Information processing method and information processing device

Abstract

In a vehicle capable of a manual driving mode and an automated driving mode as travel modes, an information processing device according to an embodiment of the present invention accepts a rotation operation with respect to a dial-type operable element as a steering operation while the vehicle is traveling in the manual driving mode, and accepts the rotation operation as a non-driving operation different from both the steering operation and an operation for indicating a change of travel mode while the vehicle is traveling in the automated driving mode.

Description

Information processing method and information processing device

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

[0002] Various driving operation devices for steering a vehicle such as an automobile have been known in the past. For example, Patent Document 1 listed below discloses an auxiliary steering device that provides armrest bars on the left and right sides of a seat in front of which a steering wheel is located, in order to facilitate steering operation in an emergency during autonomous driving, and controls the steering of the automobile in response to operation of the armrest bars.

[0003] JP 2017-178145 A

[0004] In the conventional technology described above, the operator that the driver operates when attempting to perform a steering operation is different when the vehicle is traveling in manual driving mode and when it is traveling in automatic driving mode. That is, in the conventional technology described above, the driver performs steering operations using the steering wheel in manual driving mode, but performs steering operations using the armrest bar in automatic driving mode, and the driver must switch the operator for steering operations between manual driving mode and automatic driving mode. However, if the driver is required to switch the operator in an emergency during automatic driving, there is a possibility that the steering operation in the emergency will be delayed.

[0005] In one aspect, the present invention has been made in consideration of the above circumstances, and its purpose is to provide an information processing method and information processing device that, in a vehicle that has a manual driving mode and an automatic driving mode as driving modes, does not require the driver to change the grip of an operator for steering operation even when steering operation is required during automatic driving mode.

[0006] In order to solve the above-described problems, an information processing method according to one aspect of the present invention is an information processing method for a vehicle capable of switching between a manual driving mode and an automatic driving mode, in which a processor executes a process of accepting an operation from a driver of the vehicle to a dial-type operating element provided at a driver's seat of the vehicle, wherein the operating element is configured to be rotatable around a rotation axis and to be able to at least one of move along the rotation axis and tilt the rotation axis, and the processor includes a step of determining the driving mode of the vehicle and a step of accepting an operation from the driver to the operating element, wherein, when it is determined in the step of determining the driving mode that the vehicle is driving in the manual driving mode, the processor: (1) accepts a rotation operation by the driver to rotate the operating element around the rotation axis as a steering operation; and (2) ) A non-rotational operation by the driver, which is at least one of an operation of moving the operator along the rotation axis and an operation of tilting the rotation axis, is accepted as a driving mode change operation that instructs a change of the driving mode, and is a first driving mode change operation that instructs changing the driving mode from the manual driving mode to the automatic driving mode; and if it is determined in the step of determining the driving mode that the vehicle is driving in the automatic driving mode, the steps of (3) accepting the rotational operation by the driver as a non-driving operation that is an operation different from the steering operation and the driving mode change operation, and (4) accepting the non-rotational operation by the driver as a second driving mode change operation that is a driving mode change operation that instructs changing the driving mode from the automatic driving mode to the manual driving mode are executed.

[0007] According to the present invention, in a vehicle capable of switching between manual driving mode and automatic driving mode as driving modes, an information processing method and an information processing device can be provided that eliminate the need to change the grip of an operator for steering operation even when steering operation is required during automatic driving mode.

[0008] 5 is a block diagram showing a schematic configuration of a vehicle equipped with an information processing device according to an embodiment. FIG. 6 shows an example of the positions of the operators illustrated in FIG. 1 within the vehicle cabin. FIG. 7 is a schematic illustration of an example of the hardware configuration of the information processing device according to an embodiment. FIG. 8 is a schematic illustration of an example of the software configuration of the information processing device according to an embodiment. FIG. 9 is a flow diagram showing a specific example of step S210 in FIG. 5 (various processes associated with the issuance of TOR).

[0009] An embodiment according to one aspect of the present invention (hereinafter also referred to as "the present embodiment") will be described below with reference to the drawings. However, the present embodiment described below is merely an example of the present invention in all respects. Needless to say, various improvements and modifications can be made without departing from the scope of the present invention. In other words, when implementing the present invention, specific configurations according to the embodiment may be appropriately adopted. Note that, although data appearing in the present embodiment are described in natural language, more specifically, they are specified using pseudo-language, commands, parameters, machine language, etc. that can be recognized by a computer.

[0010] §1 Application Example FIG. 1 is a block diagram showing a schematic configuration of a vehicle VH equipped with an information processing device (information processing device 1) according to this embodiment. The vehicle VH is an example of the "vehicle" of the present invention. The vehicle VH is a vehicle capable of operating in a manual driving mode and an automatic driving mode. In the manual driving mode, the vehicle VH is driven by an occupant (for example, the driver DR) of the vehicle VH, and for example, the steering mechanism (the steering device 44 described below) is operated by the steering operation of the driver DR. In the automatic driving mode, the vehicle VH is driven without the occupant's driving operation, and for example, the above-mentioned steering mechanism is automatically operated. For example, in the automatic driving mode, the vehicle VH detects the driving environment around the vehicle VH and controls the acceleration / deceleration and steering angle of the vehicle VH based on the detected driving environment, thereby performing autonomous driving control to drive without the involvement of the occupant. The vehicle VH illustrated in FIG. 1 includes an information processing device 1, an operator 2, an operator processing unit 3, and a vehicle control system 4.

[0011] The operator 2 is an operator that accepts operation by an occupant of the vehicle VH (for example, the driver DR), and as illustrated in FIG. 1 , the operator 2 accepts operation by the driver DR with, for example, one hand (right or left hand). However, the driver DR can also operate the operator 2 with both hands. In this embodiment, the operator 2 is provided in the driver's seat where the driver DR sits, and as illustrated in FIG. 2 , for example, is provided on the right or left side of the driver's seat where the driver DR sits, and in the example shown in FIG. 2 , the operator 2 is provided in the center console.

[0012] The operating element 2 is configured to be rotatable about a rotation axis (i.e., rotatable about a rotation axis), and the driver DR can perform an "operation of rotating about a rotation axis (rotation operation OR)" of the operating element 2. To make it easy for the driver DR to perform the rotation operation OR, the operating element 2 is configured as a dial-type (in other words, a disk-type) operating element, and may be, for example, a dial-type device that can be covered from above with one hand, or a dial-type device that can be held from the side with one hand.

[0013] Furthermore, the operator 2 is configured to accept not only a rotation operation OR but also a "non-rotation operation" other than the rotation operation OR. For example, the operator 2 is configured to be movable along a rotation axis. In the example shown in FIG. 2 , the operator 2 is configured to be able to be pulled up or pushed down along the rotation axis, that is, to change its position in the rotation axis direction (position P). In addition to or instead of changing the position P (position in the rotation axis direction), the operator 2 may be configured to change its position on a "plane or curved surface perpendicular (or substantially perpendicular) to the rotation axis." Furthermore, in addition to or instead of changing the position P, the operator 2 may be configured to tilt its rotation axis. In this embodiment, the operator 2 is configured to be able to at least one of moving along the rotation axis and tilting the rotation axis of the operator 2.

[0014] As a "non-rotation operation" that is an operation other than the rotation operation OR on the operator 2, the driver DR can perform, for example, at least one of the following three operations on the operator 2. That is, as a "non-rotation operation," the driver DR can perform at least one of changing the position (position P) of the operator 2 in the rotation axis direction, changing the position on a "plane or curved surface perpendicular (or substantially perpendicular) to the rotation axis," and changing the tilt (tilt angle) of the rotation axis of the operator 2. In this embodiment, an example will be described in which the driver DR performs, as a "non-rotation operation," an operation to change the position P of the operator 2 (i.e., move the operator 2 along its rotation axis). In the following description, the "operation to change the position P of the operator 2" will be referred to as a "position change operation OP." The position change operation OP is an example of a "non-rotation operation" that is an operation other than the rotation operation OR.

[0015] 1 , the operator 2 according to this embodiment may have, on its surface (the top surface in the illustrated example), a screen (operator screen 21) capable of displaying various images. The operator screen 21 is an example of a "display screen" provided in the operator 2. The image displayed on the operator screen 21 may be controlled in accordance with a screen control signal SD that the operator 2 acquires from the information processing device 1 via the operator processing unit 3. In other words, the information processing device 1 may control the image displayed on the operator screen 21 by outputting the screen control signal SD to the operator 2 (operator processing unit 3).

[0016] The operator processing unit 3 is connected to the operator 2 and executes various processes related to the operator 2 (e.g., processes for detecting a rotation operation OR and a position change operation OP on the operator 2 by the driver DR, and processes for controlling the operation and state of the operator 2). The operator processing unit 3 includes a CPU, RAM, and ROM (not shown), and the CPU may execute a program read from the ROM using the RAM as a work area to execute the various processes described above. The operator processing unit 3 and the information processing device 1 are connected, for example, via a Controller Area Network (CAN) or other in-vehicle LAN, and can communicate with each other (transmit and receive information). As illustrated in FIG. 1 , the operator processing unit 3 includes, for example, a rotation amount detection unit 31, a position detection unit 33, a rotation control unit 35, a position change control unit 37, and a shape control unit 39.

[0017] The rotation amount detection unit 31 detects a rotation operation OR of the operator 2 by the driver DR, and detects, for example, the amount of rotation (rotation operation amount θ) from the neutral position of the operator 2. The rotation amount detection unit 31 outputs (transmits) rotation operation information IR indicating the detected rotation operation OR (for example, rotation operation amount θ) to the information processing device 1.

[0018] The position detection unit 33 detects a non-rotational operation (a position change operation OP in this embodiment) on the operator 2 by the driver DR, and may detect, for example, the position P of the operator 2 and detect a change (amount of change) in the position P. The position detection unit 33 outputs position change operation information IP indicating the detected position change operation OP (for example, the position P of the operator 2) to the information processing device 1.

[0019] In addition to the position P of the operator 2, the position detection unit 33 may further detect the time (position maintenance period) during which the position P is maintained without being changed; in other words, the time or period during which a position change operation OP is being performed. For example, the position detection unit 33 may detect, as the position maintenance period, the time (pull-up period) during which the "pull-up state" of the operator 2 that has been pulled up in the upward direction is maintained. Furthermore, for example, the position detection unit 33 may detect, as the position maintenance period, the time (press-down period) during which the "pull-down state" of the operator 2 that has been pressed down in the downward direction is maintained. The position detection unit 33 may output the detected position maintenance period (e.g., pull-up period, press-down period, etc.) to the information processing device 1 in addition to the position change operation information IP. In other words, the position change operation information IP may indicate the position maintenance period in addition to the position change operation OP.

[0020] The rotation control unit 35 controls the rotational operation and rotation state of the operator 2, and in this embodiment, the rotation control unit 35 controls the rotation of the operator 2 in accordance with a rotation limiting signal SR from the information processing device 1. For example, the rotation control unit 35 applies an operation reaction force RF to the rotation operation OR by controlling the rotation of the operator 2 in accordance with the rotation limiting signal SR (operation reaction force control signal SRR) that instructs the operator 2 to apply an operation reaction force RF to the rotation operation OR. For example, upon receiving a first operation reaction force signal SRR1, the rotation control unit 35 controls the rotation of the operator 2 so as to apply a first operation reaction force RF1 to the rotation operation OR. Furthermore, upon receiving a second operation reaction force signal SRR2, the rotation control unit 35 controls the rotation of the operator 2 so as to apply a second operation reaction force RF2 to the rotation operation OR. The magnitude (torque) of the first operation reaction force RF1 and the magnitude of the second operation reaction force RF2 may be different; for example, the magnitude of the first operation reaction force RF1 may be greater than the magnitude of the second operation reaction force RF2. For example, the magnitude of the first operational reaction force RF1 with respect to a rotational operation OR of a certain rotation amount (rotational operation amount θ) may be greater than the magnitude of the second operational reaction force RF2 with respect to the rotational operation OR of the same rotation amount.

[0021] Furthermore, for example, the rotation control unit 35 rotates the operator 2 in accordance with a rotation limit signal SR (steering angle corresponding control signal SRS) that instructs the operator 2 to rotate about a rotation axis so that the rotation amount of the operator 2 corresponds to the steering angle of the vehicle VH. For example, when the rotation control unit 35 acquires the steering angle corresponding control signal SRS, it rotates the operator 2 about the rotation axis by the rotation amount instructed by the steering angle corresponding control signal SRS. As a result, the rotation amount of the operator 2 (for example, the rotation amount from the neutral position) corresponds to the steering angle of the vehicle VH.

[0022] The position change control unit 37 controls the position P of the operator 2, and in particular controls (restricts) "changes to the position P of the operator 2" by the driver DR. In this embodiment, the position change control unit 37 restricts changes to the position P of the operator 2 in accordance with a position change restriction signal SP from the information processing device 1. For example, the position change control unit 37 fixes the position P of the operator 2 in accordance with the position change restriction signal SP (position lock signal SPL) that prohibits changes to the position P of the operator 2.

[0023] The shape control unit 39 controls the shape of the operator 2, for example, by controlling a motor (not shown) built into the operator 2. In this embodiment, the shape control unit 39 controls the shape of the operator 2 in accordance with a shape control signal SF from the information processing device 1. For example, the shape control unit 39 may change the diameter of the operator 2, which is a dial-type operator, or may form irregularities on the outer peripheral surface of the operator 2 to make it easier for the driver DR to grip with their fingers, or may change the height or size of the irregularities, in accordance with the shape control signal SF.

[0024] The vehicle control system 4 is a system that detects and controls the state of the vehicle VH and may be realized, for example, by a so-called vehicle control ECU (Electronic Control Unit). The vehicle control system 4 may include multiple vehicle control ECUs. For example, the vehicle control system 4 may include a driving system ECU that controls the drive of the drive source (specifically, the engine, the motor, etc.), the brakes, and the power steering, and an information system ECU that controls, for example, the car navigation system and the audio equipment. The vehicle control system 4 and the information processing device 1 are connected, for example, by an in-vehicle LAN and transmit and receive information to and from each other (communicate). In this embodiment, the vehicle control system 4 includes a mode management device 42, a steering device 44, and an image display device 46.

[0025] The mode management device 42 manages the driving mode of the vehicle VH, and in this embodiment, detects whether the vehicle VH is driving in manual driving mode or automatic driving mode, and transmits driving mode information IM indicating the detected driving mode to the information processing device 1.

[0026] The mode management device 42 also determines whether to issue a takeover request to the driver DR (in other words, whether to notify the driver DR) to change the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode. In the following description, the "takeover request" may be referred to as "TOR." For example, if the mode management device 42 determines that it has become difficult to continue driving in the autonomous driving mode due to road traffic conditions, weather conditions, or the like while the vehicle VH is driving in the autonomous driving mode, the mode management device 42 determines that a TOR should be issued. For example, the mode management device 42 determines whether the vehicle VH can drive in the autonomous driving mode (particularly, whether to continue driving in the autonomous driving mode) based on the driving environment detected by an environment detection device (not shown) that detects the driving environment around the vehicle VH. When the mode management device 42 determines that "driving in the autonomous driving mode is inappropriate (e.g., undesirable, not permitted)" for the vehicle VH, it determines that a TOR should be issued and transmits mode change request information IC indicating the determination result to the information processing device 1. The mode management device 42 may further determine whether "driving in the autonomous driving mode is possible (e.g., whether it is permitted)" while the vehicle VH is traveling in the manual driving mode. For example, when the mode management device 42 determines that "driving in the autonomous driving mode is possible" for the vehicle VH based on the traveling environment around the vehicle VH, it may transmit autonomous driving mode permission information indicating the determination result to the information processing device 1.

[0027] Furthermore, the mode management device 42 controls the driving mode of the vehicle VH, for example, in accordance with a mode control signal CM from the information processing device 1, and in this embodiment, changes the driving mode from the manual driving mode to the automatic driving mode, or from the automatic driving mode to the manual driving mode. As will be described in detail later, the driver DR can switch the driving mode of the vehicle VH between the automatic driving mode and the manual driving mode by performing a position change operation OP (driving mode change operation) on the operating element 2.

[0028] The steering device 44 controls the traveling direction of the vehicle VH and controls the direction (steering angle) of the steered wheels of the vehicle VH, for example, in accordance with a steering angle control signal CA from the information processing device 1. The steering angle control signal CA is, for example, a signal (control signal) that specifies the steering amount of the vehicle VH. In accordance with the steering angle control signal CA, the steering device 44 may drive an electric motor that can change the direction of the steered wheels and cause the electric motor to change the direction of the steered wheels, that is, it may steer the steered wheels of the vehicle VH by the steering amount specified by the steering angle control signal CA.

[0029] The image display device 46 is provided in the passenger compartment of the vehicle VH, and controls the information to be output, for example, in accordance with an information output control signal CD from the information processing device 1. For example, the image display device 46 controls the image to be displayed on a screen provided in the image display device 46 and the volume of the sound to be output from a speaker provided in the image display device 46, in accordance with the information output control signal CD. The image display device 46 may be, for example, an example of an information-related ECU.

[0030] As described above, the vehicle control system 4 communicates with the information processing device 1 to receive control signals (mode control signal CM, steering angle control signal CA, and information output control signal CD) from the information processing device 1. The vehicle control system 4 controls the driving mode of the vehicle VH in accordance with the received mode control signal CM, changing the driving mode, for example, from manual driving mode to automatic driving mode or from automatic driving mode to manual driving mode. The vehicle control system 4 also controls the traveling direction (steering angle) of the vehicle VH in accordance with the received steering angle control signal CA. Furthermore, the vehicle control system 4 controls the information output by the image display device 46 in accordance with the received information output control signal CD. In other words, the information processing device 1 can control the driving mode, traveling direction, and information (e.g., content) to be output into the passenger compartment of the vehicle VH by transmitting the mode control signal CM, steering angle control signal CA, and information output control signal CD to the vehicle control system 4.

[0031] Furthermore, the vehicle control system 4 detects the state of the vehicle VH (e.g., the driving mode) and determines whether or not a TOR command needs to be issued. The vehicle control system 4 communicates with the information processing device 1 to transmit to the information processing device 1 driving mode information IM indicating the detected driving mode of the vehicle VH, and when it determines that a TOR command needs to be issued, transmits mode change request information IC indicating the result of the determination.

[0032] The information processing device 1 controls the vehicle control system 4, and in this embodiment, controls the mode management device 42 and at least one of the steering device 44 and the image display device 46. As described above, the information processing device 1 controls the mode management device 42 by transmitting (outputting) a mode control signal CM to the vehicle control system 4 (particularly, the mode management device 42), thereby controlling the driving mode of the vehicle VH. The information processing device 1 also controls the steering device 44 by transmitting (outputting) a steering angle control signal CA to the vehicle control system 4 (particularly, the steering device 44), thereby controlling the steering angle (travel direction) of the vehicle VH. Furthermore, the information processing device 1 controls the image display device 46 by transmitting (outputting) an information output control signal CD to the vehicle control system 4 (particularly, the image display device 46), thereby controlling the information (e.g., content) to be output into the cabin of the vehicle VH.

[0033] As described above, the vehicle VH includes an operator 2 capable of receiving a rotation operation OR from the driver DR. The information processing device 1 receives the rotation operation OR on the operator 2 as a steering operation or an operation other than a steering operation (a non-driving operation) depending on whether the driving mode of the vehicle VH is a manual driving mode or an autonomous driving mode. That is, the information processing device 1 generates a steering angle control signal CA or an information output control signal CD based on the rotation operation OR by the driver DR depending on the driving mode of the vehicle VH. Specifically, while the vehicle VH is traveling in the manual driving mode, the information processing device 1 receives the rotation operation OR as a "steering operation," which is an operation related to the steering angle (direction of travel) of the vehicle VH, and generates a steering angle control signal CA based on the rotation operation OR. Furthermore, while the vehicle VH is traveling in the autonomous driving mode, the information processing device 1 receives the rotation operation OR as a "non-driving operation" that is unrelated to the acceleration / deceleration and steering angle of the vehicle VH. In this embodiment, a "non-driving operation" is an operation (information output operation) on the image display device 46, for example, an operation related to information output by the image display device 46. While the vehicle VH is traveling in the autonomous driving mode, the information processing device 1 accepts a rotation operation OR as a non-driving operation, which in this embodiment is accepted as an information output operation, and generates an information output control signal CD based on the rotation operation OR.

[0034] Therefore, the driver DR continues to operate the operator 2 even while the vehicle VH is traveling in the autonomous driving mode, and in this embodiment, even during the autonomous driving mode, the driver DR operates the image display device 46 by performing a rotation operation OR on the operator 2. Furthermore, even when a steering operation becomes necessary during the autonomous driving mode (for example, when a TOR is issued), the driver DR can control the steering angle (direction of travel) of the vehicle VH by continuing to operate the operator 2 (specifically, by performing a rotation operation OR) without changing the operator (i.e., the operator 2) that was being operated during the autonomous driving mode. Therefore, the information processing device 1 can eliminate the need for the driver DR to "change the operator for steering operation" even when a steering operation becomes necessary during the autonomous driving mode in the vehicle VH.

[0035] In particular, the operator 2 is configured to accept not only a rotation operation OR but also a "non-rotation operation" other than the rotation operation OR. In this embodiment, the "non-rotation operation" is configured to accept a position change operation OP for changing the position P (in other words, moving the operator 2 along the rotation axis). The information processing device 1 then accepts a non-rotation operation (e.g., a position change operation OP) on the operator 2 as a "driving mode change operation instructing a change in the driving mode of the vehicle VH." Therefore, if a steering operation becomes necessary during the autonomous driving mode, the driver DR can change the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode simply by performing a position change operation OP (non-rotation operation) on the operator 2 that was being operated during the autonomous driving mode. The information processing device 1, which has been outlined above, will now be described in detail using FIGS. 3 to 6.

[0036] §2 Configuration Example [Hardware Configuration] Fig. 3 schematically illustrates an example of the hardware configuration of the information processing device 1 according to this embodiment. As shown in Fig. 3, the information processing device 1 according to this embodiment is a computer to which a control unit 11, a storage unit 12, a communication interface 13, an external interface 14, an input device 15, an output device 16, and a drive 17 are electrically connected. Note that in Fig. 3, the communication interface and the external interface are referred to as a "communication I / F" and an "external I / F."

[0037] The control unit 11 includes a hardware processor such as a central processing unit (CPU), a random access memory (RAM), and a read-only memory (ROM), and is configured to execute information processing based on programs and various data. The CPU is an example of a processor resource. A graphics processing unit (GPU) may be used as the processor resource instead of or in addition to the CPU. The storage unit 12 is an example of a memory resource, and is configured, for example, with a hard disk drive or a solid-state drive. In this embodiment, the storage unit 12 stores various information such as an information processing program PG.

[0038] The information processing program PG is a program for causing the information processing device 1 to execute information processing (FIG. 5, etc.) described below, which accepts an operation from the driver DR to the operating device 2. The information processing program PG includes a series of instructions for the information processing.

[0039] The communication interface 13 is, for example, a wired LAN (Local Area Network) module, a wireless LAN module, or the like, and is an interface for performing wired or wireless communication via a network. As described above, the communication interface 13 may be an interface for performing communication via a CAN or other in-vehicle LAN. The information processing device 1 may use this communication interface 13 to perform data communication via a network with other information processing devices (e.g., the operator processing unit 3, the vehicle control system 4, etc.). The external interface 14 is, for example, a USB (Universal Serial Bus) port, a dedicated port, or the like, and is an interface for connecting to an external device. The type and number of external interfaces 14 may be selected appropriately depending on the type and number of external devices to be connected.

[0040] For example, the information processing device 1 is connected to other information processing devices via at least one of the communication interface 13 and the external interface 14, and performs the following communications with the other information processing devices.

[0041] (Communication with Operator) That is, the information processing device 1 is connected to the operator 2 via the operator processing unit 3, and outputs (transmits) a screen control signal SD to the operator 2 to control the image to be displayed on the operator screen 21 of the operator 2. For example, the information processing device 1 may cause the operator screen 21 to display the driving mode of the vehicle VH (e.g., the current driving mode of the vehicle VH) and whether a TOR has been issued, by transmitting the screen control signal SD to the operator 2. In other words, the information processing device 1 may cause the operator screen 21 to display "whether the driving mode of the vehicle VH is a manual driving mode or an automatic driving mode" and "whether the TOR has been notified to the driver DR."

[0042] (Communication with Operator Processing Unit) The information processing device 1 is connected to the operator processing unit 3, and acquires (receives) rotation operation information IR indicating a "rotation operation OR (for example, the amount of rotation of the operator 2 from the neutral position (rotation operation amount θ))" detected by the rotation amount detection section 31. The information processing device 1 is also connected to the operator processing unit 3, and acquires position change operation information IP indicating a "non-rotation operation (position change operation OP in this embodiment)" detected by the position detection section 33, and acquires, for example, position change operation information IP indicating the position P of the operator 2.

[0043] The information processing device 1 also outputs a rotation limit signal SR and a position change limit signal SP to the operator processing unit 3 to control (e.g., limit) the "rotation" and "position P (change of position P)" of the operator 2. Specifically, the information processing device 1 transmits a rotation limit signal SR (operation reaction force control signal SRR) to the operator processing unit 3 (rotation control unit 35) to apply an operation reaction force RF of a desired magnitude (torque) in response to a rotation operation OR of the operator 2 by the driver DR. The information processing device 1 also transmits a rotation limit signal SR (steering angle corresponding control signal SRS) to the rotation control unit 35 to rotate the operator 2 about the rotation axis so that the amount of rotation of the operator 2 corresponds to the steering angle of the vehicle VH.

[0044] Furthermore, the information processing device 1 transmits a position change restriction signal SP to the operator processing unit 3 (position change control unit 37) to control (restrict) changes to the position P of the operator 2. For example, by transmitting the position change restriction signal SP (position lock signal SPL), the information processing device 1 fixes the position P of the operator 2 so that the position P of the operator 2 cannot be changed.

[0045] Additionally, the information processing device 1 controls the shape of the position P of the manipulator 2 by transmitting a shape control signal SF to the manipulator processing unit 3 (shape control unit 39). For example, by transmitting the shape control signal SF, the information processing device 1 changes the diameter of the manipulator 2, forms irregularities on the outer peripheral surface of the manipulator 2, or changes the height or size of the irregularities.

[0046] (Communication with vehicle control system) The information processing device 1 is connected to the vehicle control system 4 and acquires driving mode information IM indicating the driving mode of the vehicle VH from the vehicle control system 4. Furthermore, when the vehicle control system 4 determines that "it is necessary to issue a TOR command," the information processing device 1 acquires mode change request information IC indicating the determination result that "it is necessary to issue a TOR command" from the vehicle control system 4. When the vehicle control system 4 determines that "it is possible to drive in the autonomous driving mode" for the vehicle VH that is driving in the manual driving mode, the information processing device 1 may acquire autonomous driving mode permission information from the vehicle control system 4 that permits a change from the autonomous driving mode to the manual driving mode.

[0047] The information processing device 1 also outputs control signals (mode control signal CM, steering angle control signal CA, and information output control signal CD) to the vehicle control system 4 to control the driving mode, steering angle (direction of travel), and image display device 46 (e.g., information output by image display device 46) of the vehicle VH. Specifically, the information processing device 1 transmits the mode control signal CM to the mode management device 42 to control the driving mode of the vehicle VH. The information processing device 1 also transmits the steering angle control signal CA to the steering device 44 to control the steering angle of the vehicle VH. The information processing device 1 also transmits the information output control signal CD to the image display device 46 to control the image display device 46, for example, to control the information output by the image display device 46.

[0048] The input device 15 is a device for inputting information, such as a mouse or a keyboard. The output device 16 is a device for outputting information, such as a display or a speaker. An operator such as a user can operate the information processing device 1 by using the input device 15 and the output device 16.

[0049] The drive 17 is, for example, a CD drive, a DVD drive, or the like, and is a drive device for reading various information, such as programs, stored in a storage medium 91. The storage medium 91 is a medium that stores information, such as programs, through electrical, magnetic, optical, mechanical, or chemical action so that a computer or other device, machine, or the like can read the stored information. The information processing program PG may be stored in the storage medium 91. The information processing device 1 may acquire the information processing program PG from the storage medium 91. In FIG. 3 , a disk-type storage medium, such as a CD or DVD, is illustrated as an example of the storage medium 91. However, the type of the storage medium 91 is not limited to a disk-type storage medium and may be other than a disk-type storage medium. Examples of storage media other than a disk-type storage medium include semiconductor memories, such as flash memories. The type of the drive 17 may be selected arbitrarily depending on the type of the storage medium 91.

[0050] Note that, with regard to the specific hardware configuration of the information processing device 1, components may be omitted, replaced, or added as appropriate depending on the embodiment. For example, the processor resource may include multiple hardware processors. The hardware processor may be configured with a microprocessor, a field-programmable gate array (FPGA), a digital signal processor (DSP), or the like. The storage unit 12 may be configured with RAM and ROM included in the control unit 11. At least one of the communication interface 13, the external interface 14, the input device 15, the output device 16, and the drive 17 may be omitted. The information processing device 1 may be configured with multiple computers. In this case, the hardware configurations of the computers may or may not be identical. Furthermore, the information processing device 1 may be an information processing device designed specifically for the service provided, as well as a general-purpose server device, a PC (Personal Computer), or the like.

[0051] [Software Configuration] FIG. 4 schematically illustrates an example of the software configuration of the information processing device 1 according to this embodiment. The control unit 11 of the information processing device 1 loads the information processing program PG stored in the storage unit 12 onto the RAM. The control unit 11 then uses the CPU to interpret and execute instructions included in the information processing program PG loaded onto the RAM to control each component. As a result, as shown in FIG. 4 , the information processing device 1 according to this embodiment operates as a computer including a driving mode acquisition unit 110, a reception mode switching unit 120, an operation acceptance unit 130, a mode change request acquisition unit 140, and a vehicle control unit 150 as software modules. That is, in this embodiment, each software module of the information processing device 1 is realized by the control unit 11 (CPU).

[0052] The driving mode acquisition unit 110 acquires driving mode information IM indicating the driving mode of the vehicle VH (i.e., whether the vehicle VH is driving in manual driving mode or automatic driving mode). In the present embodiment, the driving mode acquisition unit 110 receives the driving mode information IM from the vehicle control system 4 (particularly, the mode management device 42). The driving mode acquisition unit 110 notifies the reception mode switching unit 120 and the vehicle control unit 150 of the driving mode of the vehicle VH indicated by the acquired driving mode information IM.

[0053] The reception mode switching unit 120 is an example of a "driving mode determination unit" of the present invention. The reception mode switching unit 120 controls the type of operation that the operation receiving unit 130 receives as an operation on the operator 2 by the driver DR, depending on the driving mode of the vehicle VH indicated by the driving mode information IM; that is, controls the reception mode of the operation receiving unit 130. For example, the reception mode switching unit 120 can switch the reception mode of the "operation on the operator 2" by the operation receiving unit 130 between a first reception mode and a second reception mode, depending on the driving mode of the vehicle VH. In this embodiment, when the driving mode information IM indicates that "the vehicle VH is driving in manual driving mode," the reception mode switching unit 120 instructs the operation receiving unit 130 to receive the "operation on the operator 2" in the first reception mode. In addition, when the driving mode information IM indicates that "the vehicle VH is driving in autonomous driving mode," the reception mode switching unit 120 instructs the operation reception unit 130 to accept "operation on the operator 2" in the second reception mode.

[0054] The operation reception unit 130 receives an operation on the operator 2 by the driver DR, and in particular receives an operation on the operator 2 in the first reception mode or the second reception mode instructed by the reception mode switching unit 120. The operation reception unit 130 illustrated in Fig. 4 includes a rotation operation reception unit 131 that receives a rotation operation OR on the operator 2 by the driver DR, and a position change operation reception unit 133 that receives a non-rotation operation (a position change operation OP in this embodiment).

[0055] The rotation operation reception unit 131 receives a rotation operation OR on the operator 2 and receives rotation operation information IR indicating the rotation operation OR, for example, from the operator processing unit 3 (particularly, the rotation amount detection unit 31). In this embodiment, the rotation operation reception unit 131 receives the rotation operation OR in a first reception mode or a second reception mode instructed by the reception mode switching unit 120. In the first reception mode, the rotation operation reception unit 131 receives the rotation operation OR as a steering operation. That is, when the vehicle VH is traveling in manual driving mode, the rotation operation reception unit 131 receives the rotation operation OR as a steering operation. In the second reception mode, the rotation operation reception unit 131 receives the rotation operation OR as a non-driving operation (in this embodiment, an "information output operation for operating the image display device 46"). That is, when the vehicle VH is traveling in autonomous driving mode, the rotation operation reception unit 131 receives the rotation operation OR as a non-driving operation (e.g., an information output operation).

[0056] That is, the information processing device 1 (rotation operation receiving unit 131) receives the rotation operation OR of the operator 2 by the driver DR as a steering operation when the vehicle VH is traveling in manual driving mode, and as a non-driving operation when the vehicle VH is traveling in automatic driving mode. Therefore, the driver DR operates the operator 2 not only in manual driving mode but also in automatic driving mode. Therefore, even when a steering operation is required during automatic driving mode, the driver DR can steer the vehicle VH by continuing to operate the operator 2 that was operated during automatic driving mode (specifically, by performing a rotation operation OR). Therefore, the information processing device 1 can eliminate the need for the driver DR to "change the grip of the operator for steering operation" even when a steering operation is required during automatic driving mode in the vehicle VH.

[0057] In particular, in this embodiment, when the vehicle VH is traveling in the autonomous driving mode, the information processing device 1 (rotation operation receiving unit 131) receives a rotation operation OR as an information output operation, which is an operation on the image display device 46 provided in the cabin of the vehicle VH. Therefore, the information processing device 1 receives the rotation operation OR, which was received as a "steering operation" in the manual driving mode, as an "information output operation" in the autonomous driving mode, and can control the image display device 46 in accordance with the received "information output operation." In other words, the driver DR can use the rotation operation OR on the operating element 2 to control the steering angle (travel direction) of the vehicle VH in the manual driving mode and to operate the image display device 46 in the autonomous driving mode. For example, in the autonomous driving mode, the driver DR can use the rotation operation OR to control the output content of the image display device 46; for example, the driver DR can control the screen displayed on the image display device 46, the volume of the audio, and the like.

[0058] Rotation operation reception unit 131 notifies vehicle control unit 150 of the content of the received rotation operation OR, and in particular switches the party to which the content of the rotation operation OR is notified depending on whether "the rotation operation OR was received in the first reception mode or the second reception mode." When rotation operation reception unit 131 receives a rotation operation OR as a steering operation (i.e., receives it in the first reception mode), it notifies steering device control unit 151 of the content of the received rotation operation OR. For example, when rotation operation reception unit 131 receives a rotation operation OR indicated by rotation operation information IR as a steering operation, it notifies steering device control unit 151 of the "amount of rotation of operator 2 (rotation operation amount θ)" caused by the rotation operation OR. Furthermore, when the rotation operation receiving unit 131 receives the rotation operation OR as a non-driving operation (e.g., an information output operation) (i.e., receives in the second reception mode), it notifies the image display device control unit 153 of the content of the received rotation operation OR. For example, when the rotation operation receiving unit 131 receives the rotation operation OR indicated by the rotation operation information IR as a non-driving operation (an information output operation in this embodiment), it notifies the image display device control unit 153 of the “amount of rotation of the operator 2” caused by the rotation operation OR.

[0059] The position change operation reception unit 133 receives a non-rotation operation (a position change operation OP in this embodiment) on the operator 2 as a driving mode change operation, and receives position change operation information IP indicating the position change operation OP, for example, from the operator processing unit 3 (particularly, the position detection unit 33). The driving mode change operation is an operation for changing the driving mode of the vehicle VH and may be considered an operation for switching the driving mode between an automatic driving mode and a manual driving mode. In this embodiment, the position change operation reception unit 133 receives the position change operation OP in a first reception mode or a second reception mode instructed by the reception mode switching unit 120. In the first reception mode, the position change operation reception unit 133 receives the position change operation OP as a "first driving mode change operation instructing to change the driving mode from a manual driving mode to an automatic driving mode." In other words, when the vehicle VH is traveling in the manual driving mode, the position change operation reception unit 133 receives the non-rotation operation (position change operation OP) as a first driving mode change operation. In the second reception mode, the position change operation reception unit 133 receives the position change operation OP as a “second driving mode change operation that instructs changing the driving mode from the autonomous driving mode to the manual driving mode.” In other words, when the vehicle VH is traveling in the autonomous driving mode, the position change operation reception unit 133 receives a non-rotation operation (the position change operation OP) as the second driving mode change operation.

[0060] When the position change operation information IP indicates a position change operation OP (the position P of the operator 2 achieved by the position change operation OP) as well as a position maintenance period, the position change operation reception unit 133 may determine whether to accept the position change operation OP as a driving mode change operation based on the combination of the position P and the position maintenance period. For example, in the first reception mode, when a position change operation OP of "pulling the operator 2 upward and maintaining this state for a predetermined time or more" is performed, the position change operation reception unit 133 may accept the position change operation OP as a first driving mode change operation. For a position change operation OP in which the lifting period is shorter than the above-mentioned "predetermined time," the position change operation reception unit 133 may not accept the position change operation OP as a first driving mode change operation. For example, in the second reception mode, when a position change operation OP is performed in which the operator 2 is pressed downward and maintained in this state for a predetermined time or longer, the position change operation reception unit 133 may receive the position change operation OP as a second driving mode change operation. For a position change operation OP in which the pressing period is shorter than the predetermined time, the position change operation reception unit 133 may not receive the position change operation OP as a second driving mode change operation. If the position maintenance period is not taken into account, for example, when the driver DR unintentionally pulls the operator 2 upward or presses it downward, the position change operation reception unit 133 may process the change in the position P of the operator 2 as a driving mode change operation. By taking into account the position maintenance period in addition to the position change operation OP (change in position P), the position change operation reception unit 133 can more accurately determine whether the driver DR intentionally performed an operation to change the driving mode of the vehicle VH.

[0061] The position change operation receiving unit 133 notifies the mode management device control unit 155 of the content of the received position change operation OP (driving mode change operation). For example, when the position change operation receiving unit 133 receives a first driving mode change operation or a second driving mode change operation, the position change operation receiving unit 133 notifies the mode management device control unit 155 of the received first driving mode change operation or second driving mode change operation.

[0062] The mode change request acquisition unit 140 acquires mode change request information IC indicating that a TOR needs to be issued, and in this embodiment, receives the mode change request information IC from the vehicle control system 4 (particularly, the mode management device 42). Upon acquiring the mode change request information IC, the mode change request acquisition unit 140 notifies the vehicle control unit 150 that a TOR needs to be issued. Upon being notified that a TOR needs to be issued, the vehicle control unit 150 notifies the driver DR of the TOR, that is, issues a TOR.

[0063] In this embodiment, the mode change request acquisition unit 140 may receive autonomous driving mode permission information indicating that "driving in autonomous driving mode is possible" from the vehicle control system 4 (particularly, the mode management device 42). Upon acquiring the autonomous driving mode permission information, the mode change request acquisition unit 140 may notify the vehicle control unit 150 that "driving in autonomous driving mode is possible," that is, that "it is possible to change the driving mode from manual driving mode to autonomous driving mode."

[0064] The vehicle control unit 150 controls the operator 2 (and the operator processing unit 3) and the vehicle control system 4 (the mode management device 42, the steering device 44, and the image display device 46). The vehicle control unit 150 illustrated in FIG. 4 includes a steering device control unit 151, an image display device control unit 153, a mode management device control unit 155, and an operator restriction unit 157.

[0065] The steering device control unit 151 controls the steering device 44 of the vehicle control system 4, and in this embodiment, controls the steering device 44 by transmitting a steering angle control signal CA to the steering device 44. In particular, when the rotation operation reception unit 131 receives a rotation operation OR as a "steering operation," the steering device control unit 151 generates a steering angle control signal CA based on the rotation operation OR received as the "steering operation." For example, when the rotation operation reception unit 131 receives a rotation operation OR indicated by rotation operation information IR as a "steering operation," the steering device control unit 151 generates a steering angle control signal CA based on the rotation operation information IR indicating the rotation operation OR (steering operation). For example, the steering device control unit 151 may calculate a corresponding "steering amount of the vehicle VH" from the rotation operation amount θ of the operator 2 indicated by the rotation operation information IR, and generate a steering angle control signal CA that instructs the vehicle to achieve the calculated steering amount.

[0066] The image display device control unit 153 controls the image display device 46 of the vehicle control system 4, and in this embodiment, controls the image display device 46 by transmitting an information output control signal CD to the image display device 46. In particular, when the rotation operation receiving unit 131 receives a rotation operation OR as a "non-driving operation (in this embodiment, an information output operation)," the image display device control unit 153 generates an information output control signal CD based on the rotation operation OR received as the "information output operation." For example, when the rotation operation receiving unit 131 receives a rotation operation OR indicated by rotation operation information IR as an "information output operation," the image display device control unit 153 generates an information output control signal CD based on the rotation operation information IR indicating the rotation operation OR (information output operation). For example, the image display device control unit 153 may determine a "control content for the image display device 46" from the rotation operation amount θ of the operator 2 indicated by the rotation operation information IR, and generate an information output control signal CD indicating the determined "control content for the image display device 46."

[0067] As described above, the image display device control unit 153 controls the image display device 46, and controls, for example, the information to be output (for example, displayed) by the image display device 46. Here, the image display device control unit 153 may particularly cause the image display device 46 to display the following information during the autonomous driving mode. That is, during the autonomous driving mode, the image display device control unit 153 may cause the image display device 46 to output information indicating the difference between the (virtual) steering angle of the vehicle VH corresponding to the current rotation amount (rotational operation amount θ) of the operator 2 and the current actual steering angle of the vehicle VH. Here, during the autonomous driving mode, the rotation operation receiving unit 131 receives a rotation operation OR of the operator 2 as a non-driving operation (in this embodiment, an information output operation), and during the manual driving mode, receives the rotation operation OR as a steering operation. For a rotational operation OR accepted as a "non-driving operation," if the rotational operation OR is accepted as a "steering operation," the image display device control unit 153 may calculate the "turning angle of the vehicle VH" associated with the rotational operation OR as a "virtual turning angle of the vehicle VH." For example, the image display device control unit 153 may calculate a "virtual turning angle of the vehicle VH" corresponding to a rotational operation amount θ from a rotational operation amount θ realized by the rotational operation OR accepted as a "non-driving operation." That is, the image display device control unit 153 may calculate a "(current) virtual turning angle of the vehicle VH" corresponding to the rotational operation amount θ from the rotational operation amount θ indicated by the rotational operation information IR acquired by the rotational operation acceptance unit 131 during the autonomous driving mode. Then, the image display device control unit 153 may output to the image display device 46 information indicating the difference between the calculated "virtual steering angle of the current vehicle VH" and the "actual steering angle of the current vehicle VH" detected by the vehicle control system 4 (particularly, the steering device 44).

[0068] Through this control, the information processing device 1 can allow the driver DR to understand the difference between the ``virtual steering angle of the vehicle VH'' corresponding to the ``rotation operation OR performed by the driver DR as a ``non-driving operation'''' and the ``actual steering angle of the current vehicle VH.''

[0069] As explained above, during the autonomous driving mode, the vehicle control unit 150 (e.g., the image display device control unit 153) may calculate the difference between the "virtual steering angle of the vehicle VH" corresponding to the "current rotation amount of the operator 2" and the "current actual steering angle of the vehicle VH." When changing the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode, the vehicle control unit 150 may use the above-mentioned "difference between the virtual steering angle of the vehicle VH and the current actual steering angle of the vehicle VH" calculated during the autonomous driving mode to set the neutral position of the operator 2.

[0070] As will be described in detail later, when the position change operation receiving unit 133 receives the second driving mode change operation, the vehicle control unit 150 (particularly, the mode management device control unit 155) controls the mode management device 42 to change the driving mode of the vehicle VH from the automatic driving mode to the manual driving mode. Therefore, when changing the driving mode of the vehicle VH from the automatic driving mode to the manual driving mode, the vehicle control unit 150 may set the neutral position of the operator 2 using the above-mentioned "difference between the virtual steering angle and the actual steering angle of the vehicle VH" calculated during the automatic driving mode. For example, when changing the driving mode of the vehicle VH from the automatic driving mode to the manual driving mode, the vehicle control unit 150 may set the neutral position of the operator 2 so that the "difference between the virtual steering angle and the actual steering angle of the vehicle VH" becomes "0 (zero)." In other words, when the driving mode is changed from automatic driving mode to manual driving mode, the vehicle control unit 150 may set (adjust) the neutral position of the operator 2 so that the "current rotation amount of the operator 2 (rotational operation amount θ)" becomes the "rotation amount corresponding to the actual steering angle of the current vehicle VH."

[0071] Without such neutral position adjustment, when changing from the automatic driving mode to the manual driving mode, the driver DR must first apply a rotation operation OR to the operator 2 so that the rotation amount (rotation operation amount θ) of the currently operated operator 2 corresponds to the rotation amount corresponding to the "current actual steering angle of the vehicle VH." In other words, without the above-mentioned neutral position adjustment, when changing from the automatic driving mode to the manual driving mode, the driver DR must first perform a preparatory operation to match the "current actual rotation amount of the operator 2" with the rotation amount corresponding to the "current actual steering angle of the vehicle VH." By performing the above-mentioned "neutral position setting (adjustment)" when changing the driving mode from the automatic driving mode to the manual driving mode, the information processing device 1 (particularly the vehicle control unit 150) can eliminate the need for the driver DR to perform such a preparatory operation. The information processing device 1 enables the driver DR to appropriately perform steering operations (rotation operations OR) on the operator 2 immediately after changing from automatic driving mode to manual driving mode, without performing the above-mentioned preparatory operations.

[0072] So far, we have described the information that the image display device control unit 153 causes the image display device 46 to output, but the information that the image display device control unit 153 causes the image display device 46 to output is not limited to the examples described above. The image display device control unit 153 may cause the image display device 46 to display a screen indicating the driving mode of the vehicle VH (e.g., the current driving mode of the vehicle VH). Furthermore, when the mode change request acquisition unit 140 acquires the mode change request information IC, the image display device control unit 153 may cause the image display device 46 to display a screen notifying the driver DR of TOR.

[0073] The mode management device control unit 155 controls the mode management device 42 of the vehicle control system 4, and in this embodiment, controls the mode management device 42 by transmitting a mode control signal CM to the mode management device 42. In particular, when the position change operation receiving unit 133 receives a first driving mode change operation, the mode management device control unit 155 generates a first mode control signal CM1 that "instructs the driving mode of the vehicle VH to be changed from the manual driving mode to the automatic driving mode." The mode management device control unit 155 changes the driving mode of the vehicle VH from the manual driving mode to the automatic driving mode by transmitting the first mode control signal CM1 to the mode management device 42. Furthermore, when the position change operation receiving unit 133 receives a second driving mode change operation, the mode management device control unit 155 generates a second mode control signal CM2 that "instructs the driving mode of the vehicle VH to be changed from the automatic driving mode to the manual driving mode." The mode management device control unit 155 changes the driving mode of the vehicle VH from the automatic driving mode to the manual driving mode by transmitting the second mode control signal CM2 to the mode management device 42.

[0074] The operator restriction unit 157 controls the operator 2 (and the operator processing unit 3), and more specifically, controls the shape and operation (state) of the operator 2, and the image displayed on the operator screen 21. The operator restriction unit 157 may include a rotation restriction unit 1571, a position change restriction unit 1573, a shape control unit 1575, and a screen control unit 1579. Note that the rotation restriction unit 1571, the position change restriction unit 1573, the shape control unit 1575, and the screen control unit 1579 are software modules that are explained for convenience to facilitate understanding of the operator restriction unit 157, and are not shown in the figures.

[0075] The rotation limiting unit 1571 limits the movement of the operator 2, and in particular limits the rotation of the operator 2. In this embodiment, the rotation limiting unit 1571 controls the rotation of the operator 2 (e.g., limits the rotation) by transmitting a rotation limiting signal SR to the operator processing unit 3 (in particular, the rotation control unit 35) that controls the rotation (rotational movement) of the operator 2.

[0076] (Control Related to Operation Reaction Force) In this embodiment, the rotation limiting unit 1571 transmits a rotation limiting signal SR (particularly, an operation reaction force control signal SRR) to the rotation control unit 35, and applies an operation reaction force RF of a torque corresponding to the operation reaction force control signal SRR in response to a rotation operation OR of the operator 2. The rotation limiting unit 1571 may change the operation reaction force control signal SRR transmitted to the rotation control unit 35 so that the torque of the operation reaction force RF in response to the rotation operation OR varies depending on the "driving mode of the vehicle VH."

[0077] For example, while the vehicle VH is traveling in manual driving mode, the rotation limiting unit 1571 may generate a first operation reaction force signal SRR1 instructing the rotation control unit 35 to "apply a first operation reaction force RF1 in response to a rotation operation OR," and transmit the generated first operation reaction force signal SRR1 to the rotation control unit 35. In other words, the rotation limiting unit 1571 may control the rotation control unit 35 to apply a first operation reaction force RF1 in response to a "rotation operation OR that the rotation operation receiving unit 131 accepts as a "steering operation,"" that is, in response to a "steering operation" of the operator 2. As an example, when the driving mode information IM acquired by the driving mode acquisition unit 110 indicates that "the vehicle VH is traveling in manual driving mode (is in manual driving mode)," the rotation limiting unit 1571 may generate the first operation reaction force signal SRR1.

[0078] For example, while the vehicle VH is traveling in the autonomous driving mode, the rotation limiting unit 1571 may generate a second operation reaction force signal SRR2 instructing the rotation control unit 35 to "apply a second operation reaction force RF2 in response to a rotation operation OR," and transmit the generated second operation reaction force signal SRR2 to the rotation control unit 35. In other words, the rotation limiting unit 1571 may control the rotation control unit 35 to apply the second operation reaction force RF2 in response to a "rotation operation OR that the rotation operation receiving unit 131 accepts as a 'non-driving operation,'" that is, in response to a "non-driving operation" of the operator 2. For example, when the driving mode information IM acquired by the driving mode acquisition unit 110 indicates that "the vehicle VH is traveling in the autonomous driving mode (is in the autonomous driving mode)," the rotation limiting unit 1571 may generate the second operation reaction force signal SRR2.

[0079] For example, the rotation limiting unit 1571 applies a first operation reaction force RF1 to a rotation operation OR accepted as a "steering operation," and applies a second operation reaction force RF2, the torque of which is smaller than the first operation reaction force RF1, to a rotation operation OR accepted as a "non-driving operation." For example, the rotation limiting unit 1571 controls the magnitude of the operation reaction force RF applied to a rotation operation OR in the manual driving mode and the magnitude of the operation reaction force RF applied to a rotation operation OR in the autonomous driving mode to different values ​​even if the rotation operation amount θ of the two rotation operations OR is the same. Through such control, the rotation limiting unit 1571 (information processing device 1) can apply an operation reaction force RF of an appropriate magnitude (torque) to the rotation operation OR of the operator 2 according to the driving mode of the vehicle VH. The information processing device 1 can apply a first operation reaction force RF1 appropriate for a "steering operation" to a rotation operation OR accepted as a "steering operation," and a second operation reaction force RF2 appropriate for a "non-driving operation" to a rotation operation OR accepted as a "non-driving operation." Furthermore, the information processing device 1 changes the magnitude of the operation reaction force RF for the rotation operation OR in accordance with the driving mode of the vehicle VH, allowing the driver DR to grasp the driving mode of the vehicle VH by means of the sense of touch. In other words, the information processing device 1 changes the magnitude of the operation reaction force RF for the rotation operation OR in accordance with the driving mode of the vehicle VH, thereby enabling the driver DR to grasp the driving mode of the vehicle VH by means of the sense of touch.

[0080] The rotation limiting unit 1571 may control the torque of the operation reaction force RF with respect to the rotation operation OR depending on the "travel mode of the vehicle VH" and "whether or not a TOR is being issued." Specifically, even in the autonomous driving mode, the rotation limiting unit 1571 may apply a first operation reaction force RF1 (i.e., an operation reaction force RF with respect to a "steering operation") with respect to the rotation operation OR after a TOR is issued. In the information processing device 1, when the mode change request acquisition unit 140 acquires mode change request information IC, the vehicle control unit 150 issues a TOR. For example, the image display device control unit 153 controls the image display device 46 of the vehicle control system 4 to notify the driver DR of the TOR. Furthermore, as will be described in detail later, the screen control unit 1579 displays an image indicating the issuance of a TOR on the operator screen 21 of the operator 2. Therefore, when the vehicle control unit 150 executes "issuance of TOR (notification of TOR to the driver DR)," the rotation limiting unit 1571 generates the first operation reaction force signal SRR1 instead of the second operation reaction force signal SRR2, even in the autonomous driving mode. Then, by transmitting the generated first operation reaction force signal SRR1 to the rotation control unit 35, the rotation limiting unit 1571 may apply the first operation reaction force RF1 to the rotation operation OR after the issuance of TOR, even in the autonomous driving mode.

[0081] Through this control, the rotation limiting unit 1571 (operator limiting unit 157) changes the magnitude (torque) of the operation reaction force RF, thereby enabling "the driver DR to grasp the issuance (notification) of TOR by his / her tactile sense." That is, after the issuance of TOR, the information processing device 1 changes the operation reaction force RF with respect to the rotation operation OR from the second operation reaction force RF2 to the first operation reaction force RF1, thereby enabling "the driver DR to grasp the notification of TOR by his / her tactile sense." Furthermore, through this control, the information processing device 1 can maintain the operation reaction force RF with respect to the rotation operation OR at the first operation reaction force RF1 when "changing the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode in accordance with the second driving mode change operation after the issuance of TOR." Therefore, when the information processing device 1 "changes the driving mode of the vehicle VH from automatic driving mode to manual driving mode in accordance with the second driving mode change operation after the issuance of a TOR," it can reduce the discomfort that the driver DR may feel compared to when the operation reaction force RF is changed from the second operation reaction force RF2 to the first operation reaction force RF1.

[0082] (Control Related to Correspondence Between Vehicle Steering Angle and Rotation Amount of Operator) In this embodiment, the rotation limiting unit 1571 transmits a rotation limiting signal SR (particularly, a steering angle corresponding control signal SRS) to the rotation control unit 35, thereby rotating the operator 2 around the rotation axis so that the rotation amount of the operator 2 corresponds to the steering angle of the vehicle VH. As described above, during the autonomous driving mode, the vehicle control unit 150 calculates the difference between the "virtual steering angle of the vehicle VH" corresponding to the "current rotation amount of the operator 2" and the "current actual steering angle of the vehicle VH." Furthermore, when the mode change request acquisition unit 140 acquires the mode change request information IC, the vehicle control unit 150 issues a TOR. Therefore, for example, when TOR is issued by vehicle control unit 150, rotation limiting unit 1571 may generate a steering angle-responsive control signal SRS that instructs the operator 2 to rotate so that the above-mentioned "difference between the virtual steering angle and the actual steering angle of the vehicle VH" becomes "0." In other words, after TOR is issued, rotation limiting unit 1571 may generate a steering angle-responsive control signal SRS that instructs the operator 2 to rotate so that the "current (i.e., during the autonomous driving mode) rotation amount of the operator 2" becomes "the rotation amount corresponding to the current actual steering angle of the vehicle VH." Then, after TOR is issued, rotation limiting unit 1571 may transmit the generated steering angle-responsive control signal SRS to rotation control unit 35, thereby rotating the operator 2 so that the rotation amount of the operator 2 becomes the rotation amount corresponding to the steering angle of the vehicle VH. The rotation limiting unit 1571 may continue to perform this control (i.e., control to rotate the operator 2 so that the rotation amount of the operator 2 corresponds to the steering angle of the vehicle VH) until the mode management device control unit 155 transmits the second mode control signal CM2 to the mode management device 42. In other words, the rotation limiting unit 1571 may (continuously) perform this control from "the point in time when a request to change from the autonomous driving mode to the manual driving mode starts (e.g., the point in time when a TOR command starts to be issued)" to "the point in time when the change from the autonomous driving mode to the manual driving mode is completed."

[0083] Without such "adjustment of the rotation amount of the operator 2," the driver DR must first perform a preparatory operation to match the "current actual rotation amount of the operator 2" with the rotation amount corresponding to the "current actual steering angle of the vehicle VH" when changing from the autonomous driving mode to the manual driving mode. The information processing device 1 (particularly, the rotation limiting unit 1571) performs the above-described "adjustment of the rotation amount of the operator 2" from the issuance of the TOR until the "time when the change from the autonomous driving mode to the manual driving mode is completed," thereby eliminating the need for the driver DR to perform the above-described preparatory operation. By performing such "adjustment of the rotation amount of the operator 2," the information processing device 1 enables the driver DR to appropriately perform the steering operation (rotation operation OR) of the operator 2 immediately after changing from the autonomous driving mode to the manual driving mode, without performing the above-described preparatory operation.

[0084] The position change restriction unit 1573 controls the position P of the operator 2, for example, controls changes in the position P (in other words, the operation of the operator 2), and as one example, restricts the position P (changes in the position P) of the operator 2. In this embodiment, the position change restriction unit 1573 controls (for example, restricts) the position P (changes in the position P) of the operator 2 by transmitting a position change restriction signal SP to the operator processing unit 3 (particularly the position change control unit 37) that controls the position P of the operator 2.

[0085] The position change restricting unit 1573 may control the position P of the operator 2 to tactilely notify the driver DR who is touching the operator 2 (for example, operating the operator 2). For example, the position change restricting unit 1573 may vibrate the operator 2 along the rotation axis (moving the position P up and down) to notify the driver DR of TOR and prompt the driver DR to "change from the autonomous driving mode to the manual driving mode (complete the change)." For example, when TOR is issued by the vehicle control unit 150, the position change restricting unit 1573 may vibrate the operator 2 along the rotation axis to notify the driver DR of TOR. The position change restricting unit 1573 may continue to perform such control (i.e., vibrate the operator 2) until the mode management device control unit 155 transmits the second mode control signal CM2 to the mode management device 42. In other words, the position change restriction unit 1573 may (continuously) execute such control from the time when TOR is issued until "the time when the change from the autonomous driving mode to the manual driving mode is completed (the time when it is determined that the change from the autonomous driving mode to the manual driving mode is completed)." By performing such control, the information processing device 1 (particularly the position change restriction unit 1573) can tactilely notify the driver DR who is touching the operating device 2 of TOR.

[0086] The position change restricting unit 1573 may tactilely notify the driver DR who is touching the operator 2 of information by a method other than "vibrating the operator 2 along the rotation axis (moving the position P up and down)." For example, the position change restricting unit 1573 may tactilely notify the driver DR who is touching the operator 2 by vibrating the operator 2 back and forth (or left and right) on a "plane or curved surface perpendicular (or approximately perpendicular) to the rotation axis." Furthermore, the position change restricting unit 1573 may tactilely notify the driver DR of information by changing the tilt (tilt angle) of the rotation axis of the operator 2. For example, the position change restricting unit 1573 may tactilely notify the driver DR of information by (periodically) tilting the rotation axis of the operator 2 back and forth.

[0087] The position change restricting unit 1573 may fix the position P of the operator 2 by sending a position change restricting signal SP (particularly, a position lock signal SPL) to the position change control unit 37. In this embodiment, the position change restricting unit 1573 may restrict changes to the position P of the operator 2 depending on the “driving mode of the vehicle VH” and “whether or not a TOR issuance has occurred.” For example, after a TOR is issued, the position change restricting unit 1573 may fix the position P of the operator 2 when the position change operation receiving unit 133 receives a second driving mode change operation and the mode management device control unit 155 changes the driving mode of the vehicle VH to the manual driving mode. The position change restricting unit 1573 may continue to fix the position P until “it becomes possible to change the driving mode back to the autonomous driving mode.” In this embodiment, the position change restricting unit 1573 may fix the position P of the operator 2 until the mode change request obtaining unit 140 obtains autonomous driving mode permission information.

[0088] When the driving mode of the vehicle VH is changed to the manual driving mode after TOR is issued, the position change restricting unit 1573 fixes the position P of the operator 2 until "it becomes possible to change the driving mode back to the automatic driving mode," thereby achieving the following effect. That is, after TOR is issued, the driver DR should not be permitted to change the driving mode from the time "the driving mode of the vehicle VH is changed to the manual driving mode" to the time "it becomes possible to change the driving mode back to the automatic driving mode." Therefore, after TOR is issued, the position change restricting unit 1573 can fix the position P of the operator 2 and prohibit the driver DR from changing the driving mode from the time "the driving mode of the vehicle VH is changed to the manual driving mode" to the time "it becomes possible to change the driving mode back to the automatic driving mode." In other words, after the issuance of TOR, from the point in time when "the driving mode of the vehicle VH is changed to manual driving mode" to the point in time when "it becomes possible to change the driving mode back to automatic driving mode," the position change restriction unit 1573 can prohibit non-rotational operations (driving mode change operations), for example, by fixing position P.

[0089] The shape control unit 1575 controls the shape of the operator 2. In this embodiment, the shape control unit 1575 controls the shape of the operator 2 by transmitting a shape control signal SF to the operator processing unit 3 (particularly, the shape control unit 39), which controls the shape of the operator 2. In particular, the shape control unit 1575 changes the shape of the operator 2 according to the driving mode of the vehicle VH. For example, when the vehicle VH is driving in manual driving mode, the shape of the operator 2 is a first shape, and when the vehicle VH is driving in autonomous driving mode, the shape control unit 1575 changes the shape of the operator 2 to the first shape. Furthermore, when the driving mode information IM acquired by the driving mode acquisition unit 110 indicates that the vehicle VH is driving in autonomous driving mode, the shape control unit 1575 changes the shape of the operator 2 to the second shape. The diameter of the operator 2 in the first shape may be larger than the diameter of the operator 2 in the second shape. Furthermore, the outer peripheral surface of the manipulator 2 may have unevenness formed thereon in the first shape, whereas the outer peripheral surface of the manipulator 2 may have no unevenness formed thereon in the second shape. Furthermore, the height of the unevenness formed on the outer peripheral surface of the manipulator 2 in the first shape may be greater than the height of the unevenness formed on the outer peripheral surface of the manipulator 2 in the second shape. Similarly, the size of the unevenness formed on the outer peripheral surface of the manipulator 2 in the first shape may be greater than the size of the unevenness formed on the outer peripheral surface of the manipulator 2 in the second shape.

[0090] By changing the shape of the operator 2 according to the driving mode of the vehicle VH, the shape control unit 1575 allows the driver DR to understand the driving mode of the vehicle VH by touch. Furthermore, the shape control unit 1575 can control the shape of the operator 2 to a first shape suitable for the driver DR to perform a "steering operation" or a second shape suitable for the driver DR to perform a "non-driving operation" according to the driving mode of the vehicle VH.

[0091] The screen control unit 1579 controls the image to be displayed on the operator screen 21 of the operator 2, and in this embodiment, controls the image to be displayed on the operator screen 21 by transmitting a screen control signal SD to the operator 2 via the operator processing unit 3. For example, the screen control unit 1579 may cause the operator screen 21 to display "whether the current driving mode of the vehicle VH is a manual driving mode or an automatic driving mode" and "whether TOR has been notified to the driver DR." Through this control, the screen control unit 1579 displays the driving mode of the vehicle VH and whether TOR has been issued on the operator screen 21 provided on the operator 2 (for example, provided on the top surface of the operator 2), allowing the driver DR to know the driving mode of the vehicle VH and whether TOR has been issued.

[0092] When displaying "TOR has been issued" on the operator screen 21, the screen control unit 1579 may display the elapsed time from the time when the issuance (notification) of the TOR began to the current time on the operator screen 21, and may, for example, flash the elapsed time. By displaying the elapsed time from the time when the issuance of the TOR began to the current time on the operator screen 21, the screen control unit 1579 can prompt the driver DR to perform the second driving mode change operation. Furthermore, when displaying "TOR has been issued" on the operator screen 21, the screen control unit 1579 may alert the driver DR by flashing an image indicating "TOR has been issued." The screen control unit 1579 may continue the flashing display until the position change operation receiving unit 133 receives the second driving mode change operation. Furthermore, the screen control unit 1579 may display, in different colors, on the operator screen 21, whether the vehicle VH is traveling in manual driving mode, whether the vehicle VH is traveling in automatic driving mode, or whether a TOR is being issued. By the screen control unit 1579 changing the display color depending on the notification content, the driver DR can more easily understand the notification content.

[0093] §3 Operation Example FIG. 5 is a flowchart showing an example of the processing procedure of the information processing device 1 according to this embodiment. The processing procedure described below is an example of the processing procedure of an information processing method PM that causes a processor (e.g., the CPU of the information processing device 1) to execute the process of "accepting an operation on the operator 2 from the driver DR." However, the processing procedure described below is merely an example, and each step may be modified as much as possible. Furthermore, steps may be omitted, replaced, or added to the processing procedure described below as appropriate depending on the embodiment.

[0094] (Step S110) In step S110, the control unit 11 operates as the driving mode acquisition unit 110 and acquires the driving mode information IM. In this embodiment, the control unit 11 receives the driving mode information IM from the vehicle control system 4 (particularly, the mode management device 42).

[0095] (Step S120) In step S120, the control unit 11 operates as the reception mode switching unit 120 and determines whether the vehicle VH is traveling in manual driving mode. In this embodiment, the control unit 11 determines whether the driving mode information IM acquired in step S110 indicates that the vehicle VH is traveling in manual driving mode. If the control unit 11 determines that the vehicle VH is traveling in manual driving mode (Yes in step S120), the control unit 11 proceeds to step S130. If the control unit 11 determines that the vehicle VH is not traveling in manual driving mode (i.e., traveling in automatic driving mode) (No in step S120), the control unit 11 proceeds to step S160.

[0096] (Step S130) In step S130, the control unit 11 operates as the vehicle control unit 150 (particularly, the control unit 157) and sets the shape of the control unit 2 to the first shape. In this embodiment, the control unit 11 sets the shape of the control unit 2 to the first shape by sending a shape control signal SF (first shape control signal SF1) to the control unit processing unit 3 (particularly, the shape control unit 39) that instructs the control unit 2 to set the shape of the control unit 2 to the first shape.

[0097] (Step S140) In step S140, the control unit 11 applies a first operation reaction force RF1 to a rotation operation OR on the operator 2 and accepts the rotation operation OR as a "steering operation." In step S140, the control unit 11 operates, for example, as the vehicle control unit 150 (particularly, the operator restriction unit 157) and applies the first operation reaction force RF1 to the rotation operation OR. In this embodiment, the control unit 11 applies the first operation reaction force RF1 to the rotation operation OR by sending a first operation reaction force signal SRR1 to the operator processing unit 3 (particularly, the rotation control unit 35). Also, in step S140, the control unit 11 operates, for example, as the operation acceptance unit 130 (particularly, the rotation operation acceptance unit 131) and accepts the rotation operation OR as a "steering operation."

[0098] (Step S150) In step S150, the control unit 11 operates as the operation reception unit 130 (particularly, the position change operation reception unit 133), and receives a position change operation OP on the operating device 2 as a first driving mode change operation.

[0099] (Step S160) In step S160, the control unit 11 operates as the vehicle control unit 150 (particularly, the control unit 157) and sets the shape of the control unit 2 to the second shape. In this embodiment, the control unit 11 sets the shape of the control unit 2 to the second shape by transmitting a shape control signal SF (second shape control signal SF2) to the control unit processing unit 3 (particularly, the shape control unit 39) that instructs the control unit 2 to set the shape of the control unit 2 to the second shape.

[0100] (Step S170) In step S170, the control unit 11 applies a second operation reaction force RF2 to the rotation operation OR of the operator 2 and accepts the rotation operation OR as a "non-driving operation." In step S170, the control unit 11 operates, for example, as the vehicle control unit 150 (particularly, the operator restriction unit 157) and applies the second operation reaction force RF2 to the rotation operation OR. In this embodiment, the control unit 11 applies the second operation reaction force RF2 to the rotation operation OR by sending a second operation reaction force signal SRR2 to the operator processing unit 3 (particularly, the rotation control unit 35). Also, in step S170, the control unit 11 operates, for example, as the operation acceptance unit 130 (particularly, the rotation operation acceptance unit 131) and accepts the rotation operation OR as a "non-driving operation."

[0101] (Step S180) In step S180, the control unit 11 operates as the operation reception unit 130 (particularly, the position change operation reception unit 133), and receives a position change operation OP on the operating device 2 as a second driving mode change operation.

[0102] (Step S190) In step S190, the control unit 11 operates as the mode change request acquisition unit 140 and determines whether it is necessary to issue a TOR. In this embodiment, the control unit 11 determines whether it has received mode change request information IC indicating that it is necessary to issue a TOR from the vehicle control system 4 (particularly, the mode management device 42). If it is determined that it is necessary to issue a TOR (in other words, it has received the mode change request information IC) (Yes in step S190), the control unit 11 proceeds to step S200. If it is determined that it is not necessary to issue a TOR (in other words, it has not received the mode change request information IC) (No in step S190), the control unit 11 repeats the process of step S190 until it determines that it is necessary to issue a TOR.

[0103] (Step S200) In step S200, the control unit 11 operates as the vehicle control unit 150 and issues a TOR. In step S200, the control unit 11 operates, for example, as the image display device control unit 153 and causes the image display device 46 to display a screen notifying the driver DR of the TOR. In step S200, the control unit 11 operates, for example, as the operator restriction unit 157 (particularly the above-mentioned screen control unit 1579) and displays a screen notifying the driver DR of the TOR on the operator screen 21 of the operator 2. In this embodiment, the control unit 11 transmits a screen control signal SD to the operator 2 via the operator processing unit 3, thereby displaying on the operator screen 21 that a TOR has been issued.

[0104] (Step S210) In step S210, the control unit 11 operates as the vehicle control unit 150 and executes various processes associated with the issuance of the TOR.

[0105] 5, the control unit 11 may cause the operator screen 21 to display an image showing the following information by transmitting a screen control signal SD to the operator 2 via the operator processing unit 3. That is, the control unit 11 may cause the operator screen 21 to display "whether the current driving mode of the vehicle VH is the manual driving mode or the automatic driving mode" and "whether the TOR has been notified to the driver DR."

[0106] Furthermore, during the autonomous driving mode (i.e., while the vehicle VH is traveling in the autonomous driving mode), the control unit 11 may cause the image display device 46 to display the following information. That is, the control unit 11 may cause the image display device 46 to output information indicating the difference between the (virtual) steering angle of the vehicle VH corresponding to the current rotation amount of the operator 2 (rotational operation amount θ) and the current actual steering angle of the vehicle VH.

[0107] Fig. 6 is a flow diagram showing a specific example of step S210 (various processes accompanying the issuance of TOR) in Fig. 5. The control unit 11 executes, for example, steps S2110 to S2190 illustrated in Fig. 6 as step S210 in Fig. 5.

[0108] (Step S2110) In step S2110, the control unit 11 operates as the vehicle control unit 150 (particularly, the operator restriction unit 157) and applies a first operation reaction force RF1 to the rotation operation OR of the operator 2. That is, in this embodiment, the control unit 11 applies the first operation reaction force RF1 to the rotation operation OR after the issuance of TOR, even in the autonomous driving mode. As described above, when the vehicle VH is traveling in the autonomous driving mode, the control unit 11 applies the second operation reaction force RF2 to the rotation operation OR (step S170). However, even in the autonomous driving mode, the control unit 11 applies the first operation reaction force RF1 to the rotation operation OR after the issuance of TOR (i.e., after execution of step S200). For example, the control unit 11 applies the first operation reaction force RF1 to the rotation operation OR by transmitting a first operation reaction force signal SRR1 to the operator processing unit 3 (particularly, the rotation control unit 35).

[0109] (Step S2120) In step S2120, the control unit 11 operates as the vehicle control unit 150 (particularly, the operator restriction unit 157) and vibrates the operator 2 up and down along the rotation axis (moves the position P up and down). In this embodiment, the control unit 11 vibrates the operator 2 up and down by sending a position change restriction signal SP (e.g., a vibration action execution signal) to the operator processing unit 3 (particularly, the position change control unit 37), which controls the position P of the operator 2. In other words, in step S2120, the control unit 11 controls the position P of the operator 2 to notify the driver DR of the TOR, for example, tactilely, and also prompts the driver DR to "change from autonomous driving mode to manual driving mode (completion of change)."

[0110] (Step S2130) In step S2130, the control unit 11 operates as the vehicle control unit 150 (particularly, the operator limiting unit 157) and rotates the operator 2 around the rotation axis so that the amount of rotation of the operator 2 corresponds to the steering angle of the vehicle VH. In this embodiment, the control unit 11 transmits a rotation limit signal SR (e.g., a corresponding rotation amount realization signal) to the operator processing unit 3 (particularly, the rotation control unit 35) that controls the rotation (rotational operation) of the operator 2, thereby rotating the operator 2 so that the amount of rotation of the operator 2 corresponds to the steering angle of the vehicle VH.

[0111] (Step S2140) In step S2140, the control unit 11 operates as the operation reception unit 130 (particularly, the position change operation reception unit 133) and determines whether a second driving mode change operation has been received. If it is determined that a second driving mode change operation has been received (Yes in step S2140), the control unit 11 proceeds to step S2150. If it is determined that a second driving mode change operation has not been received (No in step S2140), the control unit 11 returns to step S2110 and repeats the processes of steps S2110, S2120, and S2130 until it is determined that a second driving mode change operation has been received.

[0112] (Step S2150) In step S2150, the control unit 11 operates as the vehicle control unit 150 and sets the neutral position of the operator 2 so that the amount of rotation of the operator 2 corresponds to the steering angle of the vehicle VH. For example, the control unit 11 sets the neutral position of the operator 2 so that the "amount of rotation of the operator 2 (rotational operation amount θ)" becomes "the amount of rotation corresponding to the actual steering angle of the current vehicle VH."

[0113] (Step S2160) In step S2160, the control unit 11 operates as the vehicle control unit 150 (particularly, the mode management device control unit 155) and changes the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode. In this embodiment, the control unit 11 changes the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode by transmitting a second mode control signal CM2 to the vehicle control system 4 (particularly, the mode management device 42).

[0114] (Step S2170) In step S2170, the control unit 11 operates as the vehicle control unit 150 (particularly, the control unit restriction unit 157) and locks (in other words, fixes) the position of the control unit 2 along the rotation axis (i.e., position P). In this embodiment, the control unit 11 fixes the position P of the control unit 2 by sending a position lock signal SPL to the control unit processing unit 3 (particularly, the position change control unit 37).

[0115] (Step S2180) In step S2180, the control unit 11 operates as the mode change request acquisition unit 140 and determines whether it is possible to change the driving mode from the manual driving mode to the autonomous driving mode. In this embodiment, the control unit 11 determines whether it has received autonomous driving mode permission information indicating that "driving in the autonomous driving mode is possible" from the vehicle control system 4 (particularly, the mode management device 42). If it is determined that it is possible to change to the autonomous driving mode (in other words, that the autonomous driving mode permission information has been received) (Yes in step S2180), the control unit 11 proceeds to step S2190. If it is determined that it is not possible to change to the autonomous driving mode (in other words, that the autonomous driving mode permission information has not been received) (No in step S2180), the control unit 11 returns to step S2170 and continues the processing of step S2170 until it receives the autonomous driving mode permission information.

[0116] (Step S2190) In step S2190, the control unit 11 operates as the vehicle control unit 150 (particularly, the control unit 157) and permits movement of the control unit 2 along the rotation axis. In this embodiment, the control unit 11 stops transmission of the position lock signal SPL transmitted to the position change control unit 37 in step S2170, thereby releasing (in other words, unlocking) the fixation of the position P of the control unit 2 and permitting movement of the control unit 2 along the rotation axis.

[0117] [Features] As described above, the information processing device 1 according to this embodiment is an information processing device that accepts operations from the driver DR of the vehicle VH to the operator 2 provided in the driver's seat of the vehicle VH, in the vehicle VH that has a manual driving mode and an automatic driving mode as driving modes. The operator 2 is a dial-type operator that is rotatable around a rotation axis and is configured to be able to at least one of move along the rotation axis and tilt the rotation axis.

[0118] The information processing device 1 includes an operation reception mode switching unit 120 (driving mode determination unit) that determines the driving mode of the vehicle VH, and an operation reception unit 130 that receives an operation on the operator 2 from the driver DR. When the operation reception mode switching unit 120 determines that the vehicle VH is driving in the manual driving mode, the operation reception unit 130 (e.g., a rotation operation reception unit 131) receives a rotation operation OR by the driver DR that rotates the operator 2 around a rotation axis as a "steering operation." Furthermore, when the operation reception mode switching unit 120 determines that the vehicle VH is driving in the manual driving mode, the operation reception unit 130 (e.g., a position change operation reception unit 133) receives a non-rotation operation on the operator 2 by the driver DR as a first driving mode change operation. The non-rotation operation is at least one of an "operation that moves the operator 2 along the rotation axis" and an "operation that tilts the rotation axis of the operator 2." In the present embodiment, an example has been described in which the non-rotation operation is a position change operation OP. The first driving mode change operation is a driving mode change operation that instructs a change in the driving mode of the vehicle VH, and in particular, a driving mode change operation that instructs a change in the driving mode of the vehicle VH from a manual driving mode to an automatic driving mode.

[0119] When the reception mode switching unit 120 determines that the vehicle VH is traveling in the autonomous driving mode, the operation reception unit 130 (e.g., the rotation operation reception unit 131) receives a rotation operation OR by the driver DR as a "non-driving operation." A non-driving operation is an operation different from a steering operation and a driving mode change operation. In the present embodiment, an example has been described in which the non-driving operation is an information output operation that is an operation on the image display device 46. Furthermore, when the reception mode switching unit 120 determines that the vehicle VH is traveling in the autonomous driving mode, the operation reception unit 130 (e.g., the position change operation reception unit 133) receives a non-rotation operation by the driver DR as a second driving mode change operation. The second driving mode change operation is a driving mode change operation that instructs a change in the driving mode of the vehicle VH, and in particular, a driving mode change operation that instructs a change in the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode.

[0120] Furthermore, the information processing method PM according to this embodiment is an information processing method that causes a processor (e.g., the CPU of the information processing device 1) to execute a process of accepting an operation from the driver DR on the operating element 2 in the vehicle VH. The information processing method PM causes the processor to execute steps S120, S140, S150, S170, and S180 illustrated in FIG. 5 . In step S120, the processor determines the driving mode of the vehicle VH. If it is determined in step S120 that "the vehicle VH is driving in manual driving mode," then in step S140, the processor accepts a rotation operation OR as a "steering operation." If it is determined in step S120 that "the vehicle VH is driving in manual driving mode," then in step S150, the processor accepts a non-rotation operation (a position change operation OP in this embodiment) as a "first driving mode change operation." If it is determined in step S120 that "the vehicle VH is traveling in the autonomous driving mode," then in step S170 the processor accepts the rotation operation OR as a "non-driving operation (in this embodiment, an information output operation)." If it is determined in step S120 that "the vehicle VH is traveling in the autonomous driving mode," then in step S180 the processor accepts the non-rotation operation as a "second traveling mode change operation."

[0121] Therefore, the information processing device 1 (information processing method PM) accepts a rotation operation OR of the operator 2 as a steering operation when the vehicle VH is traveling in manual driving mode, and as a non-driving operation when the vehicle VH is traveling in automatic driving mode. Therefore, the driver DR operates the operator 2 not only in manual driving mode but also in automatic driving mode. Therefore, even when a steering operation is required during automatic driving mode, the driver DR can steer the vehicle VH by continuing to operate the operator 2 that was operated during automatic driving mode (specifically, by performing a rotation operation OR). Therefore, the information processing device 1 (information processing method PM) can eliminate the need for the driver DR to "change the grip of the operator for steering operation" even when a steering operation is required during automatic driving mode in the vehicle VH.

[0122] In particular, the operator 2 is configured to be able to accept not only a rotation operation OR but also a "non-rotation operation" that is an operation other than the rotation operation OR. The information processing device 1 (information processing method PM) then accepts a non-rotation operation (e.g., a position change operation OP) on the operator 2 as a "driving mode change operation that instructs a change in the driving mode of the vehicle VH." Therefore, when a steering operation becomes necessary during the autonomous driving mode, the driver DR can change the driving mode of the vehicle VH from the autonomous driving mode to the manual driving mode simply by performing a non-rotation operation on the operator 2 that was being operated during the autonomous driving mode.

[0123] §4 Modifications Although the embodiments of the present invention have been described above in detail, the above description is merely an example of the present invention in every respect. It goes without saying that various improvements and modifications can be made without departing from the scope of the present invention. For example, the following modifications are possible. Note that, in the following, the same reference numerals are used for components similar to those in the above embodiment, and descriptions of similar points to those in the above embodiment are omitted where appropriate. The following modifications can be combined as appropriate.

[0124] In the above embodiment, an example has been described in which the information processing device 1, the operator processing unit 3, and the vehicle control system 4 are each configured as separate computers. However, the configuration of the information processing device according to this embodiment is not limited to this example and may be determined appropriately depending on the embodiment. For example, the information processing device 1 may be configured as a computer integrated with at least one of the operator processing unit 3 and the vehicle control system 4. Furthermore, at least one of the information processing device 1, the operator processing unit 3, and the vehicle control system 4 may be configured as a plurality of computers.

[0125] REFERENCE SIGNS LIST 1... information processing device, 2... operator, 42... steering device, 44... transmission device, 130... position change operation receiving section, 140... transmission device control section, 150... rotation operation receiving section, 160 steering device control section, OP... position change operation, OR... rotation operation, P... position, PM... information processing method, VH... vehicle, VR... viscous resistance

Claims

1. An information processing method for a vehicle capable of operating in a manual driving mode and an automatic driving mode, in which a processor executes a process for accepting an operation from a driver of the vehicle to a dial-type operating device provided at the driver's seat of the vehicle, wherein the operating device is configured to be rotatable around a rotation axis and to be capable of at least one of moving along the rotation axis and tilting the rotation axis, and the processor has the steps of: determining the driving mode of the vehicle; and accepting an operation from the driver to the operating device, wherein, in the step of determining the driving mode, if it is determined that the vehicle is operating in the manual driving mode, the processor: (1) accepts a rotation operation by the driver to rotate the operating device around the rotation axis as a steering operation; (2) accepting a non-rotational operation by the driver, which is at least one of an operation of moving the operator along the rotation axis and an operation of tilting the rotation axis, as a driving mode change operation that instructs a change of the driving mode, and which is a first driving mode change operation that instructs changing the driving mode from the manual driving mode to the automatic driving mode; and if it is determined in the step of determining the driving mode that the vehicle is driving in the automatic driving mode, (3) accepting the rotational operation by the driver as a non-driving operation that is an operation different from the steering operation and the driving mode change operation; and (4) accepting the non-rotational operation by the driver as a second driving mode change operation that is the driving mode change operation and which instructs changing the driving mode from the automatic driving mode to the manual driving mode.

2. The information processing method according to claim 1, wherein the non-driving operation is an operation on an image display device provided in the passenger compartment of the vehicle.

3. The information processing method of claim 1 or 2, wherein the processor further executes a step of applying an operation reaction force to the rotation operation of the operator, wherein the magnitude of the operation reaction force applied to the rotation operation when the rotation operation is accepted as the steering operation and the magnitude of the operation reaction force applied to the rotation operation when the rotation operation is accepted as the non-driving operation are set to different values.

4. The information processing method of claim 3, wherein the processor further executes a step of notifying the driver of a takeover request requesting the driver to change from the automatic driving mode to the manual driving mode, and wherein the processor, after executing the step of notifying the driver of the takeover request, in the step of applying the operation reaction force, applies the operation reaction force to the rotation operation of the operator of a magnitude that is applied to the steering operation.

5. The information processing method of claim 1 or 2, wherein the processor further executes a step of rotating the operator around the rotation axis so that the amount of rotation of the operator corresponds to the steering angle of the vehicle, from the time when a request to change from the automatic driving mode to the manual driving mode is initiated to the time when the change from the automatic driving mode to the manual driving mode is completed.

6. The information processing method of claim 1 or 2, wherein the processor further executes the steps of: notifying the driver of a takeover request requesting the driver to change from the automatic driving mode to the manual driving mode; determining whether the change has been completed; and prompting the driver to complete the change by performing at least one of an operation of vibrating the operator along the rotation axis and an operation of changing the tilt angle of the rotation axis; and wherein the processor continues to execute the step of prompting the driver to complete the change until it is determined in the step of determining whether the change has been completed that the change has been completed.

7. An information processing method as described in claim 1 or 2, wherein the processor further executes a step of controlling the shape of the operator, in which the shape of the operator when the vehicle is traveling in the manual driving mode and the shape of the operator when the vehicle is traveling in the automatic driving mode are different from each other.

8. The information processing method according to claim 1 or 2, wherein the operator has a display screen, and the processor further executes a step of displaying on the display screen whether the current driving mode is the manual driving mode or the automatic driving mode, and whether a takeover request requesting the driver to change from the automatic driving mode to the manual driving mode has been notified to the driver.

9. The information processing method of claim 1 or 2, wherein, when the driving mode is changed to the manual driving mode after notifying the driver of a takeover request requesting the driver to change from the automatic driving mode to the manual driving mode, the processor further executes a step of prohibiting the movement of the operator along the rotation axis and the change of the tilt angle of the rotation axis until the driving mode can be changed back to the automatic driving mode.

10. An information processing method as described in claim 1 or 2, wherein the processor further executes a step of displaying, while the vehicle is traveling in the autonomous driving mode, the difference between the steering angle of the vehicle corresponding to the current rotation amount of the operator and the current actual steering angle of the vehicle on a display screen provided in the passenger compartment of the vehicle.

11. The information processing method of claim 1 or 2, wherein the processor further executes a step of setting a neutral position of the operator, wherein when the driving mode is changed from the automatic driving mode to the manual driving mode, the processor sets the neutral position so that the current amount of rotation of the operator corresponds to the current actual steering angle of the vehicle.

12. An information processing device for a vehicle capable of switching between a manual driving mode and an automatic driving mode, which receives an operation from a driver of the vehicle to a dial-type operating device provided at the driver's seat of the vehicle, wherein the operating device is configured to be rotatable around a rotation axis and to be capable of at least one of moving along the rotation axis and tilting the rotation axis, and the information processing device comprises: a driving mode determination unit that determines the driving mode of the vehicle; and an operation reception unit that receives an operation to the operating device from the driver, wherein when the driving mode determination unit determines that the vehicle is driving in the manual driving mode, the information processing device: (1) receives a rotation operation by the driver to rotate the operating device around the rotation axis as a steering operation, (2) An operation receiving unit that receives a non-rotational operation by the driver, which is at least one of an operation of moving the operator along the rotation axis and an operation of tilting the rotation axis, as a driving mode change operation that instructs a change of the driving mode, and is a first driving mode change operation that instructs changing the driving mode from the manual driving mode to the automatic driving mode; when the driving mode determination unit determines that the vehicle is driving in the automatic driving mode, (3) receives the rotational operation by the driver as a non-driving operation that is an operation different from the steering operation and the driving mode change operation; and (4) receives the non-rotational operation by the driver as a second driving mode change operation that is the driving mode change operation and instructs changing the driving mode from the automatic driving mode to the manual driving mode.

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