Information notification device and information notification method

Abstract

To convey an intention of an own vehicle to a subsequent vehicle accurately when the own vehicle gives way to others.SOLUTION: An information notification device includes a notification control unit 25 which notifies a subsequent vehicle 100 located behind an own vehicle 1 that the own vehicle gives way to others through a first display 9 which is provided at the own vehicle so as to be viewed from the subsequent vehicle in a stop state that the own vehicle configured to start and stop automatically stops to give way to the other.SELECTED DRAWING: Figure 5

Description

Technical Field

[0001] The present invention relates to an information notification device and an information notification method.

Background Art

[0002] Patent Document 1 describes that when a pedestrian blocked by a parked vehicle located in front of the host vehicle is detected by vehicle-to-pedestrian communication, information on the pedestrian (the icon of the pedestrian and the time until the pedestrian becomes visible) is displayed on the HMI of the host vehicle.

[0003] Patent Document 2 describes that when there is a risk of collision between a pedestrian located in front of the host vehicle and a rear vehicle located behind the host vehicle, a risk notification means (for example, headlights, horns, etc.) mounted on the host vehicle for a use different from the use of notifying the risk is used to notify the pedestrian and the rear vehicle of the risk of collision.

[0004] Patent Document 3 describes notifying information to pedestrians around the host vehicle during automatic driving.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0006] Autonomous vehicles, which automatically start and stop, may control their behavior according to the surrounding conditions and may stop to yield to others, such as pedestrians. In such cases, vehicles following behind the autonomous vehicle may not be able to correctly understand the autonomous vehicle's intentions.

[0007] In this regard, the technologies described in Patent Documents 1 or 3 do not even consider the transmission of information from one vehicle to a vehicle behind it. Furthermore, even if light or sound is emitted from one vehicle as described in Patent Document 2, the driver of the vehicle behind may not understand the intention of the vehicle and may feel uneasy.

[0008] Therefore, in view of the above issues, the object of the present invention is to accurately communicate the intention of a vehicle to a vehicle behind it when the vehicle is yielding the right of way to another vehicle. [Means for solving the problem]

[0009] The gist of this disclosure is as follows:

[0010] (1) An information notification device that provides visual information to a vehicle positioned behind a vehicle that automatically starts and stops, the information notification device comprising a notification control unit that, when the vehicle is stopped to yield the right of way to another vehicle, notifies the vehicle that the vehicle is yielding the right of way to another vehicle via a first display provided on the vehicle so as to be visible to the vehicle.

[0011] (2) The information notification device according to (1) above, wherein the notification control unit presents a notification to the following vehicle via the first display that the vehicle is prohibited from overtaking while the vehicle is stopped.

[0012] (3) The information notification device according to (1) or (2) above, wherein the notification control unit notifies the following vehicle of the time until the vehicle starts moving via the first display when the vehicle is stopped.

[0013] (4) The information notification device according to any one of (1) to (3) above, wherein the notification control unit detects that the vehicle behind is overtaking the vehicle while the vehicle is stopped, and notifies the other party of a warning via a second display provided on the vehicle so as to be visible from the front of the vehicle.

[0014] (5) The information notification device according to any one of (1) to (4) above, wherein the notification control unit notifies the following vehicle that the vehicle is yielding the right of way to the other vehicle by displaying an image generated by a front camera installed on the vehicle on the first display when the vehicle is stopped.

[0015] (6) A computer-based information notification method, which includes notifying a rear vehicle that the vehicle is yielding the right of way to another vehicle via a first display provided on the vehicle so as to be visible to the rear vehicle, when the vehicle is stopped in order to yield the right of way to another vehicle, and the vehicle is automatically starting and stopping. [Effects of the Invention]

[0016] According to the present invention, when a vehicle is yielding the right of way to another vehicle, its intention can be accurately communicated to the vehicle behind it. [Brief explanation of the drawing]

[0017] [Figure 1] This diagram schematically shows a part of the configuration of a vehicle equipped with an information notification device according to an embodiment of the present invention. [Figure 2] This is a schematic side view of the vehicle. [Figure 3] This is a functional block diagram of the ECU processor. [Figure 4] This diagram shows an example of a situation where a vehicle yields to another vehicle. [Figure 5] This is a flowchart showing the control routine for notification processing in this embodiment. [Figure 6]It is a diagram showing an example of information displayed on the first display for a following vehicle.

Embodiment for Carrying Out the Invention

[0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same components are given the same reference numerals.

[0019] FIG. 1 is a diagram schematically showing a part of the configuration of a vehicle 1 provided with an information notification device according to an embodiment of the present invention.

[0020] As shown in FIG. 1, the vehicle 1 includes a peripheral information detection device 2, a GNSS (Global Navigation Satellite System) receiver 3, a map database 4, a navigation device 5, a vehicle behavior detection device 6, an actuator 7, a human machine interface (HMI) 8, a first display 9, a second display 10, a communication device 11, and an electronic control unit (ECU) 20. The peripheral information detection device 2, the GNSS receiver 3, the map database 4, the navigation device 5, the vehicle behavior detection device 6, the actuator 7, the HMI 8, the first display 9, the second display 10, and the communication device 11 are electrically connected to the ECU 20 via an in-vehicle network or the like conforming to a standard such as CAN (Controller Area Network).

[0021] The surrounding information detection device 2 acquires data (images, point cloud data, etc.) around the vehicle 1 (the vehicle itself) and detects surrounding information of the vehicle 1 (e.g., surrounding vehicles, pedestrians, motorcycles, lanes, fallen objects, animals, construction sites, etc.). For example, the surrounding information detection device 2 includes a millimeter-wave radar, a camera (monocular camera or stereo camera), a LiDAR (Laser Imaging Detection And Ranging), or an ultrasonic sensor (sonar), or any combination thereof. The output of the surrounding information detection device 2, i.e., the surrounding information of the vehicle 1 detected by the surrounding information detection device 2, is transmitted to the ECU 20.

[0022] Figure 2 is a schematic side view of vehicle 1. As shown in Figure 2, vehicle 1 is equipped with a front camera 2a. The front camera 2a is positioned at the front of vehicle 1 (for example, behind the rearview mirror inside the vehicle, on the front bumper, etc.) to photograph the area in front of vehicle 1. The front camera 2a photographs the area in front of vehicle 1 and generates an image of the area in front of vehicle 1. The front camera 2a is an example of a surrounding information detection device 2.

[0023] The GNSS receiver 3 detects the current position of vehicle 1 (e.g., the latitude and longitude of vehicle 1) based on positioning information obtained from multiple (e.g., three or more) positioning satellites. Specifically, the GNSS receiver 3 acquires multiple positioning satellites and receives radio waves transmitted from them. The GNSS receiver 3 then calculates the distance to the positioning satellites based on the difference between the transmission time and reception time of the radio waves, and detects the current position of vehicle 1 based on the distance to the positioning satellites and the position (orbital information) of the positioning satellites. The output of the GNSS receiver 3, i.e., the current position of vehicle 1 detected by the GNSS receiver 3, is transmitted to the ECU 20. The GNSS receiver includes a GPS receiver.

[0024] Map database 4 stores map information. ECU 20 retrieves map information from map database 4. Alternatively, the map database may be located outside of vehicle 1 (for example, on a server), and ECU 20 may retrieve map information from outside vehicle 1.

[0025] The navigation device 5 sets the driving route for vehicle 1 to its destination based on the current position of vehicle 1 detected by the GNSS receiver 3, map information from the map database 4, and input from the occupants of vehicle 1 (e.g., the driver). The driving route set by the navigation device 5 is transmitted to the ECU 20.

[0026] The vehicle behavior detection device 6 detects parameters that indicate the behavior of the vehicle 1. The vehicle behavior detection device 6 includes, for example, a vehicle speed sensor for detecting the speed of the vehicle 1, a yaw rate sensor for detecting the yaw rate of the vehicle 1, and the like. The output of the vehicle behavior detection device 6, i.e., the parameters detected by the vehicle behavior detection device 6, is transmitted to the ECU 20.

[0027] The actuator 7 operates the vehicle 1. For example, the actuator 7 includes a drive unit for accelerating the vehicle 1 (e.g., at least one of an internal combustion engine and an electric motor), a brake actuator for braking (deceleration) the vehicle 1, a steering actuator for steering the vehicle 1, and so on. The ECU 20 controls the actuator 7 to control the behavior of the vehicle 1.

[0028] The HMI8 is installed inside the vehicle and facilitates the exchange of information between the vehicle 1 and its occupants (e.g., the driver). The HMI8 has an output unit (e.g., a display, speaker, light source, vibration unit, etc.) that provides information to the occupants of the vehicle 1, and an input unit (e.g., a touch panel, operation buttons, operation switches, microphone, etc.) that receives information from the occupants of the vehicle 1. The output of the ECU20 is notified to the occupants of the vehicle 1 via the HMI8, and the input from the occupants of the vehicle 1 is transmitted to the ECU20 via the HMI8. The HMI8 is an example of an input device, output device, or input / output device. Alternatively, the occupants' mobile terminals (smartphones, tablet devices, etc.) may be connected to the ECU20 via wired or wireless connections and function as the HMI8. Furthermore, the HMI8 may be integrated with the navigation device 5.

[0029] The first display 9 is installed on vehicle 1 so as to be visible to vehicles behind vehicle 1. These vehicles include not only vehicles located behind vehicle 1 in the same lane, but also two-wheeled vehicles (bikes or bicycles) located to the side of vehicle 1, behind the frontmost part of vehicle 1. The output of the ECU 20 is communicated to the vehicles behind via the first display 9. As shown in Figure 2, vehicle 1 is equipped with a rear display 9a. The rear display 9a is located at the rear of vehicle 1 (for example, above the license plate and between the taillights) and displays information toward the rear of vehicle 1. The rear display 9a is an example of the first display 9. The first display 9 may also be installed on the side or top of vehicle 1. Furthermore, the first display 9 may be installed inside the passenger compartment, provided it is visible to vehicles behind.

[0030] The second display 10 is installed in the vehicle 1 so as to be visible from the front of the vehicle 1. The output of the ECU 20 is communicated to the front of the vehicle 1 via the second display 10. As shown in Figure 2, the vehicle 1 is equipped with a front display 10a. The front display 10a is located at the front of the vehicle 1 (for example, above the license plate and between the headlights) and displays information toward the front of the vehicle 1. The front display 10a is an example of the second display 10. The second display 10 may also be installed on the side or top of the vehicle 1. Furthermore, the second display 10 may be installed inside the passenger compartment, as long as it is visible from the front of the vehicle 1.

[0031] The communication device 11 is capable of communicating with the outside of the vehicle 1 and enables communication between the vehicle 1 and the outside of the vehicle 1. For example, the communication device 11 includes a wide-area communication device that enables wide-area communication between the vehicle 1 and the outside of the vehicle 1 (e.g., a server) via a communication network such as a carrier network or the Internet network, and a vehicle-to-vehicle communication device that enables vehicle-to-vehicle communication between the vehicle 1 and surrounding vehicles using a predetermined frequency band.

[0032] The ECU 20 performs various controls on the vehicle 1. As shown in Figure 1, the ECU 20 includes a communication interface 21, a memory 22, and a processor 23. The communication interface 21 and the memory 22 are connected to the processor 23 via signal lines. In this embodiment, one ECU 20 is provided, but multiple ECUs may be provided for each function.

[0033] The communication interface 21 has an interface circuit for connecting the ECU 20 to the in-vehicle network. The ECU 20 is connected to other in-vehicle equipment via the communication interface 21.

[0034] Memory 22 includes, for example, volatile semiconductor memory and non-volatile semiconductor memory. Memory 22 stores programs, data, etc., used when various processes are executed by the processor 23.

[0035] The processor 23 has one or more CPUs (Central Processing Units) and their peripheral circuits. The processor 23 may also have additional arithmetic circuits such as a logic unit or a numerical unit.

[0036] In this embodiment, Vehicle 1 is an autonomous vehicle that automatically starts and stops. For example, if Vehicle 1 is a vehicle capable of Level 1 or Level 2 autonomous driving, Vehicle 1 will start and stop automatically while the driver of Vehicle 1 is obligated to monitor the surroundings. On the other hand, if Vehicle 1 is a vehicle capable of Level 3 or higher autonomous driving, Vehicle 1 will start and stop automatically without the driver of Vehicle 1 being obligated to monitor the surroundings. The autonomous driving levels in this specification are based on the definitions in SAE (Society of Automotive Engineers) J3016.

[0037] If vehicle 1 is an autonomous vehicle, a vehicle positioned behind vehicle 1 may become suspicious of vehicle 1's behavior. Therefore, in this embodiment, the ECU 10 functions as an information notification device that notifies the vehicle behind with visual information, and information regarding vehicle 1's behavior is notified to the vehicle behind.

[0038] Figure 3 is a functional block diagram of the processor 23 of the ECU 20. In this embodiment, the processor 23 has a vehicle control unit 24 and a notification control unit 25. The vehicle control unit 24 and the notification control unit 25 are functional modules that are realized by the processor 23 of the ECU 20 executing a program stored in the memory 22 of the ECU 20. These functional modules may each be realized by a dedicated arithmetic circuit provided in the processor 23.

[0039] The vehicle control unit 24 controls the behavior of the vehicle 1 using the actuator 7 based on surrounding information detected by the surrounding information detection device 2. For example, the vehicle control unit 24 stops the vehicle 1 to yield to others (e.g., pedestrians, cyclists, surrounding vehicles, etc.) when predetermined conditions are met. These predetermined conditions include, for example, a pedestrian or cyclist attempting to cross a crosswalk.

[0040] The notification control unit 25 controls the first display 9 to control notifications from the first display 9, and controls the second display 10 to control notifications from the second display 10. Normally, it is difficult for a vehicle behind vehicle 1 to grasp the situation in front of vehicle 1. For this reason, the notification control unit 25 notifies the vehicle behind via the first display 9. For example, when vehicle 1 is stopped, the notification control unit 25 notifies the vehicle behind via the first display 9 of the reason why vehicle 1 is stopped.

[0041] In particular, when vehicle 1 stops to yield to another vehicle, there is a risk that the following vehicle may not correctly understand vehicle 1's intentions. Figure 4 shows an example of a situation in which vehicle 1 is yielding to another vehicle. In the example in Figure 4, vehicle 1 is yielding to a pedestrian crossing a crosswalk, and as vehicle 1 stops, the following vehicle 100 behind vehicle 1 also stops. In such a situation, the driver of the following vehicle 100 may not be able to see the pedestrian in front of vehicle 1, and there is a risk that the following vehicle 100 may attempt to overtake vehicle 1.

[0042] Therefore, in this embodiment, when vehicle 1 is stopped to yield to another vehicle (hereinafter simply referred to as "stopped state"), the notification control unit 25 notifies the following vehicle 100 via the first display 9 that vehicle 1 is yielding to another vehicle. This ensures that the intention of vehicle 1 to yield to another vehicle is accurately conveyed to the following vehicle 100.

[0043] Furthermore, even if the reason for vehicle 1's stopping is notified to the following vehicle 100, the following vehicle 100 may attempt a reckless overtaking maneuver. For this reason, if the notification control unit 25 detects that the following vehicle 100 is attempting to overtake vehicle 1 while it is stopped, it notifies other vehicles in front of vehicle 1 via the second display 10 to issue a warning. This alerts other vehicles and reduces the risk of them colliding with the following vehicle 100.

[0044] The following describes the control process flow described above with reference to Figure 5. Figure 5 is a flowchart of the control routine for notification processing in this embodiment. This control routine is repeatedly executed by the processor 23 of the ECU 20 at predetermined execution intervals.

[0045] First, in step S101, the notification control unit 25 of the processor 23 determines whether or not vehicle 1 is stationary. If it is determined that vehicle 1 is not stationary, this control routine terminates. On the other hand, if it is determined that vehicle 1 is stationary, this control routine proceeds to step S102.

[0046] In step S102, the notification control unit 25 notifies the following vehicle 100 via the first display 9 of the reason for stopping. That is, the notification control unit 25 notifies the following vehicle 100 via the first display 9 that vehicle 1 is yielding the right of way to another vehicle.

[0047] Furthermore, the notification control unit 25 may, while stationary, display a notification to the following vehicle 100 via the first display 9 prohibiting the vehicle 1 from overtaking. This further deters the following vehicle 100 from attempting to overtake the vehicle 1.

[0048] Furthermore, the notification control unit 25 may, while stationary, notify the following vehicle 100 via the first display 9 of the time remaining until vehicle 1 starts moving. This allows the driver of the following vehicle 100 to understand the timing of vehicle 1's departure, thereby increasing the driver's sense of security.

[0049] Figure 6 shows an example of information displayed on the first display 9 to the following vehicle 100. In the example in Figure 6, text and images are displayed on the first display 9 as information notified to the following vehicle 100. Specifically, the text "Yielding to pedestrian" notifies the following vehicle 100 that vehicle 1 is yielding to another vehicle (a pedestrian in this example), and the text "No overtaking" notifies the following vehicle 100 not to overtake vehicle 1. In addition, the text "5 seconds until departure" and an image showing the remaining time until departure notify the following vehicle 100 of the time until vehicle 1 departs.

[0050] The first display 9 may include a side display (not shown) located on the side of vehicle 1 (for example, the side door of vehicle 1), and the notification control unit 25 may present a notification to the vehicle 100 behind the motorcycle via the side display. Such a notification may be, for example, a notification prohibiting the motorcycle from passing through traffic (for example, the words "No passing by motorcycles"). The side display is located on the left side of the vehicle in countries with left-hand traffic, and on the right side of vehicle 1 in countries with right-hand traffic.

[0051] Next, in step S103, the notification control unit 25 determines whether or not it has detected the rear vehicle 100 overtaking vehicle 1. For example, the notification control unit 25 detects the rear vehicle 100 overtaking vehicle 1 based on the surrounding information detected by the surrounding information detection device 2. If it is determined that no overtaking has been detected, this control routine terminates. On the other hand, if it is determined that overtaking has been detected, this control routine proceeds to step S104.

[0052] In step S104, the notification control unit 25 notifies another person positioned in front of vehicle 1, i.e., another person who has been yielded to by vehicle 1, of a warning via the second display 10. For example, the notification control unit 25 notifies the other person of a warning by displaying at least one of characters and an image warning of danger on the second display 10. In addition to the warning using the second display 10, the notification control unit 25 may also notify the other person of an audible warning (e.g., the sound of a car horn). After step S104, this control routine ends.

[0053] Furthermore, the notification control unit 25 may, when the vehicle is stopped, notify the following vehicle 100 that vehicle 1 is yielding the right of way to another vehicle by displaying the image generated by the front camera 2a installed on vehicle 1 on the first display 9. By displaying the camera image directly on the first display 9 in this way, the driver of the following vehicle 100 can understand the situation in front of vehicle 1 from the perspective of vehicle 1. In this case, information such as a notification to prevent vehicle 1 from overtaking and the time until vehicle 1 starts moving may be superimposed on the image generated by the front camera 2a.

[0054] Furthermore, when the vehicle is stopped, the notification control unit 25 will notify the rear vehicle 100 using the first display 9 if the rear vehicle 100's driving mode is manual or automatic driving at level 2 or lower. However, if the rear vehicle 100's driving mode is automatic driving at level 3 or higher, the notification control unit 25 does not need to notify the rear vehicle 100 using the first display 9. This avoids presenting visual information to the rear vehicle 100 even though the driver is not obligated to monitor the surroundings, and reduces the power consumption of the first display 9. In this case, between steps S101 and S102, the notification control unit 25 determines whether the rear vehicle 100's driving mode is automatic driving at level 3 or higher, and if this determination is affirmative, the control routine terminates. To make this determination, the notification control unit 25 obtains the driving mode of the rear vehicle 100, for example, through vehicle-to-vehicle communication between vehicle 1 and the rear vehicle 100. Furthermore, if the vehicle 1 is stationary and the driving mode of the rear vehicle 100 is Level 3 or higher, the notification control unit 25 may notify the rear vehicle 100 via vehicle-to-vehicle communication that vehicle 1 is yielding the right of way to another vehicle.

[0055] Furthermore, when the vehicle is stationary, the notification control unit 25 does notify the following vehicle 100 using the first display 9 if the signal in front of vehicle 1 is green, but does not need to notify the following vehicle 100 using the first display 9 if the signal in front of vehicle 1 is red. This avoids presenting visual information to the following vehicle 100, which is highly unlikely to attempt to overtake, and reduces the power consumption of the first display 9. In this case, between steps S101 and S102, the notification control unit 25 determines whether the signal in front of vehicle 1 is red or not, and if this determination is affirmative, the control routine terminates. For example, the notification control unit 25 determines the color of the signal in front of vehicle 1 based on the surrounding information detected by the surrounding information detection device 2.

[0056] Although preferred embodiments of the present invention have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims. For example, when vehicle 1 yields the right of way to another vehicle, the notification control unit 25 may display a notification granting permission to pass (for example, at least one of characters and an image indicating permission to pass) to the other vehicle via the second display 10.

[0057] Furthermore, if multiple vehicles are stopped behind vehicle 1 while the vehicle is stationary, information may be transmitted sequentially from the leading vehicle to the last vehicle. In this case, when a vehicle receives information from the vehicle in front, it notifies the same information to the vehicles further behind it. If the vehicle in the rear has a display device such as the first display 9, the information is transmitted via the display device; if the vehicle in the rear does not have a display device such as the first display 9, the information is transmitted via vehicle-to-vehicle communication.

[0058] Alternatively, a display control device having a processor and memory may be mounted on the vehicle 1 together with the first display 9 and the second display 10, and such a display control device may function as an information notification device and perform the information notification method described above. Alternatively, a server or control center that can communicate with the vehicle 1 via wide-area communication such as a communication network may function as an information notification device and perform the information notification method described above. Furthermore, the second display 10 may be omitted.

[0059] Furthermore, the computer program that enables a computer to implement the functions of each part of the processor 23 of the ECU 20 may be provided in the form of a recording medium that can be read by the computer. The recording medium that can be read by the computer may be, for example, a magnetic recording medium, an optical recording medium, or a semiconductor memory. [Explanation of symbols]

[0060] 1. Vehicle (Own vehicle) 9. First Display 20 Electronic Control Unit (ECU) 23 processors 25 Notification Control Unit

Claims

1. An information notification device that notifies a vehicle located behind a vehicle that automatically starts and stops of visual information, In a stationary state where the vehicle is stopped to yield the right of way to another vehicle, the system includes a notification control unit that notifies the vehicle behind that the vehicle is yielding the right of way to another vehicle via a first display installed on the vehicle so as to be visible to the vehicle behind. The notification control unit is an information notification device that, when the vehicle is stopped, notifies the vehicle behind using the first display if the signal in front of the vehicle is green, and does not notify the vehicle behind using the first display if the signal in front of the vehicle is red.

2. The information notification device according to claim 1, wherein the notification control unit, in the stationary state, notifies the rear vehicle using the first display if the driving mode of the rear vehicle is manual driving or automatic driving at level 2 or lower, and does not notify the rear vehicle using the first display if the driving mode of the rear vehicle is automatic driving at level 3 or higher.

3. The first display includes a side display located on the side of the vehicle, The information notification device according to claim 1 or 2, wherein the notification control unit presents a notification to the rear vehicle via the side display to prevent the motorcycle from passing through traffic.

4. The information notification device according to claim 1 or 2, wherein the notification control unit, in the stopped state, notifies the following vehicle that the vehicle is yielding the right of way to another vehicle by displaying an image generated by a front camera installed on the vehicle on the first display.

5. A method of notifying information performed by a computer, The system includes, when a vehicle that automatically starts and stops is stopped to yield the right of way to another vehicle, notifying a vehicle behind it that it is yielding the right of way via a first display installed on the vehicle so that it can be seen by the vehicle behind it, An information notification method comprising the following steps: when the vehicle is stationary, if the traffic light in front of the vehicle is green, the first display is used to notify the vehicle behind; and if the traffic light in front of the vehicle is red, the first display is not used to notify the vehicle behind.

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