Control device, control method, and control program

Abstract

This control device includes a processor, and controls information presentation in an autonomously drivable vehicle. The processor is configured to acquire turning angle information related to a turning angle of a tire resulting from turning control in the vehicle during autonomous driving. The processor is configured to present, to a user of the vehicle, of steering-related information related to a virtual steering control related to the turning control. The presentation of the steering-related information includes displaying, on a display that displays at least one of speed information of the vehicle and entertainment information, a steering-related image including at least a steering object that is an object of a virtual steering member rotationally displayed at a rotation angle correlated with the turning angle during autonomous driving, and changing a display mode of the steering-related image in accordance with the control situation of the vehicle.

Description

Control device, control method, and control program CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application is based on Patent Application No. 2023-140467 filed in Japan on August 30, 2023, and the contents of the original application are incorporated by reference in their entirety.

[0002] The present disclosure relates to a control technique for controlling a steering member of an autonomously driven vehicle.

[0003] Patent Literature 1 discloses a steering angle display device for a vehicle. The steering angle display device is disposed on a ring portion of the steering wheel and includes a display unit disposed along the ring portion. The steering angle display device includes a control unit that, during automatic driving control that controls the steering angle of the vehicle in accordance with road conditions without rotating the steering wheel, displays a steering angle display indicating the controlled steering angle at a position on the display unit corresponding to the controlled steering angle.

[0004] Patent No. 6760827

[0005] The steering angle display device of Patent Document 1 displays the steering angle on a ring portion of the steering wheel during autonomous driving and stops displaying it when autonomous driving is canceled. However, there is room for improvement in the convenience of this steering angle display device with regard to the display position of the steering angle and the display of the steering angle according to the vehicle control status.

[0006] An object of the present disclosure is to provide a control device that can improve convenience. Another object of the present disclosure is to provide a control method that can improve convenience. Yet another object of the present disclosure is to provide a control program that can improve convenience.

[0007] The technical means of the present disclosure for solving the problems will be described below. Note that the claims and the reference symbols in parentheses in this section indicate the correspondence with the specific means described in the embodiments described later in detail, and do not limit the technical scope of the present disclosure.

[0008] A first aspect of the present disclosure is a control device having a processor that controls the presentation of information in an autonomously driven vehicle, wherein the processor is configured to perform the following: acquire steering angle information related to the steering angle of tires due to steering control in the vehicle during autonomous driving; and present steering-related information related to virtual steering control associated with the steering control to a user of the vehicle, wherein presenting the steering-related information includes displaying a steering-related image including at least a steering object, which is an object of a virtual steering member that is displayed and rotated at a rotation angle correlated to the steering angle during autonomous driving, on a display system that displays at least one of vehicle speed information and entertainment information, and changing the display mode of the steering-related image depending on the control status of the vehicle.

[0009] A second aspect of the present disclosure is a control method executed by a processor to control information presentation in an autonomously driven vehicle, comprising: acquiring steering angle information relating to the steering angle of tires due to steering control in the vehicle during autonomous driving; and presenting steering-related information relating to virtual steering control related to the steering control to a user of the vehicle, wherein presenting the steering-related information comprises displaying a steering-related image including at least a steering object, which is an object of a virtual steering member displayed and rotated at a rotation angle correlated to the steering angle during autonomous driving, on a display system that displays at least one of vehicle speed information and entertainment information, and changing the display mode of the steering-related image depending on the control status of the vehicle.

[0010] A third aspect of the present disclosure is a control program stored in a storage medium for controlling the presentation of information in an autonomously driven vehicle, and including instructions to be executed by a processor, the instructions including: acquiring steering angle information related to the steering angle of tires due to steering control in a vehicle that is autonomously driven; and presenting steering-related information related to virtual steering control associated with the steering control to a user of the vehicle, wherein presenting the steering-related information includes displaying a steering-related image that includes at least a steering object, which is an object of a virtual steering member that is displayed and rotated at a rotation angle correlated to the steering angle during autonomous driving, on a display system that displays at least one of vehicle speed information and entertainment information, and changing the display mode of the steering-related image depending on the control status of the vehicle.

[0011] According to these first to third aspects, a steering-related image including at least a steering object, which is a virtual steering member object rotated at a rotation angle correlated with the steering angle during autonomous driving, is displayed in a display mode corresponding to the vehicle's control status on a display system that displays at least one of vehicle speed information and entertainment information. This allows the user to grasp the vehicle's traveling direction from the steering object in a display mode corresponding to the control status by visually checking the display system that displays at least one of vehicle speed information and entertainment information. This can improve convenience.

[0012] 1 is a block diagram showing the overall configuration of a first embodiment. FIG. 2 is a schematic diagram showing the interior of a vehicle in the first embodiment. FIG. 3 is a block diagram showing the functional configuration of a control device according to the first embodiment. FIG. 4 is a flowchart showing a control flow according to the first embodiment. FIG. 5 is a diagram showing an example of a steering object according to the first embodiment. FIG. 6 is a diagram showing the relationship between the rotation angle of the steering object and the steering angle according to the first embodiment. FIG. 7 is a diagram showing an example of a steering-related image in an emergency stop scene according to the first embodiment. FIG. 8 is a diagram showing an example of a steering-related image in an emergency stop scene according to the first embodiment. FIG. 9 is a diagram showing an example of a steering-related image in an emergency stop scene according to the first embodiment. FIG. 10 is a diagram showing an example of a steering-related image in a stopping scene according to the second embodiment. FIG. 11 is a diagram showing an example of a steering-related image in a stopping scene according to the second embodiment.

[0013] Hereinafter, multiple embodiments of the present disclosure will be described with reference to the drawings. Note that corresponding components in each embodiment are designated by the same reference numerals, and redundant description may be omitted. Furthermore, when only a portion of the configuration is described in each embodiment, the configuration of another previously described embodiment may be applied to the remaining portions of the configuration. Furthermore, in addition to the combinations of configurations explicitly stated in the description of each embodiment, configurations of multiple embodiments may be partially combined together even if not explicitly stated, provided that there is no particular problem with the combination.

[0014] First Embodiment A control device 100 according to a first embodiment of the present invention, shown in Fig. 1, controls a display system 80 of a vehicle 1, shown in Fig. 1, as a host vehicle. From a viewpoint centered on the vehicle 1, the vehicle 1 can also be said to be an ego-vehicle. The vehicle 1 is a mobile object, such as an automobile, that can travel on a roadway with a user inside.

[0015] The vehicle 1 is an autonomous device (autonomous robot) that is provided with an autonomous driving mode, which is classified according to the degree of manual intervention by the user in a dynamic driving task. The autonomous driving mode may be realized by autonomous driving control, such as conditional driving automation, high driving automation, or full driving automation, in which a system performs all dynamic driving tasks when activated. The autonomous driving mode may also be realized by advanced driving assistance control, such as driving assistance or partial driving automation, in which a user performs some dynamic driving tasks. The autonomous driving mode may be realized by either autonomous driving control or advanced driving assistance control, or by a combination or switching between these. The vehicle 1 can also be referred to as an autonomous vehicle. The vehicle 1 is applied to a system that provides a service in which the vehicle is dispatched to a user who wishes to board and travels autonomously to the user's destination.

[0016] In the autonomous driving mode, the vehicle 1 or an external center sequentially generates a medium- to long-term driving plan that determines a planned driving route from the vehicle's current position to a destination, and a short-term control plan for driving in accordance with the medium- to long-term driving plan. Automated driving is realized by the vehicle 1 executing driving control according to each plan.

[0017] 1 are mounted on the vehicle 1. The sensor system 10, communication system 20, map database 30, driving and braking system 40, steering system 50, operation device 60, auditory presentation system 70, and display system 80. The sensor system 10 acquires sensor information about the external and internal worlds of the vehicle 1 that can be used by the control device 100. To this end, the sensor system 10 includes an external sensor 11 and an internal sensor 12.

[0018] The external sensor 11 acquires external information as sensor information from the external world that is the surrounding environment of the vehicle 1. The external sensor 11 may be a target detection type that detects targets that exist in the external world of the vehicle 1. The target detection type external sensor 11 is at least one of, for example, an exterior camera, LiDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), radar, sonar, and the like.

[0019] The internal sensor 12 acquires internal information as sensor information from the internal environment of the vehicle 1. The internal sensor 12 may be a physical quantity detection type that detects a specific physical quantity of motion in the internal environment of the vehicle 1. The physical quantity detection type internal sensor 12 may include at least one of a traveling speed sensor, an acceleration sensor, a gyro sensor, and a steering angle sensor, for example. In this embodiment, the steering angle means the angle of the tires 54 with respect to the fore-and-aft direction of the vehicle 1. The steering angle may also be referred to as a tire angle or a tire turning angle.

[0020] The internal sensor 12 may be a user detection type that detects a specific state of the user in the internal environment of the vehicle 1. The user detection type internal sensor 12 is, for example, at least one of an interior camera, a seating sensor, an actuator sensor, and an in-vehicle equipment sensor. The seating sensor detects the seating state of the user in each seat inside the vehicle. The actuator sensor detects at least one of the following as a user instruction state to the driving actuators of the vehicle 1: the operation state of an accelerator pedal, the operation state of a brake pedal, the on / off state of a starter switch, and the shift state of a shift lever. The in-vehicle equipment sensor detects at least one of the following as a user instruction state to the in-vehicle equipment: the operation state of an on / off switch, the operation state of a touch panel, and a gesture that can be recognized without contact.

[0021] The communication system 20 acquires communication information usable by the control device 100 via wireless communication. The communication system 20 may be a positioning type that receives positioning signals from GNSS (Global Navigation Satellite System) satellites present in the external world of the vehicle 1. The positioning type communication system 20 is, for example, a GNSS receiver. The communication system 20 may be a V2X type that transmits and receives communication signals to and from a V2X system present in the external world of the vehicle 1. The V2X type communication system 20 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device and a cellular V2X (C-V2X) communication device. The communication system 20 may be a terminal communication type that transmits and receives communication signals to and from a terminal present in the internal world of the vehicle 1. The terminal communication type communication system 20 is, for example, at least one of a Bluetooth (registered trademark) device, a Wi-Fi (registered trademark) device, an infrared communication device, etc.

[0022] The map database 30 stores map information that can be used by the control device 100. The map database 30 includes at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium. The map database 30 may be a database of a locator that estimates the vehicle's own state quantities, including the vehicle's own position. The map database 30 may be a database of a navigation unit that navigates the vehicle's travel route. The map database 30 may be a combination of multiple types of these databases.

[0023] The map database 30 acquires and stores the latest map information, for example, through communication with an external center via a V2X type communication system 20. Here, the map information is information representing the driving environment of the vehicle 1, and is converted into two-dimensional or three-dimensional data. In particular, digital data of a high-precision map is preferably used as the three-dimensional map data. The map information may include road information representing at least one of the following: the position, shape, and road surface condition of the road itself. The map information may also include marking information representing at least one of the following: the position and shape of signs and lane markings attached to the road. The map information may also include structure information representing at least one of the following: the position and shape of buildings and traffic lights facing the road.

[0024] The drive and braking system 40 includes a drive system made up of parts for accelerating the vehicle 1, and a braking system made up of parts for decelerating the vehicle 1. The drive system includes multiple types of parts, such as an accelerator pedal, a drive motor, a drive engine, a start switch, a transmission, and a shift unit. The braking system includes multiple types of parts, such as tires 54, a battery, a brake pedal, a friction braking unit, a hydraulic circuit, and a regenerative motor.

[0025] The steering system 50 shown in Fig. 2 is made up of parts for steering the vehicle 1. The parts that make up the steering system 50 are of multiple types, such as an electric power steering device, a steering unit, and tires 54. The steering unit steers the tires 54 at a steering angle that is sequentially determined by automatic driving control. Note that, as shown in Fig. 2, the steering system 50 of the vehicle 1 in this embodiment does not include a steering wheel, i.e., a steering member connected to the electric power steering device by a steering shaft.

[0026] The controller 60 is an operating member that accepts control operations for the vehicle 1 by the user. The controller 60 is configured to be able to input at least a steering operation. The controller 60 may also be configured to be able to input at least one of an acceleration operation and a deceleration operation. For example, the controller 60 is a control pad type that is held by the user without being fixed to the vehicle 1 at least when accepting a control operation. The control pad type controller 60 is provided with at least one of a push button, a joystick, and a cross key. The control pad type controller 60 is connected to the control device 100 by at least one of a wired and a wireless method. For example, the control pad type controller 60 is held in a holding unit provided on the vehicle 1 during autonomous driving, and is detached from the holding unit by the user during manual driving to accept control operations.

[0027] Alternatively, the controller 60 may be a vehicle-fixed type that accepts control operations while being fixed to the vehicle 1. The vehicle-fixed type controller 60 is, for example, an in-vehicle device sensor that detects at least one of the following as a user's instruction state to the in-vehicle device: the operation state of an on / off switch, the operation state of a touch panel, and a gesture that can be recognized without contact. Note that, unlike a general steering member, the vehicle-fixed type controller 60 electrically transmits steering operations to the electric power steering device without transmitting physical rotational motion. Note that the controller 60 may be provided in both a type that can accept steering operations from inside the vehicle cabin and a type that can accept steering operations from outside the vehicle.

[0028] The auditory presentation system 70 presents notification information to the user of the vehicle 1 by providing sound information that stimulates the user's hearing. The auditory presentation system 70 is, for example, at least one of a speaker, a buzzer, a vibration unit, and the like.

[0029] The display system 80 presents visual information that stimulates the user's vision, thereby presenting notification information to the user of the vehicle 1. The display system 80 includes, for example, an interior display 81 that displays information inside the vehicle, and an exterior display 82 that displays information outside the vehicle.

[0030] The interior display 81 includes a display device that displays at least one of vehicle information related to the vehicle 1 and entertainment information. The interior display 81 may include, for example, a meter display (hereinafter referred to as MD) 81a that displays at least one of vehicle information such as speed information and the rotation speed of the drive source as vehicle information. The interior display 81 may also include a center information display (hereinafter referred to as CID) 81b that displays entertainment information and is provided in a central region of the vehicle interior in the vehicle width direction. The entertainment information is information other than information related to the status of the vehicle 1. For example, the entertainment information is video content unrelated to the status of the vehicle 1, such as movies, television programs, and videos distributed via the Internet. The display system 80 may include at least one of a head-up display (HUD), a multi-function display (MFD) provided in a region other than the central region of the vehicle width direction, a light-emitting unit, etc.

[0031] The exterior display device 82 is, for example, a display provided on the exterior of the vehicle 1, particularly on or near a door. The exterior display device 82 may be a display provided on the front or rear of the vehicle 1. The exterior display device 82 may be provided in multiple locations.

[0032] The control device 100 is connected to a sensor system 10, a communication system 20, and a map database 30 via at least one of, for example, a LAN (Local Area Network) line, a wire harness, an internal bus, and a wireless communication line. In addition, the control device 100 is connected to a drive / braking system 40, an operating device 60, an auditory presentation system 70, and a display system 80 via at least one of, for example, a LAN line, a wire harness, an internal bus, and a wireless communication line. The control device 100 is configured to include at least one dedicated computer.

[0033] The dedicated computer constituting the control device 100 may be an HCU (Human Machine Interface Control Unit (HMI)) that controls information presentation by information presentation systems such as the auditory presentation system 70 and the display system 80 in the vehicle 1. The dedicated computer constituting the control device 100 may be an integrated ECU (Electronic Control Unit) that integrates the driving control of the vehicle 1. The dedicated computer constituting the control device 100 may be a determination ECU that determines a driving task in the driving control of the vehicle 1. The dedicated computer constituting the control device 100 may be a monitoring ECU that monitors the driving control of the vehicle 1. The dedicated computer constituting the control device 100 may be an evaluation ECU that evaluates the driving control of the vehicle 1.

[0034] The dedicated computer constituting the control device 100 may be a steering control ECU specialized for controlling the steering system 50. The dedicated computer constituting the control device 100 may be a navigation ECU that navigates the driving route of the vehicle 1. The dedicated computer constituting the control device 100 may be a locator ECU that estimates the self-state quantity of the vehicle 1. The dedicated computer constituting the control device 100 may be an actuator ECU that controls the driving actuator of the vehicle 1. The dedicated computer constituting the control device 100 may be a computer other than the vehicle 1 that constitutes, for example, an external center or mobile terminal that can communicate with the vehicle 1.

[0035] The dedicated computer constituting the control device 100 has at least one memory 101 and one processor 102. The memory 101 is at least one type of non-transitory tangible storage medium, such as a semiconductor memory, a magnetic medium, or an optical medium, that non-temporarily stores computer-readable programs and data. Here, "storage" may refer to accumulation in which data is retained even when the vehicle 1 is turned off, or temporary storage in which data is erased when the vehicle 1 is turned off. The processor 102 includes at least one type of core selected from a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), a RISC (Reduced Instruction Set Computer)-CPU, a CISC (Complex Instruction Set Computer)-CPU, a DFP (Data Flow Processor), and a GSP (Graph Streaming Processor).

[0036] In the control device 100, the processor 102 executes a plurality of instructions included in a control program stored in a memory 101 serving as a storage medium in order to control the presentation of information in the vehicle 1. In this way, the control device 100 constructs a plurality of functional blocks for controlling the presentation of information in the vehicle 1. The functional blocks constructed in the control device 100 include a determination block 110, an acquisition block 120, and a presentation control block 130, as shown in FIG.

[0037] The control method in which the control device 100 controls the display on the display system 80 through cooperation of these blocks 110, 120, and 130 is executed according to the control flow shown in Fig. 4. The control flow shown in Fig. 4 is executed repeatedly while the vehicle 1 is running. Note that each "S" in the control flow represents a plurality of steps executed by a plurality of commands included in the control program.

[0038] First, in S10, the discrimination block 110 discriminates the current control situation of the vehicle 1. The discrimination block 110 broadly classifies the control situations into, for example, a normal autonomous driving scene, a stopping scene, and an emergency stop scene. A normal autonomous driving scene is a scene in which normal driving control is executed by autonomous driving. A stopping scene is a scene in which autonomous driving control to stop the vehicle at a stopping area is initiated. Here, a stopping area is an area where users are expected to get on and off after the vehicle 1 has stopped. The stopping area includes at least one of the following types: a boarding and alighting area prepared for users who use the service to get on and off, a parking lot for parking the vehicle 1, an area surrounding users waiting to get on and off, and an area simply set as a destination for autonomous driving.

[0039] The determination block 110 may determine that the stopping control has started, for example, when a driving trajectory ending in a stopping area in a short-term control plan for autonomous driving is generated or when vehicle control according to the driving trajectory is started. Alternatively, the determination block 110 may determine that the stopping control has started when it is detected that the vehicle 1 is approaching within a predetermined distance range from the stopping area.

[0040] In addition, the discrimination block 110 further discriminates more detailed control situations in a stopping scene. Specifically, the discrimination block 110 discriminates the steering behavior (steering behavior) of the tires 54 expected until the vehicle stops. The steering behavior includes, for example, at least one of the cumulative amount of change in steering angle (steering amount) and the number of times the steering direction is switched from the start to the end of the stopping control. The start of the stopping control is, for example, the time when a traveling trajectory ending at a stopping point in a short-term control plan for autonomous driving is generated, or the time when vehicle control according to the traveling trajectory is started. Alternatively, the start of the stopping control may be the time when the approach of the vehicle 1 within a predetermined distance range from the stopping point is detected. The end of the stopping control is the time when the vehicle reaches the end of the traveling trajectory, i.e., the time when the vehicle reaches the stopping point and the traveling speed becomes substantially zero.

[0041] An emergency stop scene is a scene in which emergency stop control is executed by autonomous driving. For example, when an event that makes it impossible to drive safely occurs and stop control is executed by MRM (Minimum Risk Maneuver) control, which is executed by the autonomous driving ECU, the determination block 110 determines that the scene is an emergency stop scene.

[0042] Alternatively, the determination block 110 may determine that an emergency stop situation has occurred when an operation to initiate an emergency stop is performed by a user on board. For example, when an emergency vehicle is approaching, an emergency evacuation is not performed in the autonomous driving mode, and the user determines that an emergency evacuation is necessary, the user may perform an operation to initiate an emergency stop. The operation to initiate an emergency stop is received by the determination block 110 via, for example, an in-vehicle device sensor.

[0043] In addition, the determination block 110 further determines a more detailed control situation in an emergency stop scene. Specifically, the determination block 110 determines at least one of the following control situations: whether or not the user operates the vehicle 1 via the operating device 60 after the emergency stop, the location of the user operation, and the degree of restriction on the operation. Determining the location of the user operation includes at least determining whether the operation is performed inside or outside the vehicle. Determining the degree of restriction on the operation includes at least determining whether or not there is an abnormality in the sensor system 10, whether or not there is a restriction on the allowed driving direction, and the range of the restriction if there is a restriction on the allowed driving direction.

[0044] In the next S20, the acquisition block 120 acquires steering angle information relating to the steering angle of the tires 54 due to the automatic steering control of the automatically driven vehicle 1. The steering angle information includes at least one of the current actual steering angle and the target steering angle after a predetermined control cycle.

[0045] Then, in S30, the presentation control block 130 presents steering-related information related to the virtual steering control. The presentation control block 130 presents the steering-related information in a presentation mode corresponding to the control situation determined in S10. Here, the presentation mode includes the type of information to be presented and whether or not information is present. In particular, when a display object is displayed as information presentation, the presentation mode (display mode) includes the shape type of the display object, the type of information expressed by the display object, and whether or not the display object is present.

[0046] The manner in which steering-related information is presented for each scene in S30 will be described in detail below.

[0047] <Normal Autonomous Driving Scene> In a normal autonomous driving scene, the presentation control block 130 displays a steering-related image as steering-related information on the display system 80, which displays at least one of the speed information and entertainment information of the vehicle 1. As an example, the presentation control block 130 displays the steering-related image on the CID 81b. For example, as shown in FIG. 5 , the presentation control block 130 displays the steering-related image on a display area A2 that is separate from the display area A1 that displays entertainment information, etc., in the CID 81b. The steering-related image includes at least the steering object OS shown in FIG. 5 etc.

[0048] The steering object OS is a display object representing a virtual steering member. For example, the steering object OS has a substantially circular shape resembling a steering wheel. The steering object OS is displayed and rotated at a change in rotation angle (rotation amount) correlated with the steering amount during autonomous driving. Specifically, the presentation control block 130 sets a change rate of the rotation amount of the steering object OS relative to the steering amount, and rotates and displays the steering object OS at that change rate. In other words, the presentation control block 130 displays the rotation at a rotation amount obtained by multiplying the steering amount by a specified coefficient.

[0049] The presentation control block 130 changes the rate of change depending on whether the magnitude of the rotation angle from a reference angle (e.g., zero degrees) is within an allowable rotation angle range or outside the allowable rotation angle range. Here, the allowable rotation angle range is a range in which the rotation angle is equal to or greater than a lower threshold and equal to or less than an upper threshold. When the rotation angle is outside the allowable rotation angle range, the presentation control block 130 suppresses the rate of change more than when the rotation angle is within the allowable rotation angle range. In other words, the presentation control block 130 rotates and displays the steering object OS outside the allowable rotation angle range by a rotation amount obtained by multiplying the steering amount by a coefficient that is smaller than when the rotation angle is within the allowable rotation angle range. In the example shown in FIG. 6 , the maximum rotation angle corresponding to the maximum steering angle is set to ±120 degrees, and coefficients smaller than those within the ±90 degree range are set within the ranges of +90 degrees to +120 degrees and −120 degrees to −90 degrees. This results in a smaller rate of change than within the ±90 degree range.

[0050] Additionally, in a normal autonomous driving scene, the presentation control block 130 auditorily presents, as steering-related information, sound information corresponding to the rotation of the steering object OS. For example, the presentation control block 130 presents, in the vehicle cabin using the auditory presentation system 70, a pseudo-sound that simulates the sound generated by the steered tires 54 rubbing against the road surface while the steering object OS is rotating. The presentation control block 130 may change the presentation mode of the sound information depending on the rotation speed of the steering object OS. For example, the presentation control block 130 may present sound information with a louder volume the faster the rotation speed of the steering object OS. Alternatively, the presentation control block 130 may present sound information with a higher pitch the faster the rotation speed. Alternatively, the presentation control block 130 may present sound information with different intonations depending on the rotation speed. Alternatively, the presentation control block 130 may present periodic sound information with different frequencies depending on the rotation speed.

[0051] In a normal automated driving scene, the presentation control block 130 prohibits the display of the steering object OS if it is estimated that the user on board has no experience in manually driving a vehicle. The presentation control block 130 estimates whether the user on board has experience driving a vehicle, for example, by personal authentication of the user on board the vehicle 1. Specifically, the presentation control block 130 may estimate that the user has no experience driving a vehicle if the user's age obtained by personal authentication is under the age required to obtain a driver's license, and may estimate that the user has experience driving a vehicle if the user has reached the age required to obtain a license.

[0052] In addition, when both a user who is estimated to have no driving experience and a user who is estimated to have driving experience are on board, the presentation control block 130 executes the display of the steering object OS without prohibiting it. In other words, when only a user who is estimated to have no driving experience is on board, the presentation control block 130 prohibits the display of the steering object OS.

[0053] <Stopping Scene> In a stopping scene, if the steering pattern expected before the vehicle stops is an allowable pattern, the presentation control block 130 displays the steering object OS as a steering-related image, similar to the normal autonomous driving scene described above. On the other hand, if the steering pattern expected before the vehicle stops is an unallowable pattern, the presentation control block 130 prohibits the display of the steering object OS.

[0054] For example, the presentation control block 130 may determine that the steering mode is permissible when the expected cumulative steering amount is within the allowable upper limit, and may determine that the steering mode is unacceptable when it is outside the allowable upper limit. Alternatively, the presentation control block 130 may determine that the steering mode is permissible when the expected number of times the steering direction is switched is within the allowable upper limit, and may determine that the steering mode is unacceptable when it is outside the allowable upper limit.

[0055] <Emergency Stop Scene> After the vehicle 1 completes an emergency stop in an emergency stop scene, the presentation control block 130 displays the steering object OS and the cooperating object OL as steering-related images. Furthermore, the presentation control block 130 of this embodiment displays the front and rear objects OFR as steering-related images in addition to the steering object OS and the cooperating object OL.

[0056] When the presentation control block 130 receives a rotation operation from inside the vehicle, it displays the steering-related image on the interior display 81, which displays at least one of speed information and entertainment information. On the other hand, when the presentation control block 130 receives a rotation operation from outside the vehicle, it displays the steering-related image on the exterior display 82. Note that when the presentation control block 130 receives a rotation operation by the user via the operating device 60 after an emergency stop, it displays the steering-related image regardless of the steering mode. Furthermore, the exterior display 82 that displays the steering-related image does not necessarily have to display at least one of speed information and entertainment information. Furthermore, unless otherwise specified, the following description of each steering-related image is common to both the case where it is displayed on the interior display 81 and the case where it is displayed on the exterior display 82.

[0057] When displaying the steering object OS, the presentation control block 130 receives a steering operation of the vehicle 1 via the operation device 60 through which a user's control operation is input. The presentation control block 130 rotates and displays the steering object in accordance with the user's steering operation. In other words, the presentation control block 130 rotates and displays the steering object by an amount of rotation that correlates with the steering amount in accordance with the user's steering operation.

[0058] The front / rear object OFR is a display object that displays the forward and reverse driving of the vehicle 1 in response to the operation of the controller 60. For example, the front / rear object OFR includes a forward driving object OF that is displayed when the vehicle 1 is driving forward, a reverse driving object OR that is displayed when the vehicle 1 is driving backward, and a vehicle object OC that is an icon that resembles the vehicle 1.

[0059] The collaboration object OL is a display object relating to the relationship between the operation of the controller 60 and the rotational display of the steering object OS. For example, as shown in FIG. 7 , the collaboration object OL includes an appearance object OE, an input object OI, and a key bind object OKB. The appearance object OE is an object shaped like the controller 60, and in FIG. 7 , it has the shape of a control pad. The input object OI is an object shaped like an input component of the controller 60 through which operations are input. In the example of FIG. 7 , icons shaped like a button, a joystick, and a cross key are displayed as the input object OI. The key bind object OKB is an object that indicates the correspondence between the input component and the control content. In the example of FIG. 7 , a line extending from the input object OI and a text portion represented by a series of rectangles are displayed as the key bind object OKB. The line portion of the key bind object OKB points to the corresponding input component. The text portion of the key bind object OKB indicates the control content that can be executed by operating the corresponding input component using text information. As an example, for an input object OI corresponding to a button that can be pressed to move forward, a key bind object OKB is displayed that includes a line extending from the input object OI and a text portion that reads "Forward" above the line. Also, for an input object OI corresponding to a button that can be pressed to move backward, a key bind object OKB is displayed that includes a line extending from the input object OI and a text portion that reads "Backward" above the line. Also, for an input object OI corresponding to a joystick that can rotate the steering wheel 51 by tilting it left or right, a key bind object OKB is displayed that includes a line extending from the input object OI and a text portion that reads "Rotate the steering wheel left or right" above the line.

[0060] When the user is able to steer via the controller 60, the presentation control block 130 first displays the steering object OS, the front and rear objects OFR, and the cooperating object OL. Then, when an operation is performed on the controller 60, the presentation control block 130 highlights the input object OI corresponding to the operated input part. Furthermore, the presentation control block 130 executes a rotation display of the steering object OS in response to the operation, and a forward and backward display using the front and rear objects OFR.

[0061] For example, as shown in the upper frame of FIG. 7 , assume that an operation corresponding to steering is not input, but an operation corresponding to forward movement is input. In this case, the presentation control block 130 highlights the input object OI corresponding to forward movement by, for example, changing the brightness or display color. The presentation control block 130 then leaves the steering object OS at its initial angle, displays the forward movement object OF and the vehicle object OC in the front-rear object OFR, and hides the reverse object OR. Also, as shown in the lower frame of FIG. 7 , assume that a steering operation to the left and an operation corresponding to reverse movement are input. In this case, the presentation control block 130 highlights the input object OI corresponding to reverse movement and the input object OI corresponding to left steering. The presentation control block 130 then rotates the steering object OS counterclockwise, displays the reverse object OR and the vehicle object OC in the front-rear object OFR, and hides the forward movement object OF.

[0062] Note that the presentation control block 130 prohibits the acceptance of rotation operations from outside the vehicle when an abnormality is detected in the sensor system 10 related to the driving control of the vehicle 1. When an abnormality is detected, the presentation control block 130 may display a prohibition object OP indicating that operation from outside the vehicle using the operating device 60 is prohibited on the exterior display 82. For example, the presentation control block 130 displays a prohibition object OP in the shape of a prohibition symbol, as shown in FIG.

[0063] Furthermore, when the travelable direction of the vehicle 1 is limited, the presentation control block 130 displays an operable range of the steering object that correlates with the travelable direction. For example, when it is detected that the vehicle 1 is stuck or when an abnormality such as a malfunction is detected in a sensor, the travelable direction may be limited. For example, as shown in Fig. 9, the presentation control block 130 presents the travelable direction by displaying an operable range object OOR that indicates the rotatable direction and the prohibited rotation direction of the steering object OS.

[0064] When the user performs an operation to start an emergency stop of the vehicle 1 in an emergency stop scene, the presentation control block 130 may display the steering object OS, the cooperating object OL, and the front and rear objects after the start operation. In this case, the presentation control block 130 starts accepting a control operation by the operating device 60 after the start operation, and displays each steering-related image in accordance with the control operation.

[0065] The presentation control block 130 in S30 presents the steering-related information in a presentation format appropriate for the control situation for each of the above-described scenes. Once the presentation is completed, this flow ends. By repeatedly executing the series of processes in S10, S20, and S30, the steering-related information is continuously presented while the vehicle 1 is running, while the presentation format is appropriately changed depending on the control situation.

[0066] According to the first embodiment described above, a steering-related image including at least a steering object OS, which is a virtual steering member object rotated and displayed at a rotation angle correlated with the steering angle during autonomous driving, is displayed. The steering-related image is displayed in a display mode corresponding to the control status of the vehicle 1 on the display system 80, which displays at least one of speed information and entertainment information of the vehicle 1. As a result, a user can grasp the traveling direction of the vehicle 1 from the steering object OS, which is displayed in a display mode corresponding to the control status, by visually checking the display that displays at least one of the speed information and entertainment information of the vehicle 1. Therefore, convenience can be improved. In particular, in the first embodiment, the steering-related image is displayed on the CID 81b, which is a display provided in a central region in the vehicle width direction within the vehicle cabin. As a result, the steering-related image can be relatively easily viewed by a user sitting in any seat.

[0067] Second Embodiment As shown in FIGS. 10 and 11, the second embodiment is a modification of the first embodiment.

[0068] In the second embodiment, in a stopping scene, if the steering pattern expected before stopping is an allowable pattern, the presentation control block 130 displays a steering object OS and a current direction object OCD relating to the current direction of the vehicle 1, as shown in Fig. 11. On the other hand, if the steering pattern is an unallowable pattern, the presentation control block 130 displays a planned direction object OPD relating to the planned direction of the vehicle 1 when stopping, in addition to the steering object OS and the current direction object OCD, as shown in Fig. 10. Furthermore, if the steering pattern is an unallowable pattern, the presentation control block 130 displays a turning object OT.

[0069] The current direction object OCD is an object that presents the current direction of the vehicle 1. Here, the direction of the vehicle 1 is the direction of the yaw direction of the vehicle 1 according to the steering angle, i.e., the magnitude of the yaw angle. The current direction object OCD presents the magnitude of the inclination of the current direction relative to the reference direction, for example, with a steering angle of zero degrees, i.e., a yaw angle of zero degrees, as a reference direction, in correlation with the magnitude of the steering angle.

[0070] The current direction object OCD is an icon that resembles the vehicle 1 as viewed from above, as shown in Figures 10 and 11. The current direction object OCD is displayed tilted relative to the reference direction with a size corresponding to the steering angle. Therefore, the current direction object OCD can also be said to be an object that rotates in conjunction with the rotation of the steering object OS. Note that since the steering object OS moves according to the steering angle, the steering object OS can also be considered to be an object included in the current direction object OCD.

[0071] The planned direction object OPD is an object related to the direction that the vehicle 1 is expected to face when stopped. That is, the planned direction object OPD displays the yaw direction of the vehicle 1 according to the steering angle that is expected when the vehicle is stopped. The planned direction object OPD is an icon that resembles the vehicle 1 as viewed from above, as shown in Fig. 10, for example. Unlike the steering object OS and the current direction object OCD, the planned direction object OPD is hidden, i.e., its display is prohibited, in the permissible mode, as shown in Fig. 11.

[0072] The turning object OT is an object relating to at least one of the number of turns expected until the vehicle stops and the direction of rotation of the steering object for each turn. For example, as shown in Fig. 10, the turning object OT includes both a number object OTN that displays the number of turns and a turning direction object OTD that displays the direction of rotation for each turn.

[0073] The number of times object OTN is displayed, for example, as a number-shaped icon, and presents the number of times of turning using numerical information. Here, the number of times of turning is the number of times the rotation direction of the steering object OS is reversed. When the vehicle stop control is started, the number of times object OTN displays the total number of times of turning expected from the start to the completion of the vehicle stop control. The number presented by the number object OTN decreases each time a turning is actually performed. In other words, the number object OTN counts down and presents the current remaining number of turning.

[0074] The turning direction object OTD is displayed, for example, as an arrow-shaped icon, and indicates and presents the turning direction. The turning direction object OTD presents the rotation direction of the steering object with an arrow for each turning. For example, the turning direction object OTD presents the turning direction in reverse prior to the reversal of the rotation direction of the steering object OS. In other words, the turning direction object OTD notifies the user of the upcoming turning direction.

[0075] Third Embodiment As shown in FIG. 12, the third embodiment is a modification of the second embodiment.

[0076] When the steering behavior is not permissible in a stopping scene, the presentation control block 130 displays the steering object OS and the intended direction object OPD. The presentation control block 130 does not display the steering object OS and the current direction object OPD, which is a separate object, as in the second embodiment. Because the steering object OS can also be considered an object included in the current direction object OCD, the presentation control block 130 can display the current direction of the vehicle 1 simply by rotating the steering object OS.

[0077] Furthermore, in the non-permissible mode, the presentation control block 130 displays the intended direction object OPD as an icon imitating a steering member having substantially the same shape as the steering object OS, as shown in the left column of Fig. 12 . This intended direction object OPD is displayed fixedly without rotating according to the steering angle, in a state showing a rotation angle according to the steering angle expected when the vehicle is stopped. For example, in the example shown in Fig. 12 , the intended direction object OPD is displayed at a rotation angle corresponding to a steering angle of zero degrees (i.e., zero degrees). When the steering mode is the permissible mode, the presentation control block 130 does not display the intended direction object OPD, as shown in the right column of Fig. 12 .

[0078] Fourth Embodiment As shown in FIGS. 13 to 15, the fourth embodiment is a modification of the first embodiment.

[0079] In the fourth embodiment, as shown in FIG. 13 , the steering system 50 of the vehicle 1 includes a steering wheel 51 in addition to the components of the first embodiment. The steering wheel 51 is a steering member that physically transmits a rotational operation by a user to an electric power steering device via a steering shaft. The steering wheel 51 is pre-adjusted so that a reference angular position, which is a non-rotating state (i.e., a steering angle of zero degrees), corresponds to an angular position corresponding to the straight-ahead direction of the vehicle 1. In other words, the correspondence between the steering angle and the turning angle is adjusted so that the turning angle of the tires 54 is substantially zero degrees when the steering angle of the steering wheel 51 is substantially zero degrees. Note that the correspondence between the steering angle and the turning angle may have an error immediately after adjustment due to aging or the like. The correspondence between the steering angle and the turning angle may be readjusted at the factory, for example, when the battery is replaced.

[0080] 14, the plurality of functional blocks constructed in the control device 100 of the fourth embodiment include, in addition to blocks 110, 120, and 130 similar to those of the first embodiment, a steering control block 140. A control method in which the control device 100 controls the display on the display system 80 by cooperation of these blocks 110, 120, 130, and 140 is executed according to the control flow shown in FIG.

[0081] As shown in FIG. 15 , after the processing of S10, the flow proceeds to S15. In S15, the steering control block 140 executes steering control according to the control situation. Specifically, when the steering mode is permissible in a stopped vehicle scene, the steering control block 140 controls the rotation of the steering wheel 51 in conjunction with the steering control of the tires 54. On the other hand, when the steering mode is not permissible in a stopped vehicle scene, the steering control block 140 releases the link between the steering control of the tires 54 and the rotation control of the steering wheel 51. For example, in the release state, the steering control block 140 places the steering wheel 51 in a stationary state with a steering angle of substantially zero degrees.

[0082] In addition, in S30 of the fourth embodiment, the presentation control block 130 displays the steering object OS even when the steering manner is not permissible in a stopped scene. The presentation control block 130 may further display at least one of the current direction object OCD, the planned direction object OPD, and the turning object OT. In other words, when the steering manner is not permissible in a stopped scene, the steering wheel 51 is stationary, and the user is able to grasp the traveling direction of the vehicle 1 by the steering object instead.

[0083] (Other Embodiments) Although multiple embodiments have been described above, the present disclosure should not be construed as being limited to those embodiments, and can be applied to various embodiments and combinations within the scope that does not deviate from the gist of the present disclosure.

[0084] In a modified example, the control device 100 may display a steering-related image including the steering object OS when the vehicle 1 is calibrated in the factory.

[0085] In a variant example, the control device 100 may control the rotation display of the steering object OS so that the rate of change of the rotation amount relative to the steering amount is lower than the rate of change of the rotation amount of the steering wheel 51 relative to the steering amount in manual driving.

[0086] In a modified example, the dedicated computer constituting the control device 100 may have at least one of a digital circuit and an analog circuit as a processor. Here, the digital circuit is at least one of the following: an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), a system on a chip (SOC), a programmable gate array (PGA), and a complex programmable logic device (CPLD). Such a digital circuit may also have a memory that stores a program.

[0087] In a modified example, the host moving body to which the control device 100 is applied may be, for example, an autonomous robot that is capable of transporting luggage or collecting information by autonomous or remote driving, and that is also configured to be manually operated using a steering member. In addition to the forms described so far, the above-mentioned embodiments and modified examples may be implemented in the form of a processing circuit (e.g., a processing ECU, etc.) or a semiconductor device (e.g., a semiconductor chip, etc.) as a control device that is configured to be mountable on a host moving body and has at least one processor 102 and one memory 101.

[0088] (Disclosure of Technical Ideas) This specification discloses multiple technical ideas described in the following multiple clauses. Some clauses may be described in a multiple dependent form, with the subsequent clause alternatively referring to the preceding clause. Furthermore, some clauses may be described in a multiple dependent form, with the subsequent clause referring to another multiple dependent clause. These multiple dependent clauses define multiple technical ideas.

[0089] (Technical Idea 1) A control device having a processor (102) for controlling the presentation of information in an automatically driven vehicle (1), wherein the processor is configured to perform the following: acquire steering angle information relating to the steering angle of tires (54) due to steering control in the vehicle during automatic driving; and present steering-related information relating to virtual steering control related to the steering control to a user of the vehicle, wherein presenting the steering-related information includes displaying a steering-related image including at least a steering object (OS), which is an object of a virtual steering member that is displayed and rotated at a rotation angle correlated to the steering angle during automatic driving, on a display system (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image depending on the control status of the vehicle.

[0090] (Technical Idea 2) The control device according to Technical Idea 1, wherein presenting the steering-related information includes: displaying the steering object when a steering pattern, which is the pattern of the steering behavior of the tires expected until the vehicle is stopped, is an acceptable pattern in a stopping scene where the vehicle is stopped by autonomous driving; and prohibiting the display of the steering object when the steering pattern is an unacceptable pattern.

[0091] (Technical Idea 3) The presentation of the steering-related information is a control device according to Technical Idea 1, which includes: in a stopping scene in which the vehicle is stopped by automatic driving, if the steering pattern, which is the pattern of the steering behavior of the tires expected until the vehicle is stopped, is an unacceptable pattern, displaying a current direction object (OCD) relating to the current direction of the vehicle and a planned direction object (OPD) relating to the direction planned for the vehicle when it is stopped; and if the steering pattern is an acceptable pattern, displaying the current direction object and prohibiting the display of the planned direction object.

[0092] (Technical Idea 4) The presenting of the steering-related information is a control device described in any one of Technical Ideas 1 to 3, which prohibits the display of the steering object when the user on board has no experience in manually driving a vehicle.

[0093] (Technical Idea 5) A control device described in any one of Technical Ideas 1 to 4, wherein presenting the steering-related information includes displaying a turning object (OT) relating to at least one of the number of turns expected before the vehicle is stopped and the direction of rotation for each turn of the steering object in a stopping scene where the vehicle is stopped by autonomous driving.

[0094] (Technical Idea 6) A control device described in any one of Technical Ideas 1 to 5, wherein presenting the steering-related information includes changing a rate of change in the rotation angle relative to the change in the steering angle according to the rotation angle up to a maximum rotation angle.

[0095] (Technical Concept 7) The control device according to Technical Concept 6, wherein presenting the steering-related information includes reducing the rate of change when the rotation angle falls outside an upper limit of an allowable rotation angle range.

[0096] (Technical Idea 8) The control device according to any one of Technical Ideas 1 to 7, wherein presenting the steering-related information further includes audibly presenting sound information corresponding to the rotation of the steering object.

[0097] (Technical Idea 9) A control device described in any one of Technical Ideas 1 to 8, wherein presenting the steering-related information includes rotating and displaying the steering object in accordance with the user's rotation operation on the steering object in an emergency stop scene in which an emergency stop of the vehicle is performed.

[0098] (Technical Idea 10) The control device according to Technical Idea 9, wherein presenting the steering-related information includes: accepting the rotation operation via an operating device (60) through which the user inputs the rotation operation; and displaying a linking object (OL) relating to the relationship between the operation of the operating device and the rotational display of the steering object in the emergency stop scene.

[0099] (Technical Idea 11) A control device according to Technical Idea 9 or Technical Idea 10, wherein presenting the steering-related information includes: accepting the rotation operation from either inside or outside the vehicle; and when accepting the rotation operation from inside the vehicle, displaying the steering object on the display system inside the vehicle, and when accepting the rotation operation from outside the vehicle, displaying the steering object on the display system outside the vehicle.

[0100] (Technical Idea 12) The control device according to Technical Idea 11, wherein presenting the steering-related information includes prohibiting acceptance of the rotation operation when an abnormality is detected in a sensor related to driving control of the vehicle.

[0101] (Technical Idea 13) A control device described in any one of Technical Ideas 9 to 12, wherein presenting the steering-related information includes, when the vehicle's possible driving direction is limited, displaying the operable range of the steering object that correlates with the possible driving direction.

[0102] (Technical Idea 14) The control device according to any one of Technical Ideas 9 to 13, wherein presenting the steering-related information allows acceptance of the rotation operation when an emergency stop operation of the vehicle by the user is accepted.

[0103] The above technical ideas 1 to 14 may be implemented in the form of a control method and a control program.

Claims

1. A control device having a processor (102) for controlling the presentation of information in an autonomously driven vehicle (1), wherein the processor is configured to perform the following: acquire steering angle information relating to the steering angle of tires (54) due to steering control in the vehicle during autonomous driving; and present steering-related information relating to virtual steering control related to the steering control to a user of the vehicle, wherein presenting the steering-related information includes displaying a steering-related image including at least a steering object (OS), which is an object of a virtual steering member rotated and displayed at a rotation angle correlated to the steering angle during autonomous driving, on a display system (80) that displays at least one of speed information and entertainment information of the vehicle, and changing the display mode of the steering-related image depending on the control status of the vehicle.

2. The control device of claim 1, wherein presenting the steering-related information includes displaying the steering object when a steering pattern, which is the pattern of the steering behavior of the tires expected before the vehicle is stopped, in a stopping scene in which the vehicle is stopped by autonomous driving, is an acceptable pattern, and prohibiting the display of the steering object when the steering pattern is an unacceptable pattern.

3. The control device of claim 1, wherein presenting the steering-related information includes, in a stopping scene in which the vehicle is stopped by autonomous driving, displaying a current direction object (OCD) relating to the current direction of the vehicle and a planned direction object (OPD) relating to the direction planned for the vehicle when stopping, when a steering pattern, which is the pattern of the steering behavior of the tires expected before stopping, is an unacceptable pattern, and displaying the current direction object and prohibiting display of the planned direction object, when the steering pattern is an acceptable pattern.

4. The control device according to claim 1, wherein presenting the steering-related information comprises prohibiting display of the steering object when the user on board has no experience of manually driving a vehicle.

5. The control device of claim 1, wherein presenting the steering-related information includes displaying a turning object (OT) relating to at least one of the expected number of turns before the vehicle is stopped and the direction of rotation for each turn of the steering object in a stopping scene in which the vehicle is stopped by autonomous driving.

6. The control device according to claim 1, wherein presenting the steering-related information includes changing a rate of change of the rotation angle relative to the amount of change of the steering angle according to the rotation angle up to a maximum rotation angle.

7. The control device according to claim 6, wherein presenting the steering-related information includes reducing the rate of change when the rotation angle falls outside an upper limit of an allowable rotation angle range.

8. The control device according to claim 1, wherein presenting the steering-related information further comprises aurally presenting sound information corresponding to the rotation of the steering object.

9. The control device according to claim 1, wherein presenting the steering-related information includes rotating and displaying the steering object in response to a rotation operation of the user on the steering object in an emergency stop scene in which an emergency stop of the vehicle is performed.

10. The control device of claim 9, wherein presenting the steering-related information includes: accepting the rotation operation via an operator (60) through which the user's rotation operation is input; and displaying, in the emergency stop scene, a linking object (OL) relating to the relationship between the operation of the operator and the rotational display of the steering object.

11. The control device of claim 9, wherein presenting the steering-related information includes: accepting the rotation operation from either inside or outside the vehicle; and when the rotation operation is accepted from inside the vehicle, displaying the steering object on the display system inside the vehicle, and when the rotation operation is accepted from outside the vehicle, displaying the steering object on the display system outside the vehicle.

12. The control device according to claim 11, wherein presenting the steering-related information includes prohibiting acceptance of the rotation operation when an abnormality is detected in a sensor related to driving control of the vehicle.

13. The control device according to claim 9, wherein presenting the steering-related information includes, when the vehicle's possible driving direction is limited, displaying an operable range of the steering object that correlates with the possible driving direction.

14. The control device according to claim 9, wherein the presentation of the steering-related information comprises: allowing acceptance of the rotation operation when an emergency stop operation of the vehicle by the user is accepted.

15. A control method executed by a processor (102) for controlling the presentation of information in an autonomously driven vehicle (1), comprising: acquiring steering angle information relating to the steering angle of tires (54) due to steering control in the vehicle during autonomous driving; and presenting steering-related information relating to virtual steering control related to the steering control to a user of the vehicle, wherein presenting the steering-related information comprises displaying, on a display system (80) that displays at least one of speed information and entertainment information of the vehicle, a steering-related image including at least a steering object (OS), which is an object of a virtual steering member that is rotated and displayed at a rotation angle correlated to the steering angle during autonomous driving, and changing the display mode of the steering-related image depending on the control status of the vehicle.

16. A control program stored in a storage medium (101) for controlling the presentation of information in an autonomously driven vehicle (1), the control program including instructions to be executed by a processor (102), the instructions including: acquiring steering angle information relating to the steering angle of tires (54) due to steering control in the vehicle during autonomous driving; and presenting steering-related information relating to virtual steering control related to the steering control to a user of the vehicle, wherein presenting the steering-related information includes displaying, on a display system (80) that displays at least one of speed information and entertainment information of the vehicle, a steering-related image including at least a steering object (OS), which is an object of a virtual steering member that is rotated and displayed at a rotation angle correlated to the steering angle during autonomous driving, and changing the display mode of the steering-related image depending on the control status of the vehicle.

Images