Vehicle system and vehicle control method

Abstract

To provide a vehicle system and vehicle control method capable of making notification for smoothing traffic including an own vehicle.SOLUTION: A vehicle system 1 includes a determination unit 14 that determines a travel condition of an own vehicle 10, and a notification unit 20 that notifies the exterior of information concerning the own vehicle. When determining based on a predetermined reason that a second travel condition where the behavior of the own vehicle changes in comparison with a first travel condition where the own vehicle or another vehicle Mn existing around the own vehicle is currently traveling may arise, the determination unit causes the notification unit to notify the contents of notification including the predetermined reason.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present invention relates to a vehicle system and a vehicle control method for notifying information related to driving around a host vehicle.

Background Art

[0002] Conventional manually-driven vehicles indicate the intention of the host vehicle to other vehicles based on lights such as winkers provided on the vehicle, and also use the gestures of the driver to indicate the intention to other vehicles. In recent years, self-driving vehicles capable of autonomous driving on roads have been studied. For example, Patent Document 1 discloses a meaning transmission system in which a self-driving vehicle transmits meaning to surrounding traffic participants. According to the technique described in Patent Document 1, when a self-driving vehicle exhibits an autonomous behavior such as a lane change, it can display that a behavior has occurred around based on visual information.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] According to the technique described in Patent Document 1, the information of the notification content is insufficient, and there is a possibility of affecting the driving of surrounding vehicles. <​​​​​​​​One aspect of the present invention is a vehicle system comprising a determination unit for determining the driving state of its own vehicle and a notification unit for notifying the outside of information relating to the own vehicle, wherein if the determination unit determines that a second driving state occurs based on a predetermined reason in which the behavior of the own vehicle changes compared to a first driving state in which the own vehicle or other vehicles present around the own vehicle are currently driving, it causes the notification unit to notify the notification content including the predetermined reason. [Effects of the Invention]

[0007] According to the present invention, it is possible to provide notifications to facilitate traffic, including the vehicle itself. [Brief explanation of the drawing]

[0008] [Figure 1] This is a block diagram showing the configuration of the vehicle system. [Figure 2] This diagram shows the location of the display unit installed on the vehicle. [Figure 3] This diagram shows your vehicle and other vehicles traveling at a road merging point. [Figure 4] This diagram shows your vehicle and other vehicles traveling at a road intersection. [Figure 5] This flowchart shows the processing flow of a vehicle control method executed in a vehicle system. [Modes for carrying out the invention]

[0009] As shown in Figure 1, the vehicle system 1 consists of the vehicle itself 10, multiple other vehicles Mn (n: a natural number), and a server device 40 connected to the network W. The vehicle itself 10 and the other vehicles Mn communicate via the network W. The vehicle itself 10 and the other vehicles Mn may also communicate directly based on vehicle-to-vehicle communication. The vehicle system 1 is configured to support the driving of the vehicle itself 10 or the other vehicles Mn and to facilitate traffic flow based on communication between the vehicle itself 10 and the multiple other vehicles Mn.

[0010] The server device 40 is configured to communicate with its own vehicle 10 and other vehicles Mn via the network W and manage their driving status when the vehicle itself 10 and other vehicles Mn are autonomous vehicles.

[0011] The other vehicle Mn is, for example, an autonomous vehicle. The other vehicle Mn may also be a manually driven vehicle. The other vehicle Mn is equipped with a control unit Ma that performs control related to driving and communication. The other vehicle Mn is equipped with a communication unit Mb that can communicate with the network W. The other vehicle Mn is equipped with a notification unit Mc that notifies information acquired via the communication unit Mb. The communication unit Mb is a wireless communication interface. The communication unit Mb may also communicate directly with the vehicle 10.

[0012] The notification unit Mc consists of, for example, a display unit Md that displays information based on text or images, and a speaker Me that provides information based on sound. The display unit Md consists of a liquid crystal display or the like that capable of displaying images.

[0013] The control unit Ma acquires information from its own vehicle 10 via the communication unit Mb and causes the notification unit Mc to notify the information. The control unit Ma is composed of a processor that executes the process of causing the notification unit Mc to notify the information. If the other vehicle Mn is an autonomous vehicle, the control unit Ma may also perform control to allow the other vehicle Mn to drive autonomously. In the other vehicle M1, the control unit Ma, communication unit Mb, and notification unit Mc may be composed of a communication-enabled portable terminal device carried by the driver of the other vehicle Mn.

[0014] The vehicle 10 is, for example, an autonomous vehicle that drives based on a predetermined autonomous driving level. The vehicle 10 may also be a manually driven vehicle. The vehicle 10 is equipped with a detection unit 12 that detects information related to the driving of the vehicle 10. The vehicle 10 is equipped with a processor 13 that performs control related to the driving of the vehicle 10 based on the detection results of the detection unit 12. The vehicle 10 is equipped with a storage unit 16 that stores data, programs necessary for processing by the processor 13, and data necessary for the driving of the vehicle 10.

[0015] The vehicle 10 is equipped with a communication unit 18 capable of communicating with the network W. The vehicle 10 is equipped with a notification unit 20 controlled by a processor 13 that notifies a predetermined notification content to the outside. The vehicle 10 is equipped with a drive unit 25 for driving the vehicle and a braking unit 26 necessary for braking, both controlled by the processor 13.

[0016] The detection unit 12 acquires information about the driving state of the vehicle 10 and the surroundings of the vehicle 10. The detection unit 12 is composed of sensors such as a camera sensor, a LiDAR (Light Detection And Ranging) sensor, and a position sensor. The detection unit 12 is configured to detect targets using one or more sensors individually or in combination. The camera sensor captures images of the road environment on which the vehicle 10 is traveling and the surroundings of the vehicle 10, including vehicles and pedestrians and other traffic participants present around the vehicle 10, and acquires the image data.

[0017] The LiDAR sensor scans the area around the vehicle 10 using radar waves and acquires three-dimensional (3D) data of objects such as other vehicles Mn, traffic participants, structures, and obstacles. The position sensor, for example, is equipped with a GPS (Global Positioning System) sensor and acquires the current position data of the vehicle 10 based on communication with positioning satellites.

[0018] The detection unit 12 may be composed of sensors other than the above-mentioned sensors, provided that it is possible to acquire information about the driving state of the vehicle 10 and information about the surroundings of the vehicle 10. The detection unit 12 may also include an input unit to which information about the driving of the vehicle 10 is input. The detection unit 12 may acquire information about the driving of the vehicle 10 from the server device 40 via the network W through the communication unit 18. The communication unit 18 is composed of a communication interface capable of wireless communication. The communication unit 18 may also be configured to communicate directly with other vehicles Mn.

[0019] The drive unit 25 is constituted by, for example, a power source and a steering device necessary for traveling. The power source is constituted by an internal combustion engine, an electric motor, a hybrid system in which an internal combustion engine and an electric motor are integrated, or the like. The steering device steers the wheels around the rotation axis. The braking unit 26 is constituted by a braking device necessary for braking. The drive unit 25 and the braking unit 26 may be integrated into a power source based on an electric motor. The host vehicle 10 is provided with a power supply device (not shown) that supplies power to each component. Any power supply device may be used as long as it can supply power.

[0020] When the host vehicle 10 is an autonomous driving vehicle, the processor 13 controls the drive unit 25 and the braking unit 26 based on the detection result of the detection unit 12 to make the host vehicle 10 travel autonomously. The processor 13 performs control for performing driving support of the host vehicle 10 by controlling the drive unit 25 and the braking unit 26 based on the detection result of the detection unit 12.

[0021] The processor 13 has one or more CPUs (Central Processing Unit) and its peripheral circuits. The processor 13 may further have an arithmetic circuit that executes logical operations or numerical operations. The processor 13 executes various processes based on the computer program stored in the storage unit 16. The processor 13 includes a determination unit 14 that determines the traveling state of the host vehicle 10 based on the detection result of the detection unit 12. The storage unit 16 is constituted by a storage medium such as a hard disk drive or a flash memory that stores data.

[0022] The notification unit 20 is constituted by, for example, a display unit 22 that displays information based on characters or images, and a speaker 24 (voice output unit) that provides information based on voice. The display unit 22 is provided at a predetermined position of the host vehicle 10 and displays the notification content externally. The display unit 22 is constituted by a display device such as a liquid crystal display that can display images. The display unit 22 may be used in combination with a projection device that projects an image on the road surface. The notification unit 20 is controlled by the determination unit 14 and notifies external information about the host vehicle 10 based on the determination result.

[0023] As shown in Figure 2, the display unit 22 is composed of, for example, multiple display devices. The multiple display devices are provided in different positions on the vehicle 10 that are visible from the outside. On the front 10A side of the vehicle 10, a first display unit 22A is provided that is visible toward the front 10A of the vehicle 10. The first display unit 22A is provided on the front of the vehicle 10. The first display unit 22A may also be provided in a predetermined position inside the vehicle that is visible from outside the vehicle through the front windshield.

[0024] A second display unit 22B is provided on the rear 10B side of the vehicle 10, which is visible toward the rear 10B side of the vehicle 10. The second display unit 22B is located on the rear of the vehicle 10. The second display unit 22B may also be located in a predetermined position inside the vehicle that is visible from outside the vehicle through the rear window. A third display unit 22C is provided on the left side 10C side of the vehicle 10, which is visible toward the left side 10C side of the vehicle 10. The third display unit 22C may be divided according to the number of doors provided on the left side 10C side of the vehicle 10.

[0025] A fourth display unit 22D is provided on the right side 10D of the vehicle 10, visible from the right side 10D of the vehicle 10. The fourth display unit 22D may be divided according to the number of doors provided on the right side 10D of the vehicle 10. The number and position of the display units 22 described above are examples, and they may be composed of different numbers and placed in different positions, as long as they are visible from the outside of the vehicle 10. The display units 22 may be formed in any shape and number depending on the type, shape and installation location of the vehicle 10.

[0026] The first display unit 22A, the second display unit 22B, the third display unit 22C, and the fourth display unit 22D display the same information. The first display unit 22A, the second display unit 22B, the third display unit 22C, and the fourth display unit 22D may display different information depending on their installation location, which allows them to be seen from other vehicles Mn.

[0027] The determination unit 14 determines the driving state of the vehicle 10. The determination unit 14 recognizes the surrounding conditions of the vehicle 10 based on, for example, the image data captured by the camera sensor included in the detection unit 12. Based on the image data, the determination unit 14 recognizes the road environment at the current location of the vehicle 10, including the shape of the lane in which the vehicle 10 is traveling, the presence or absence of traffic lights, the content of the traffic lights, the presence or absence of signs, and the content of the signs. Based on the three-dimensional data acquired by the LiDAR sensor included in the detection unit 12, the determination unit 14 determines other vehicles Mn, pedestrians and other traffic participants, structures, obstacles, etc., that are present around the vehicle 10, and generates current road environment information around the vehicle 10.

[0028] If the vehicle 10 is in autonomous driving mode, the determination unit 14 refers to the map data stored in the storage unit 16 based on the driving plan generated by the processor 13 and the detected current position value of the position sensor, and obtains road environment map information regarding the road environment around the vehicle 10. The determination unit 14 may also compare the road environment information obtained by the detection unit 12 with the road environment map information obtained from the map data and compensate for the road environment information.

[0029] The determination unit 14, for example, recognizes the road environment surrounding the vehicle 10 based on the detection result of the detection unit 12, and determines whether a second driving state occurs within a predetermined time for a predetermined reason, in which the behavior of the vehicle changes compared to a first driving state in which the vehicle 10 or other vehicles Mn present around the vehicle 10 are currently driving in the road environment.

[0030] The first driving state is, for example, a state in which the vehicle 10 and other vehicles Mn surrounding the vehicle 10 are driving in a group of vehicles in a predetermined order. The first driving state is, for example, a state in which the vehicle 10 and other vehicles Mn are driving in a convoy while maintaining a predetermined direction, predetermined speed, and predetermined lane, or a state in which they are stopped in a convoy according to the content of signals and signs.

[0031] A second driving state is a driving state in which the behavior of vehicle 10 changes compared to the first driving state in which vehicle 10 or another vehicle Mn is currently driving. In the second driving state, for example, when vehicle 10 is driving in the first driving state, it is a driving state in which it performs actions such as deceleration, stopping, acceleration, lane changes, right or left turns, evasive maneuvers, and turning on lights.

[0032] The second driving state is a state in which, if the vehicle 10 is stopped in the first driving state, it can start moving, reverse, accelerate, change lanes, perform evasive maneuvers, turn on lights, etc. The second driving state is a driving state in which, when transitioning from the first driving state, there is a possibility that it may influence other vehicles Mn surrounding the vehicle 10 to perform deceleration, stopping, accelerating, changing lanes, turning left or right, performing evasive maneuvers, etc.

[0033] The predetermined reasons are, for example, caused by the road environment, the vehicle 10 itself, or other vehicles Mn. The road environment includes factors that affect the vehicle 10's driving on the road, such as those related to the road structure, including lanes and road structures, as well as those related to traffic participants using the road, and those related to traffic laws and customs applied on the road. Based on the detection results of the detection unit 12, the determination unit 14 recognizes the road environment around the vehicle 10 and determines whether the vehicle 10 is driving in the predetermined road environment.

[0034] The predetermined road environment is, for example, a road environment related to the road structure, such as lane merging points, junctions, intersections, narrow roads, or roads with obstacles, where it is necessary for the vehicle 10 and the other vehicle Mn to travel in cooperation. When the determination unit 14 determines that the vehicle 10 is traveling in the predetermined road environment, it recognizes the first driving state in which the vehicle 10 or the other vehicle Mn is currently traveling, based on the detection result of the detection unit 12.

[0035] The determination unit 14 recognizes the position of the vehicle 10 on the road and the relative positions of other vehicles Mn to the vehicle 10. Based on the detection results of the positional relationship between the vehicle 10 and the other vehicles Mn on the road, driving direction, speed, acceleration, etc., the determination unit 14 recognizes a first driving state of the vehicle group consisting of the vehicle 10 and a plurality of other vehicles Mn surrounding the vehicle 10. The determination unit 14 determines whether a second driving state in which the behavior of the vehicle changes compared to the recognized first driving state occurs within a predetermined time based on a predetermined reason.

[0036] If the determination unit 14 determines that the driving state of its own vehicle 10 will change from a first driving state to a second driving state in a predetermined road environment within a predetermined time, it causes the notification unit 20 to notify it of a notification containing a predetermined reason. The determination unit 14 displays the notification content, including first information regarding the predetermined reason, on the display unit 22. The determination unit 14 also broadcasts the notification content, including first information regarding the predetermined reason, from the speaker 24. Drivers of other vehicles Mn present around their own vehicle 10 can obtain information about the behavior of their own vehicle 10 based on the notification content provided via the notification unit 20.

[0037] Figure 3 shows a lane merging section R as an example of a predetermined road environment. In the example in Figure 3, the merging section R is configured such that the second lane R2 merges with the first lane R1, which is the main line. The second lane R2 is configured such that, for example, it connects to the first lane R1 from the left side. Based on the detection result of the detection unit 12, the determination unit 14 recognizes the road environment around the vehicle 10 and determines that the vehicle 10 is traveling in the predetermined road environment which is a lane merging section R.

[0038] At the merging section R, it is desirable that vehicles traveling in the first lane R1 and vehicles traveling in the second lane R2 cooperate with each other and merge alternately to achieve smooth traffic flow. When the determination unit 14 determines that the driving state of the vehicle 10 changes from the first driving state to the second driving state at the merging section R where the vehicle 10 and the other vehicle Mn are traveling, it generates a predetermined notification content and notifies the notification unit 20 in order for the other vehicle Mn and the vehicle 10 to drive in cooperation.

[0039] The determination unit 14 determines whether the vehicle 10 is traveling in either the first lane R1 or the second lane R2 at the merging section R. In the example in Figure 3, the vehicle 10 is shown traveling in the first lane R1. Based on the detection result of the detection unit 12, the determination unit 14 determines that the vehicle 10 is traveling in the first lane R1. Based on the detection result of the detection unit 12, the determination unit 14 recognizes other vehicles Mn traveling around the vehicle 10 at the merging section R. In the first lane R1, the determination unit 14 recognizes at least another vehicle M1 traveling in front of the vehicle 10 and another vehicle M2 traveling behind the vehicle 10. In the second lane R2 that merges into the first lane R1, the determination unit 14 recognizes at least another vehicle M3 that is the first to merge into the first lane R1.

[0040] The determination unit 14 recognizes the first driving state in which the vehicle 10 and other vehicles Mn around the vehicle 10 are currently traveling in the first lane R1. The determination unit 14 recognizes driving states such as the position of the vehicle 10, the relative positions of the vehicle 10 and other vehicles M1 and M2, the speed of the vehicle 10, and the relative speeds of the other vehicles M1 and M2, and recognizes the first driving state of the group of vehicles including the vehicle 10 and other vehicles M1 and M2. The determination unit 14 recognizes the driving states such as the relative position, direction of travel, and relative speed of another vehicle M3 traveling in the second lane R2 that merges into the first lane R1.

[0041] The determination unit 14 estimates the future time (timing) and position at which the other vehicle M3 will merge from the second lane R2 to the first lane R1, based on the recognition result of the other vehicle M3's driving state. For example, the determination unit 14 calculates the driving trajectory of the other vehicle M3 based on the recognition results of the other vehicle M3's relative position, relative speed, driving direction, turn signal display, etc., with respect to the self-vehicle 10, and calculates the merging position and time of the other vehicle M3 at the merging section R. The determination unit 14 may also drive the self-vehicle 10 in coordination with the other vehicle M3 based on communication with the other vehicle M3.

[0042] The determination unit 14 determines whether the driving state of vehicle 10 will change from a first driving state to a second driving state when another vehicle M3 merges with the group of vehicles including vehicle 10 and other vehicles M1 and M2 at a future time. For example, if the determination unit 14 predicts that another vehicle M3 will merge between vehicle M1 and vehicle 10, it determines whether a second driving state will occur in vehicle 10, including deceleration, stopping, avoidance maneuvers, etc., in order for vehicle 10 and vehicle M3 to drive in coordination. For example, if the determination unit 14 determines that a second driving state will occur in vehicle 10, it displays second information regarding the second driving state of vehicle 10, along with first information regarding a predetermined reason, on the display unit 22.

[0043] The first information includes notification content regarding the fact that the vehicle 10 is traveling in a predetermined road environment where another vehicle M3 is merging. The second information includes notification content regarding the content of a second driving state in which the vehicle 10 is experiencing a change in behavior such as deceleration, stopping, or evasive maneuvers. The determination unit 14, for example, when the second driving state occurs in the vehicle 10, causes the notification content to be displayed via the second display unit 22B to the following other vehicle M2 that is expected to be affected. The determination unit 14, for example, causes the second display unit 22B to display content including the first information and the second information, such as "Traveling through a merging area. Decelerating to allow other vehicles to merge."

[0044] The determination unit 14 may, based on communication with the other vehicle M2, cause the display unit Md of the other vehicle M2 to display content including the first information and the second information, and cause the speaker Me to broadcast a notification containing the first information and the second information. The determination unit 14 may also, on the third display unit 22C and the first display unit 22A, which are visible to the other vehicle M3, display content such as "Decelerating, please merge," indicating that the vehicle 10 will give priority to the other vehicle M3 at the merging section R, and encourage the other vehicle M3 to merge in front of the vehicle 10. The determination unit 14 may, based on communication with the other vehicle M3, cause the display unit Md of the other vehicle M3 to display content indicating that the vehicle 10 will give priority to the other vehicle M3 at the merging section R, and cause the speaker Me to broadcast a notification to that effect.

[0045] When traveling through a merging section R, the vehicle 10 may enter a second driving state, including a waiting state in order to give priority to other vehicles Mn. If a waiting state occurs, the determination unit 14 may display first and second information regarding the waiting state on the display unit 22. When traveling through a merging section R, the vehicle 10 may enter a second driving state, including priority driving in order to drive with priority over other vehicles Mn. If priority driving occurs, the determination unit 14 may display first and second information regarding priority driving on the display unit 22. The lane merging section R is just an example, and the processing of the determination unit 14 described above may be applied to a predetermined road environment other than a merging section R in which a priority relationship arises in vehicle driving.

[0046] According to the vehicle system 1, the determination unit 14 displays content including the first information and the second information on the display unit 22, and provides information about the behavior of the vehicle 10 to other vehicles Mn present around the vehicle 10, thereby enabling the vehicle 10 and other vehicles Mn to drive in a coordinated manner in a predetermined road environment such as a lane merging area R.

[0047] Figure 4 shows an example of a predetermined road environment, specifically an unsignaled intersection S where the first lane S1 and the second lane S2 intersect. In the example in Figure 4, the second lane S2 is designated as a priority lane over the first lane S1. Vehicles traveling in the first lane S1 are obligated, for example, by law, to give way to vehicles traveling in the second lane S2 at intersection S. The determination unit 14 determines whether a priority order exists between the vehicle 10 and other vehicles Mn when traveling through intersection S.

[0048] The determination unit 14, for example, refers to map data stored in the storage unit 16 and obtains road environment map information relating to intersection S and supplementary information attached to the road environment map information. The supplementary information includes, for example, information such as the priority relationship between the first lane S1 and the second lane S2 at intersection S, laws and regulations relating to the priority relationship, and vehicle priority relationships based on those laws and regulations. Based on the supplementary information, the determination unit 14 determines the priority relationship between the first lane S1 and the second lane S2.

[0049] The determination unit 14 may, based on the detection result of the detection unit 12, recognize the basis for determining priority relationships, such as the display content of sign H provided in the first lane S1, the stop line T, the lane width, and the markings provided on the lane, and determine the priority relationship between the first lane S1 and the second lane S2. If the determination unit 14 determines that a priority relationship exists between the other vehicle Mn and the own vehicle 10 based on the priority relationship between the first lane S1 and the second lane S2, it displays third information regarding the reason why the priority relationship exists on the display unit. For example, the determination unit 14 recognizes that the own vehicle 10 is traveling in the first lane S1 and the other vehicle Mn is traveling in the second lane S2.

[0050] The determination unit 14 recognizes the priority relationship between other vehicles Mn and the own vehicle 10 based on the priority relationship between the first lane S1 and the second lane S2. If the determination unit 14 determines, for example, that a priority relationship exists between other vehicles M1 and the own vehicle 10 in which vehicle M1 has priority, when the own vehicle 10 enters the intersection S, it puts the own vehicle 10 into a waiting state and temporarily stops, giving priority to the other vehicle M1 traveling in the second lane S2.

[0051] When the determination unit 14 determines that it should prioritize the travel of another vehicle M1 over its own vehicle 10, it displays content on the display unit 22 that includes the first and second information, as well as third information regarding the reason why priority is given. The third information includes notification content regarding the reason why priority is given between the own vehicle 10 and the other vehicle M1 while traveling through intersection S. For example, the determination unit 14 displays content on the second display unit 22B that includes the first information, second information, and third information, such as "Entering intersection. Stopped to enter intersection leading to priority road. Priority is given to vehicles on the priority road."

[0052] In the first lane S1, another vehicle M2 following vehicle 10 can obtain information about changes in the behavior of vehicle 10 based on the information displayed on the second display unit 22B. Based on the information about vehicle 10, vehicle M2 can decelerate or stop and follow vehicle 10 through the intersection S.

[0053] When the vehicle 10 is traveling in the second lane S2 and the other vehicle M1 is traveling in the first lane S1, the determination unit 14 may, if it decides to prioritize the travel of the vehicle 10 over the other vehicle M1, display content on the display unit 22 that includes, in addition to the first and second information, third information regarding the reason why the vehicle 10 has priority over the other vehicle M1.

[0054] In some general intersections without traffic lights, as illustrated in Figure 4, there is not always a clear priority relationship between the first lane S1 and the second lane S2, and the priority relationship between intersecting lanes is unclear. In such intersections, the priority relationship between intersecting lanes is determined according to the law. For example, when the law of driving on the left is applied, in an intersection without traffic lights, vehicles approaching from the left may have priority. Also, in an intersection without traffic lights, priority may be determined according to the order in which vehicles arrive at the intersection, based on the law. When the determination unit 14 determines that a priority relationship exists between another vehicle M1 and its own vehicle 10, it displays content on the display unit 22 that includes third information indicating the reason why the priority relationship exists according to the law.

[0055] Based on the displayed information, including the third-party information, the other vehicle M2 can decelerate or stop, understand the behavior of its own vehicle 10, and follow the lead of its own vehicle 10 through the intersection S. The intersection S is just an example; it may be a T-junction or other shape, not just a place where the first lane S1 and the second lane S2 intersect. The processing of the determination unit 14 described above may be applied not only to roads but also to other road environments where priority relationships arise in vehicle traffic, such as building entrances and parking lot entrances.

[0056] In designated road environments such as intersections and merging points where vehicles need to travel in coordination, the waiting state that arises when vehicle 10 gives priority to other vehicle Mn may occur one or more times. In designated road environments where other vehicle Mn has priority, vehicle 10 is required to drive in a manner that yields to other vehicle Mn. However, if vehicle 10 continues to yield to other vehicle Mn, there is a risk that the smooth flow of traffic in the designated road environment will be hindered. Therefore, it is desirable for vehicle 10 to drive in coordination with other vehicle Mn while refraining from making excessive yields to other vehicle Mn.

[0057] In a predetermined road environment, if vehicle 10 enters a standby state to allow other vehicle Mn to travel first, and then initiates priority driving over other vehicle Mn, the determination unit 14 displays fourth information on the display unit 22, including a predetermined number of times vehicle Mn has been given priority and a predetermined time spent in the standby state. Thresholds are set in advance for the predetermined number of times and predetermined time. If the predetermined number of times and predetermined time exceed the thresholds, the determination unit 14 displays the fourth information on the display unit 22 and causes vehicle 10 to travel first over other vehicle Mn.

[0058] The fourth piece of information includes display content that explains why, in a predetermined road environment where the vehicle 10 needs to give priority to other vehicles Mn, the vehicle 10 will begin priority driving over other vehicles Mn. The determination unit 14 causes, for example, a display device located in a position on the display unit 22 where other vehicles Mn can be seen to display content including the fourth piece of information. For example, when the determination unit 14 causes the vehicle 10 to begin driving with priority over other vehicles Mn, it causes the first display unit 22A to display content including the first piece of information, the second piece of information, and the fourth piece of information, such as "Entering intersection. Driving to enter an intersection on a priority road. Giving way to 3 vehicles on the priority road, yielding for 10 seconds."

[0059] Based on the displayed information, including the fourth piece of information, other vehicles Mn can understand that their own vehicle 10 has priority, and can slow down or stop in order to drive in coordination with their own vehicle 10, and drive behind their own vehicle 10 through intersection S.

[0060] The determination unit 14 may, when it initiates priority driving in a predetermined road environment where its own vehicle 10 and another vehicle Mn need to drive in cooperation, cause the notification unit 20 to broadcast a notification that is more emphasized than the normal notification content. The emphasized notification content includes display content that is more emphasized than the normal display content and voice notification content with increased volume compared to the normal volume. For example, the determination unit 14 causes the display unit 22 to display display content that is more emphasized than the normal display content. The emphasized display content includes, for example, a display image with altered brightness or color compared to the normal display image, a display image with flashing, a display image with altered flashing color, or a display image with altered flashing frequency. For example, the determination unit 14 causes the speaker 24 to output a notification that is more loud than the normal notification content based on voice. The notification content with increased volume may include not only voice output based on information but also synthesized sounds to encourage caution.

[0061] Other vehicles Mn can more easily confirm that their own vehicle 10 has priority based on the highlighted notification information, and can follow behind vehicle 10 through intersection S.

[0062] The situations in which the vehicle 10 experiences a second driving state include not only those caused by predetermined road conditions on the road, but also those caused by the vehicle 10 itself. The determination unit 14 determines, based on the detection results from the detection unit 12 and the driving plan of the vehicle 10 stored in the storage unit 16, whether or not a second driving state occurs in which the vehicle 10 travels at a lower speed than other vehicles Mn, due to its own actions.

[0063] If the determination unit 14 determines that a second driving state occurs in which the vehicle 10 is traveling at a lower speed than other vehicles Mn, it causes the notification unit 20 to notify it of fifth information, which includes a predetermined reason attributable to the vehicle 10. The fifth information includes, for example, a predetermined reason for traveling at a lower speed than other surrounding vehicles Mn, such as the vehicle 10 carrying fragile goods or having an infant or elderly person on board.

[0064] The determination unit 14, for example, when instructing its own vehicle 10 to travel at a slow speed relative to another vehicle Mn, displays on the first display unit 22A the second information, such as "Transporting fragile goods. Traveling at a slow speed to protect the goods," and the fifth information. The determination unit 14 may also instruct the speaker 24 to broadcast the fifth information. By broadcasting the fifth information to the broadcasting unit 20, the other vehicle Mn can confirm the reason for its slow speed caused by its own vehicle 10 and take countermeasures such as overtaking its own vehicle 10.

[0065] The second driving state caused by the vehicle 10 may include not only the vehicle 10 driving at a low speed, but also the vehicle 10 being stopped. The determination unit 14 determines whether a second driving state involving stopping occurs based on predetermined circumstances caused by the vehicle 10, based on the detection results by the detection unit 12 and the driving plan of the vehicle 10 stored in advance in the storage unit 16. If the determination unit 14 determines that a second driving state involving stopping occurs based on predetermined circumstances caused by the vehicle 10, it causes the notification unit 20 to notify the sixth information, which includes predetermined reasons caused by the vehicle 10.

[0066] The sixth piece of information includes predetermined reasons why the vehicle 10 is stopped, such as a state in which a factor is occurring that is preventing the vehicle 10 from moving, a state in which an obstacle is present on the road that is preventing the vehicle 10 from moving, or a state in which the vehicle is waiting for assistance. The determination unit 14, for example, when the vehicle 10 is stopped, causes the first display unit 22A to display content including the second piece of information, such as "Stopped due to vehicle malfunction," and the sixth piece of information. The determination unit 14 may also cause the speaker 24 to broadcast content including the sixth piece of information when the vehicle 10 is stopped. By broadcasting the sixth piece of information to the broadcast unit 20, other vehicles Mn can confirm the reason why the vehicle 10 is stopped and take measures such as driving around the vehicle 10.

[0067] The second driving state caused by the vehicle 10 may include not only low-speed driving or stopping, but also a state in which the vehicle is driving at a higher speed than other vehicles within the limits of the law. The determination unit 14 determines whether a second driving state in which the vehicle is driving at a higher speed than other vehicles occurs based on predetermined circumstances caused by the vehicle 10, based on the detection results by the detection unit 12 and the driving plan of the vehicle 10 that is stored in advance in the storage unit 16.

[0068] If the determination unit 14 determines that a second driving state occurs in which the vehicle 10 travels at a higher speed than other vehicles based on predetermined circumstances attributable to the vehicle 10, it may cause the notification unit 20 to notify it of seventh information, which includes predetermined reasons attributable to the vehicle 10. The seventh information includes predetermined reasons for traveling at a higher speed than other vehicles, such as an emergency situation requiring rescue for the occupants of the vehicle 10, or a state in which the charge level of the vehicle 10's power supply has decreased and urgent charging is required. By notifying the notification unit 20 of the seventh information, other vehicles Mn can confirm the reason why the vehicle 10 is traveling at a higher speed and take measures such as giving priority to the vehicle 10.

[0069] The notification unit 20 does not necessarily have to be in operation at all times. In autonomous driving areas where the operation of manually driven vehicles is restricted and autonomous driving vehicles can operate in cooperation with each other, vehicles can acquire information based on vehicle-to-vehicle communication, and the notification unit 20 does not need to be in operation. However, in specific areas where autonomous driving vehicles and manually driven vehicles operate together and the driver is responsible, it is desirable for the notification unit 20 to be in operation.

[0070] The determination unit 14 determines whether the vehicle 10 is traveling in a predetermined area where manually driven vehicles and autonomously driven vehicles are permitted to travel together, based on the detection results from the detection unit 12 and the vehicle's travel plan and map information pre-stored in the storage unit 16. Manually driven vehicles may include autonomously driven vehicles operating at an autonomous driving level in which the driver is responsible. The determination unit 14 may also acquire travel plans and map information from the server device 40 via the network W. If the determination unit 14 determines that the vehicle 10 is traveling in the predetermined area, it activates the notification unit 20. By selecting the operating state of the notification unit 20, the power consumption of the vehicle 10 can be reduced.

[0071] In a predetermined area where manually driven vehicles and autonomous vehicles can travel together, the driver of the manually driven vehicle is responsible, so it is desirable that the notification unit 20 be operational. In the predetermined area, the notification unit 20 does not need to be operational at all times, but it is desirable that it be operational when the other vehicle to be notified is a manually driven vehicle operated by a driver. The determination unit 14 determines, for example, whether the other vehicle Mn to be notified by the notification unit 20 is a manually driven vehicle operated by a driver, based on vehicle-to-vehicle communication with the other vehicle Mn traveling around the vehicle 10. The determination unit 14 determines the autonomous driving level of the other vehicle Mn based on vehicle-to-vehicle communication with the other vehicle Mn.

[0072] The determination unit 14 determines that another vehicle Mn is a manually driven vehicle if its autonomous driving level is below a predetermined level. The determination unit 14 also determines that another vehicle Mn is a manually driven vehicle if vehicle-to-vehicle communication with the other vehicle Mn is not possible. The determination unit 14 selects the other vehicle Mn to be notified from among the other vehicles Mn that are manually driven vehicles. The determination unit 14 activates the notification unit 20 if it determines that the other vehicle Mn to be notified by the notification unit 20 is a manually driven vehicle driven by a driver. By selecting the operating state of the notification unit 20 according to the autonomous driving level of the other vehicle Mn to be notified, the power consumption of the own vehicle 10 can be reduced.

[0073] Figure 5 shows the processing flow of the vehicle control method executed in the vehicle system 1. The vehicle control method is executed based on computer programs installed in each component of the vehicle system 1. The determination unit 14 monitors the driving status of its own vehicle 10 and other vehicles Mn present around its own vehicle 10 based on the detection results of the detection unit 12 (step S100). The determination unit 14 determines whether a second driving state occurs based on a predetermined reason, in which the behavior of the own vehicle 10 changes compared to the first driving state in which the own vehicle 10 or other vehicles Mn are currently driving (step S102). If the determination unit 14 determines that a second driving state has occurred, it causes the notification unit 20, which notifies the outside of information about the own vehicle 10, to notify it of the notification content including the predetermined reason (step S104).

[0074] In each of the processes described above, if the determination unit 14 determines that a second driving state has occurred and activates the notification unit 20, it may store the determination result data, including the behavior of the vehicle 10 in the second driving state and the reason for the occurrence of the second driving state, in the storage unit and construct a system log. The determination unit 14 stores the display content displayed on the display unit 22, the data of the first to seventh information corresponding to the display content, the time of occurrence, the location of occurrence, and the predetermined road environment in the storage unit 16. By constructing a system log when the notification unit 20 is activated, it is possible to verify the relationship between the past driving state of the vehicle 10 and the operation state of the notification unit 20.

[0075] In the above description and diagrams, the vehicle system 1 is illustrated as an example of a case where traffic regulations apply to vehicles driving on the left side. The vehicle system 1 can be applied not only to traffic regulations where vehicles drive on the left side, but also to traffic regulations where vehicles drive on the right side. When traffic regulations apply to vehicles driving on the right side, the vehicle system 1 can be considered by simply reversing the left and right sides in the above description and diagrams. In the vehicle system 1, the determination unit 14 may be provided not only on the vehicle 10, but also on the server device 40 side. In this case, the determination unit 14 may acquire information about the driving of the vehicle 10 via the network W to determine the driving state of the vehicle 10, and may also cause the notification unit 20 to notify the notification content based on the determination result.

[0076] In the embodiments described above, the computer programs executed in each configuration of the vehicle system 1 may be provided in the form of being recorded on a computer-readable portable recording medium, such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of Symbols]

[0077] 1. Vehicle System 10. Own vehicle 12 Detection unit 13 processors 14 Judgment section 16 Memory section 18 Communications Department 20 Hochi Department 22 Display section 22A 1st display section 22B 2nd display section 22C 3rd display section 22D 4th display 24 speakers 25 Drive unit 26 Braking part 40 Server Devices H sign Ma Control Unit Mb Communications Department Mc News Department Md display section Me Speaker Mn Other vehicles R junction Route 1, Lane 1 Route 2, second lane S intersection S1, Lane 1 S2 2nd Lane T stop line W Network

Claims

1. A determination unit that determines the driving status of the vehicle, It includes a notification unit that notifies the outside of information relating to the vehicle, If the determination unit determines that a second driving state occurs, in which the behavior of the vehicle changes compared to the first driving state in which the vehicle or other vehicles in its vicinity are currently driving, based on a predetermined reason, it causes the notification unit to notify the notification content including the predetermined reason. The notification unit is provided on the vehicle and includes a display unit that displays the notification content externally. The determination unit causes the display unit to display first information relating to the predetermined reason. When the determination unit determines that the second driving state occurs in a predetermined road environment where the vehicle itself and the other vehicle are traveling in cooperation with each other, it displays the second information relating to the second driving state on the display unit along with the first information. When the determination unit is driving in the predetermined road environment, if a second driving state occurs, which includes a waiting state in which the vehicle waits to give priority to other vehicles, or a priority driving state in which the vehicle drives with priority over other vehicles, the determination unit will display the first information and the second information relating to the waiting state or the priority driving on the display unit. A vehicle system in which, when the determination unit initiates priority driving after the standby state occurs in the vehicle in the predetermined road environment, the determination unit causes the display unit to display fourth information, including a predetermined number of times the vehicle has given priority to other vehicles and a predetermined time required in the standby state.

2. When the determination unit determines that a priority order arises between the vehicle and the other vehicle while driving in the predetermined road environment, it causes the display unit to display third information regarding the reason for the occurrence of the priority order. The vehicle system according to claim 1.

3. The notification unit includes an audio output unit that outputs sound, When the determination unit initiates priority driving in the predetermined road environment, it displays the display content on the display unit with emphasis compared to the normal display content, and outputs the notification content with emphasis compared to the normal notification content from the voice output unit based on the voice. The vehicle system according to claim 1.

4. If the determination unit determines that a second driving state occurs in which the vehicle is traveling at a lower speed than the other vehicle due to its own vehicle, it causes the notification unit to notify it of a fifth information including the predetermined reason attributable to its own vehicle. The vehicle system according to claim 1.

5. If the determination unit determines that the second driving state involving stopping occurs due to the vehicle itself, it causes the notification unit to notify it of the sixth information, including the predetermined reason caused by the vehicle itself. The vehicle system according to claim 1.

6. When the determination unit determines that its own vehicle is traveling in a predetermined area where manually driven vehicles operated by a driver and autonomously driven vehicles capable of autonomous driving can travel together, it activates the notification unit. The vehicle system according to any one of claims 1 to 5.

7. If the determination unit determines that the other vehicle that is the target of notification by the notification unit in the predetermined area is a manually operated vehicle driven by a driver, it activates the notification unit. The vehicle system according to claim 6.

8. When the determination unit determines that the second driving state occurs and activates the notification unit, The storage unit stores data of the determination result, including the behavior of the vehicle in the second driving state and the reason for the occurrence of the second driving state. The vehicle system according to claim 1.

9. A determination unit for determining the driving state of the vehicle, It includes a notification unit that notifies the outside of information relating to the vehicle, If the determination unit determines that a second driving state occurs, in which the behavior of the vehicle changes compared to the first driving state in which the vehicle or other vehicles in its vicinity are currently driving, based on a predetermined reason, it causes the notification unit to notify the notification content including the predetermined reason. The determination unit activates the notification unit when it determines that the vehicle is traveling in a predetermined area where both manually driven vehicles and autonomously driven vehicles are permitted to travel together, and does not activate the notification unit when it determines that the vehicle is traveling in an autonomous driving area where the travel of manually driven vehicles is restricted. Vehicle systems.

10. A determination unit for determining the driving state of the vehicle, The vehicle includes a display unit that provides information about the vehicle to the outside, The determination unit, in a predetermined road environment where the vehicle and another vehicle are traveling, if the vehicle enters a waiting state where it waits to give priority to the other vehicle, and then starts priority driving where it drives with priority over the other vehicle, displays a fourth piece of information on the display unit, including a predetermined number of times the vehicle has given priority to the other vehicle and a predetermined amount of time spent in the waiting state. Vehicle systems.

11. The system monitors the driving status of its own vehicle and other vehicles in its vicinity. It is determined whether a second driving state occurs, based on a predetermined reason, in which the behavior of the vehicle changes compared to the first driving state in which the vehicle or the other vehicle is currently driving. When it is determined that the second driving state occurs, the display unit provided on the vehicle that displays notification content externally is instructed to display the first information relating to the predetermined reason. When it is determined that the second driving state occurs in a predetermined road environment in which the vehicle and the other vehicle are traveling in cooperation with each other, the second information relating to the second driving state is displayed on the display unit along with the first information. When traveling in the predetermined road environment, if a standby state occurs in which the vehicle waits to give way to other vehicles, or if a second driving state occurs in which the vehicle drives with priority over other vehicles, the first information and the second information relating to the standby state or the priority driving are displayed on the display unit. When the vehicle enters the standby state in the predetermined road environment and then starts priority driving, the display unit will display a fourth piece of information including the predetermined number of times the vehicle has given priority to other vehicles and the predetermined time required for the standby state. Vehicle control method.

12. Monitoring the driving status of the vehicle itself and other vehicles present around the vehicle, In a predetermined road environment where the vehicle itself and the other vehicle are traveling, if the vehicle itself enters a waiting state where it waits to give priority to the other vehicle, and then begins priority driving where it drives with priority over the other vehicle, a fourth piece of information, including a predetermined number of times the vehicle gave priority to the other vehicle and a predetermined amount of time spent in the waiting state, is displayed in a manner that is visible from the outside. Vehicle control method.

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