounding conditions of vehicle M.

[0075] When the flowchart in Figure 4 is applied to lane changes, the determinations in steps S100 and S102 are omitted. The process in step S104 is reinterpreted as "the processing unit 152 determines whether or not vehicle M intends to change lanes," and the process in step S106 is reinterpreted as "the processing unit 152 determines whether or not to perform a lane change."

[0076] As described above, the processing unit 152 can improve user convenience by displaying dedicated content on the display unit in place of the selected content in accordance with the timing when vehicle M begins to change lanes.

[0077] According to the embodiments described above, when the driver assistance device 100 has selected to display selected content (second display screen) on the display unit, and the assistance control unit 154 determines that it is actually going to control the driving of the vehicle M, it can switch the selected content (second display screen) to dedicated content (first display screen) and display the dedicated content on the display unit, regardless of the driver's selection operation, thereby improving user convenience.

[0078] The embodiments described above can be expressed as follows. A memory device that stores the program, Equipped with a hardware processor, The hardware processor executes the program stored in the memory device, A process for controlling the movement of the mobile body without relying on the operation of the occupants of the mobile body, A process to display on the target display unit the screen selected by the occupant from among a first display screen which displays the control state and a second display screen which does not display the control state of the driving control unit, When the occupant has chosen to display the second display screen on the display unit, When the process that actually controls the movement determines that the movement of the moving body should be controlled, Regardless of the crew member's selection operation, the process of switching the second display screen to the first display screen and displaying the first display screen on the display unit is performed. A control device configured in such a way.

[0079] Although embodiments for carrying out the present invention have been described above using examples, the present invention is not limited in any way to these embodiments, and various modifications and substitutions can be made without departing from the spirit of the present invention. [Explanation of Symbols]

[0080] 1. Vehicle System 10 Cameras 80 Operators 84 1st controller 90 Turn signal 100 Driving support devices 110 Recognition part 150 Control Unit 152 Processing Unit 154 Support Control Unit

Claims

1. A driving control unit that changes the lane of the moving vehicle without relying on the operation of the occupants of the vehicle, The system includes a first display screen which displays the control status of the aforementioned driving control unit, and a second display screen which does not display the control status of the aforementioned driving control unit, and a display control unit which causes the occupant to select the screen to be displayed on the target display unit. The display control unit, When the occupant has chosen to display the second display screen on the display unit, When the driving control unit determines that the moving body should actually start changing lanes, Regardless of the crew member's selection operation, the second display screen is switched to the first display screen and the first display screen is displayed on the display unit. Control device.

2. The display relating to the control state is a display relating to the automatic lane change control in which the moving object automatically changes lanes. The control device according to claim 1.

3. The aforementioned lane change control is performed at a branching road connected to the first lane on which the moving vehicle is traveling. The display control unit, When the moving vehicle is performing deceleration control for lane change using the automatic lane change control before reaching the aforementioned branching road, the second display screen is displayed on the display unit. After the deceleration control, the first display screen is displayed on the display unit. The control device according to claim 2.

4. The second display screen includes a navigation screen that shows the direction of travel of the moving object or the direction of the destination of the moving object. The control device according to claim 1.

5. The second display screen includes a screen showing the fuel consumption or electricity consumption of the mobile unit. The control device according to claim 1.

6. The display control unit, When the driving control unit determines that the moving body should actually start changing lanes, Without relying on the crew member's selection operation, the second display screen is switched to the first display screen and the second display screen is displayed on the display unit, When the lane change control by the driving control unit is completed and the moving body is in a steady state, the first display screen is returned to the second display screen and the second display screen is displayed on the display unit. The control device according to claim 1.

7. The display control unit, When the driving control unit determines that it will perform the automatic lane change control, it will switch the second display screen to the first display screen and display the first display screen on the display unit, regardless of the occupant's selection operation. When the aforementioned lane change control is completed, the first display screen is returned to the second display screen and the second display screen is displayed on the display unit. The control device according to claim 2.

8. Computers A process for changing the lane of the moving vehicle without relying on the operation of the occupants of the vehicle, A process to display on the target display unit the screen selected by the occupant from among a first display screen which is a display of the control status of the process of changing lanes for the moving body, and a second display screen which is not a display of the control status, When the occupant has chosen to display the second display screen on the display unit, When it is determined that the process of actually changing lanes should initiate the lane change of the moving object, A process to switch the second display screen to the first display screen and display the first display screen on the display unit, without relying on the crew member's selection operation, A control method for executing this.

9. On the computer, A process for changing the lane of the moving vehicle without relying on the operation of the occupants of the vehicle, A process to display on the target display unit the screen selected by the occupant from among a first display screen which is a display of the control status of the process of changing lanes for the moving body, and a second display screen which is not a display of the control status, When the occupant has chosen to display the second display screen on the display unit, When it is determined that the process of actually changing lanes should initiate the lane change of the moving object, A process to switch the second display screen to the first display screen and display the first display screen on the display unit, without relying on the crew member's selection operation, A program to execute.

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