Information processing method and information processing device

Abstract

An information processing device according to an embodiment of the present invention interlocks first and second operators with each other when a driver of a vehicle is performing a steering operation using both the first and second operators, and when the driver is performing a steering operation using only one of the operators, interlocks the first and second operators with each other only when an interlock condition is met.

Description

Information processing method and information processing device

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

[0002] Steering devices equipped with two steering wheels for steering a vehicle such as an automobile are known. For example, Patent Document 1 listed below discloses a steering device equipped with a pair of steering levers that change the steering angle by being moved in the fore-and-aft direction of the vehicle. In this steering device, when one steering lever is moved in the fore-and-aft direction by operation, the other steering lever is interlocked and moved in the direction opposite to the movement direction of the one steering lever.

[0003] Japanese Patent Application Laid-Open No. 2019-064558

[0004] In the above-mentioned conventional technology, even when a driver operates only one of two controls, the other control that is not being used for operation operates (for example, moves) in conjunction with the operated control. Therefore, there is a possibility that the driver may unintentionally operate the control if the driver's hand, arm, etc. comes into contact with the control that is moving even though it is not being used for operation.

[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 controls the operation of at least one of two operators in a vehicle that has two operators, each of which can accept steering operations, so as to reduce the possibility of erroneous operation by the driver.

[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 equipped with a first operator and a second operator each capable of receiving a steering operation, the information processing method causing a processor to execute processing for controlling operation of at least one of the first operator and the second operator, the method including the steps of: determining a mode of the steering operation by a driver of the vehicle, determining whether the steering operation is being performed in a two-handed operation mode in which the driver performs the steering operation using both the first operator and the second operator, or a one-handed operation mode in which the driver performs the steering operation using only one of the first operator and the second operator; and moving, rotating, or fixing at least one of the first operator and the second operator, and when it is determined in the step of determining the mode of the steering operation that the steering operation is being performed in the two-handed operation mode, In the step of determining the mode of the steering operation, if it is determined that the steering operation is being performed in the one-handed operation mode, the step of determining whether a predetermined interlocking condition is satisfied is further executed, and only if it is determined that the interlocking condition is satisfied, one of the first and second operators that is not being used for the steering operation is moved or rotated in a direction different from the direction of movement or rotation of the operator that is being moved or rotated by the steering operation, in conjunction with the other operator that is being moved or rotated by the steering operation, to a position or amount of rotation that corresponds to the position or amount of rotation of the operator that is being moved or rotated by the steering operation, and if it is determined that the interlocking condition is not satisfied, the step of fixing the one of the first and second operators that is not being used for the steering operation is executed.

[0007] According to the present invention, in a vehicle equipped with two operators, each capable of receiving a steering operation, an information processing method and an information processing device can be provided that control the operation of at least one of the two operators so as to reduce the possibility of erroneous operation by the driver.

[0008] 1 is a block diagram showing a schematic configuration of a vehicle equipped with an information processing device according to an embodiment; FIG. 2 is a schematic diagram showing an example of a hardware configuration of the information processing device according to an embodiment; FIG. 3 is a schematic diagram showing an example of a software configuration of the information processing device according to an embodiment; FIG. 4 is a diagram showing an example of control over the operation of an operator; and FIG. 5 is a diagram showing an outline of a processing procedure of the information processing device according to an embodiment.

[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 includes the information processing device 1, a first operator 2F, a second operator 2S, a first operator processing unit 3F, a second operator processing unit 3S, and a vehicle control system 4.

[0011] (First Operator and Second Operator) The first operator 2F and the second operator 2S are operators that can receive a steering operation SO by the driver DR of the vehicle VH. In this embodiment, when there is no need to particularly distinguish between the first operator 2F and the second operator 2S, they may be simply referred to as "operators 2."

[0012] Each operator 2 may be configured as a joystick, for example, as illustrated in Fig. 1 , and may be configured as a joystick that can be held in one hand. In particular, the first operator 2F and the second operator 2S may be configured as joysticks (a pair of left and right joysticks) provided on the left and right sides of the driver's seat where the driver DR is seated. Each operator 2 is configured to be movable, for example, in the front-rear direction (clockwise and counterclockwise) relative to the driver's seat, and in this embodiment, the position P of each operator 2 is configured to be movable (changeable) in the front-rear direction.

[0013] In this embodiment, an example will be described in which the driver DR changes the position P of the operator 2, that is, moves the operator 2 in the forward / backward direction, as the steering operation SO, and for example, the position P of the operator 2 (the amount of change of the position P from the neutral position) is detected as the steering operation SO for the operator 2. However, it is not essential for the information processing device 1 that the operator 2 be configured as a "joystick that can be moved in the forward / backward direction relative to the driver's seat (that is, change the position P)."

[0014] For example, the operator 2 may be configured as a joystick capable of changing the tilt (tilt angle) with respect to a horizontal plane. The driver DR may change the tilt of the operator 2 as the steering operation SO. For example, the "tilt angle with respect to a horizontal plane (amount of change in the tilt angle)" of the operator 2 may be detected as the steering operation SO for the operator 2. Furthermore, for example, the operator 2 may be configured as a dial-type operator (in other words, a disk-type or disc-type) that can rotate around a rotation axis. Each operator 2 may be, for example, a dial-type device that can be covered from above with one hand or that can be held from the side with one hand. The driver DR may rotate the operator 2 around the rotation axis as the steering operation SO. For example, the "amount of rotation (from a neutral position) (amount of rotational operation)" of the operator 2 may be detected as the steering operation SO for the operator 2.

[0015] Each operator 2 may be provided with a touch sensor (not shown) that detects the driver DR's grip GR of each operator 2. The touch sensor may be provided, for example, at a position where the hand of the driver DR touches each operator 2, and in one example, may be provided on the "surface of each operator 2" where the hand of the driver DR touches.

[0016] Furthermore, each operator 2 may include at least one of a light-emitting device and an operator screen (not shown), and for example, at least one of the light-emitting device and the operator screen may be provided on the surface of each operator 2. The light emission of the light-emitting device may be controlled in accordance with a light-emitting control signal that the operator 2 acquires from the information processing device 1 via the operator processing unit 3. Furthermore, the image displayed on the operator screen may be controlled in accordance with a operator screen control signal 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 light emission of the above-mentioned light-emitting device or the image displayed on the above-mentioned operator screen by outputting at least one of a light-emitting control signal and an operator screen control signal to the operator 2 (operator processing unit 3).

[0017] Furthermore, each operator 2 may include a switch (button) configured to be able to receive a user operation to instruct interlocking of the first operator 2F and the second operator 2S. Although details will be described later, when the switch is operated and the driver DR instructs interlocking of the first operator 2F and the second operator 2S, the information processing device 1 may interlock the first operator 2F and the second operator 2S.

[0018] (First Operator Processing Unit and Second Operator Processing Unit) The first operator processing unit 3F executes various processes related to the first operator 2F (for example, a process for accepting a steering operation SO to the first operator 2F, and a process for controlling the operation of the first operator 2F (for example, fixing the position P and interlocking with the second operator 2S)). Similarly, the second operator processing unit 3S executes various processes related to the second operator 2S (for example, a process for accepting a steering operation SO to the second operator 2S, and a process for controlling the operation of the second operator 2S (for example, fixing the position P and interlocking with the first operator 2F)). As with the operator 2, in the following description, when there is no need to particularly distinguish between the first operator processing unit 3F and the second operator processing unit 3S, they may be simply referred to as the "operator processing unit 3." 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 perform the various processes described above. The operator processing units 3 (each of the first operator processing unit 3F and the second operator processing unit 3S) and the information processing device 1 are connected by, for example, a Controller Area Network (CAN) or other in-vehicle LAN, and can communicate with each other (send and receive information).

[0019] The operator processing unit 3 includes a steering operation detection unit 32, a grip detection unit 34, and a motion control unit 36. In the example shown in FIG. 1 , the first operator processing unit 3F includes a first steering operation detection unit 32F as the steering operation detection unit 32, a first grip detection unit 34F as the grip detection unit 34, and a first motion control unit 36F as the motion control unit 36. Similarly, the second operator processing unit 3S includes a second steering operation detection unit 32S as the steering operation detection unit 32, a second grip detection unit 34S as the grip detection unit 34, and a second motion control unit 36S as the motion control unit 36. In the following description, when there is no need to particularly distinguish between the first steering operation detection unit 32F and the second steering operation detection unit 32S, they may be simply referred to as the "steering operation detection unit 32." When there is no need to particularly distinguish between the first grip detection unit 34F and the second grip detection unit 34S, they may be simply referred to as the "grip detection unit 34." When there is no need to particularly distinguish between the first movement control unit 36F and the second movement control unit 36S, they may be simply referred to as the "movement control unit 36."

[0020] The steering operation detection unit 32 detects a steering operation SO performed by the driver DR on the operator 2. In this embodiment, the steering operation detection unit 32 detects a position P of the operator 2 configured as a joystick as the steering operation SO. Specifically, the first steering operation detection unit 32F detects a steering operation SO (first steering operation SOF) on the first operator 2F, and detects, for example, the position P (first position PF) of the first operator 2F. Similarly, the second steering operation detection unit 32S detects a steering operation SO (second steering operation SOS) on the second operator 2S, and detects, for example, the position P (second position PS) of the second operator 2S.

[0021] For example, if the operator 2 is configured as a dial-type device, the steering operation detection unit 32 may detect the amount of rotation of the operator 2 (for example, the amount of rotation from the neutral position (rotational operation amount)) as the steering operation SO. Specifically, the first steering operation detection unit 32F may detect, for example, the amount of rotation (first rotation amount) of the first operator 2F as the first steering operation SOF. Similarly, the second steering operation detection unit 32S may detect, for example, the amount of rotation (second rotation amount) of the second operator 2S as the second steering operation SOS.

[0022] The steering operation detection unit 32 outputs (transmits) operation amount information IO indicating the detected steering operation SO (for example, position P or rotation amount) to the information processing device 1. In this embodiment, the steering operation detection unit 32 transmits at least one of first operation amount information IOF indicating a first steering operation SOF (for example, first position PF or first rotation amount) and second operation amount information IOS indicating a second steering operation SOS (for example, second position PS or second rotation amount) to the information processing device 1.

[0023] The grip detection unit 34 detects the grip GR of the operator 2 by the driver DR, in other words, detects whether the operator 2 is being gripped by the driver DR. As described above, if each operator 2 is equipped with a touch sensor, the grip detection unit 34 may detect the grip GR of the operator 2 by the driver DR by acquiring the output of the touch sensor (e.g., a signal indicating whether the grip GR has been detected).

[0024] In the present embodiment, the first grip detection unit 34F detects the grip GR (first grip GRF) of the first operator 2F by the driver DR, in other words, detects whether or not the first operator 2F is being gripped by the driver DR (presence or absence of the first grip GRF). Similarly, the second grip detection unit 34S detects the grip GR (second grip GRS) of the second operator 2S by the driver DR, in other words, detects whether or not the second operator 2S is being gripped by the driver DR (presence or absence of the second grip GRS). The grip detection unit 34 transmits grip information IG indicating the detection result to the information processing device 1. In the present embodiment, the grip information IG indicates "whether or not the first operator 2F is being gripped (presence or absence of the first grip GRF)" and "whether or not the second operator 2S is being gripped (presence or absence of the second grip GRS)."

[0025] As will be described in detail later, in this embodiment, the information processing device 1 determines whether the driver DR is gripping the first operator 2F and whether the driver DR is gripping the second operator 2S by using the grip information IG received from the grip detection unit 34. However, it is not essential for the information processing device 1 to determine whether the driver DR is gripping GR for each operator 2 by using the grip information IG acquired from the grip detection unit 34. For example, if the vehicle VH is equipped with a camera that captures images of the driver DR's hands (left and right hands), the information processing device 1 may determine whether the driver DR is gripping GR for each operator 2 from the image captured by the camera. The information processing device 1 may measure the distance from the driver DR's hand to each operator 2, i.e., the distance between the first operator 2F and the driver DR's hand (e.g., left hand) and the distance between the second operator 2S and the driver DR's hand (e.g., right hand), from the image captured by the camera. Then, when the distance between the operator 2 and the hand of the driver DR is "0 (zero)", the information processing device 1 may determine that the operator 2 is "being held by the driver DR (i.e., there is a holding GR)".

[0026] Furthermore, in this embodiment, when the information processing device 1 confirms that each operator 2 is “held by the driver DR (there is a gripping GR)” and that “the position P or the rotation amount (rotational operation amount) has changed,” it determines that a steering operation SO has occurred for the corresponding operator 2. For example, if a first gripping GRF has occurred and the first position PF or the first rotation amount has changed, the information processing device 1 determines that a first steering operation SOF has occurred for the first operator 2F. Similarly, if a second gripping GRS has occurred and the second position PS or the second rotation amount has changed, the information processing device 1 determines that a second steering operation SOS has occurred for the second operator 2S. However, it is not essential for the information processing device 1 to determine that a steering operation SO has occurred for the operator 2 based on “there is a gripping GR” and “the position P or the rotation amount has changed.” For example, the information processing device 1 may determine whether or not a steering operation SO has occurred for the operator 2 from an image captured by the camera described above. Furthermore, if the vehicle VH (particularly, the operator processing unit 3) includes a sensor (e.g., a torque sensor) that detects the amount of change in the "position P or amount of rotation" of the operator 2, the information processing device 1 may determine whether or not a steering operation SO has been performed on the operator 2 by utilizing the detection result of the sensor. For example, the information processing device 1 may determine that a steering operation SO has been performed on the operator 2 when a grip GR is present and the amount of change (such as torque) in the "position P or amount of rotation" of the operator 2 is equal to or greater than a predetermined reference amount of change. Specifically, the information processing device 1 may determine that a first steering operation SOF has been performed on the first operator 2F when a first grip GRF is present and the amount of change in the first position PF or the first amount of rotation is equal to or greater than a predetermined reference amount of change. Furthermore, the information processing device 1 may determine that a second steering operation SOS has been performed on the second operator 2S when a second grip GRS is present and the amount of change in the second position PS or the second amount of rotation is equal to or greater than a predetermined reference amount of change.

[0027] The operation control unit 36 ​​controls the operation (state) of the operator 2 (at least one of the first operator 2F and the second operator 2S), for example, moving, rotating, or fixing the operator 2. In this embodiment, the operation control unit 36 ​​controls the operation of the operator 2 in accordance with an operator control signal SC from the information processing device 1.

[0028] (Interlocking two operators) For example, the operation control unit 36 ​​moves or rotates at least one of the first operator 2F and the second operator 2S in accordance with an operator control signal SC (particularly, an interlock instruction signal SCL) that "instructs interlocking between the first operator 2F and the second operator 2S," thereby interlocking the first operator 2F and the second operator 2S.

[0029] When the first operator 2F and the second operator 2S are configured as a pair of left and right joysticks, the operation control unit 36 ​​may interlock the first operator 2F and the second operator 2S as follows. That is, the operation control unit 36 ​​may change the position P of at least one of the first operator 2F and the second operator 2S in accordance with an interlocking instruction signal SCL that "moves at least one of the first operator 2F and the second operator 2S so that the first position PF of the first operator 2F and the second operator 2S correspond to each other." For example, in accordance with the interlocking instruction signal SCL, the operation control unit 36 ​​may move one of the first operator 2F and the second operator 2S in a direction different from (e.g., opposite to) the direction of movement of the other operator 2 that is being moved by the steering operation SO, by an amount of movement corresponding to (e.g., equal to) the amount of movement of the other operator 2. Specifically, the first operation control unit 36F may, in accordance with the first interlock instruction signal SCL1, move the first operator 2F in conjunction with the second operator 2S moving due to the second steering operation SOS in the direction opposite to the direction of movement of the second operator 2S moving due to the second steering operation SOS to a position P corresponding to the second position PS of the second operator 2S moving due to the second steering operation SOS. Furthermore, the second operation control unit 36S may, in accordance with the second interlock instruction signal SCL2, move the second operator 2S in conjunction with the first operator 2F moving due to the first steering operation SOF in the direction opposite to the direction of movement of the first operator 2F moving due to the first steering operation SOF to a position P corresponding to the first position PF of the first operator 2F moving due to the first steering operation SOF.

[0030] When the first operator 2F and the second operator 2S are configured as a pair of left and right dial-type devices, the operation control unit 36 ​​may interlock the first operator 2F and the second operator 2S as follows. That is, the operation control unit 36 ​​may rotate at least one of the first operator 2F and the second operator 2S in accordance with an interlock instruction signal SCL that "rotates at least one of the first operator 2F and the second operator 2S so that the rotational state (first rotation amount) of the first operator 2F and the rotational state (second rotation amount) of the second operator 2S correspond to each other." For example, in accordance with the interlock instruction signal SCL, the operation control unit 36 ​​may rotate one of the first operator 2F and the second operator 2S in a direction different from (e.g., opposite to) the rotational direction of the other operator 2 that is rotating due to the steering operation SO, by an amount of rotation corresponding to (e.g., equal to) the amount of rotation of the other operator 2. Specifically, the first operation control unit 36F may, in accordance with the first interlock instruction signal SCL1, rotate the first operator 2F (from the neutral position of the first operator 2F) in a direction opposite to the rotation direction of the second operator 2S rotated by the second steering operation SOS, by an amount of rotation that matches the second rotation amount of the second operator 2S rotated by the second steering operation SOS. Alternatively, the second operation control unit 36S may, in accordance with the second interlock instruction signal SCL2, rotate the second operator 2S (from the neutral position of the second operator 2S) in a direction opposite to the rotation direction of the first operator 2F rotated by the first steering operation SOF, by an amount of rotation that matches the first rotation amount of the first operator 2F rotated by the first steering operation SOF.

[0031] (Fixing the Operator) For example, the operation control unit 36 ​​fixes (in other words, locks) the operator 2 in accordance with the operator control signal SC (particularly, the lock instruction signal SCF) that "instructs fixing the operator 2," thereby prohibiting movement or rotation of the operator 2. In the present embodiment, the operation control unit 36 ​​may fix the operator 2 in its neutral position in accordance with the lock instruction signal SCF.

[0032] When the first operator 2F and the second operator 2S are configured as a pair of left and right joysticks, the first movement control unit 36F fixes the first operator 2F in accordance with the first lock instruction signal SCF1, i.e., fixes the position P (first position PF) of the first operator 2F. The first movement control unit 36F may fix the first operator 2F to the "neutral position of the first operator 2F" in accordance with the first lock instruction signal SCF1. For example, the first movement control unit 36F may move the first operator 2F so that the first position PF coincides with the "neutral position of the first operator 2F" and then fix the first operator 2F. Furthermore, the second movement control unit 36S fixes the second operator 2S in accordance with the second lock instruction signal SCF2, i.e., fixes the position P (second position PS) of the second operator 2S. The second operation control unit 36S may fix the second operator 2S to the "neutral position of the second operator 2S" in accordance with the second lock instruction signal SCF2. For example, the second operation control unit 36S may fix the second operator 2S after moving the second operator 2S so that the second position PS coincides with the "neutral position of the second operator 2S."

[0033] When the first operator 2F and the second operator 2S are configured as a pair of left and right dial-type devices, the first operation control unit 36F fixes the first operator 2F in accordance with the first lock instruction signal SCF1, i.e., fixes the rotational state (first rotation amount) of the first operator 2F. The first operation control unit 36F may fix the first operator 2F to the "neutral position of the first operator 2F" in accordance with the first lock instruction signal SCF1. For example, the first operation control unit 36F may rotate the first operator 2F so that the first rotation amount coincides with the "neutral position of the first operator 2F" and then fix the first operator 2F. Furthermore, the second operation control unit 36S fixes the second operator 2S in accordance with the second lock instruction signal SCF2, i.e., fixes the rotational state (second rotation amount) of the second operator 2S. The second operation control unit 36S may fix the second operator 2S to the "neutral position of the second operator 2S" in accordance with the second lock instruction signal SCF2. For example, the second operation control unit 36S may fix the second operator 2S after rotating the second operator 2S so that the second rotation amount coincides with the "neutral position of the second operator 2S."

[0034] (Corresponding the state of an unoperated operator to the steering angle of the vehicle) For example, the operation control unit 36 ​​moves or rotates the operator 2 in accordance with the operator control signal SC (particularly, the steering angle corresponding control signal SCC), which "instructs the operator 2 to be moved or rotated so that the 'position P or rotation amount' of the operator 2 becomes the 'position P or rotation amount' that corresponds to the steering angle of the vehicle VH."

[0035] When the first operator 2F and the second operator 2S are configured as a pair of left and right joysticks, the first operation control unit 36F moves the first operator 2F in accordance with the first steering angle corresponding control signal SCC1 so that the first position PF of the first operator 2F becomes the position P corresponding to the steering angle of the vehicle. Also, the second operation control unit 36S moves the second operator 2S in accordance with the second steering angle corresponding control signal SCC2 so that the second position PS of the second operator 2S becomes the position P corresponding to the steering angle of the vehicle.

[0036] When the first operator 2F and the second operator 2S are configured as a pair of left and right dial-type devices, the first operation control unit 36F rotates the first operator 2F (from the neutral position of the first operator 2F) in accordance with the first steering angle corresponding control signal SCC1 so that the first rotation amount of the first operator 2F corresponds to the steering angle of the vehicle. Also, the second operation control unit 36S rotates the second operator 2S (from the neutral position of the second operator 2S) in accordance with the second steering angle corresponding control signal SCC2 so that the second rotation amount of the second operator 2S corresponds to the steering angle of the vehicle.

[0037] (Applying an operating reaction force to the operated operator) For example, the operation control unit 36 ​​applies an operating reaction force RF to the steering operation SO by moving or rotating the operator 2 in accordance with the operator control signal SC (particularly, the reaction force control signal SCR), which "instructs the application of an operating reaction force to the steering operation SO of the operator 2 by the driver DR."

[0038] When the first operator 2F and the second operator 2S are configured as a pair of left and right joysticks, the first movement control unit 36F may apply a first operation reaction force RF1 in response to the first steering operation SOF by controlling the first position PF of the first operator 2F (e.g., restricting changes to the first position PF) in accordance with the first reaction force control signal SCR1. Furthermore, the second movement control unit 36S may apply a second operation reaction force RF2 in response to the second steering operation SOS by controlling the second position PS of the second operator 2S (e.g., restricting changes to the second position PS) in accordance with the second reaction force control signal SCR2.

[0039] When the first operator 2F and the second operator 2S are configured as a pair of left and right dial-type devices, the first movement control unit 36F may apply a first operation reaction force RF1 in response to the first steering operation SOF by controlling a first rotation amount of the first operator 2F (e.g., limiting changes to the first rotation amount) in accordance with the first reaction force control signal SCR1. Furthermore, the second movement control unit 36S may apply a second operation reaction force RF2 in response to the second steering operation SOS by controlling a second rotation amount of the second operator 2S (e.g., limiting changes to the second rotation amount) in accordance with the second reaction force control signal SCR2.

[0040] The operator processing unit 3 may include a "shape control unit that controls the shape of the operator 2, for example, by controlling a motor (not shown) or the like built into the operator 2 to control the shape of the operator 2." The shape control unit may control the shape of the operator 2 in accordance with a shape control signal from the information processing device 1. For example, the shape control unit may change the size of the operator 2 (for example, the diameter of the operator 2) in accordance with the shape control signal from the information processing device 1, or may form irregularities on the outer peripheral surface of the operator 2 so that the driver DR can easily place his / her fingers on it, or may change the height or size of the irregularities.

[0041] (Vehicle Control System) The vehicle control system 4 is a system that detects the state of the vehicle VH 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).

[0042] For example, the vehicle control system 4 includes a steering device that controls the traveling direction (in other words, the steering angle) of the vehicle VH. The vehicle control system 4 (steering device) controls the direction (steering angle) of the steered wheels of the vehicle VH in accordance with a steering angle control signal AC from the information processing device 1. The steering angle control signal AC is, for example, a signal (control signal) that specifies the steering amount of the vehicle VH. In accordance with the steering angle control signal AC, the vehicle control system 4 (steering device) may drive an electric motor that can change the direction of the steered wheels, causing 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 AC. The information processing device 1 can control the traveling direction (steering angle) of the vehicle VH by transmitting the steering angle control signal AC to the vehicle control system 4.

[0043] (Detection and Reporting of Vehicle Body Lateral Acceleration) The vehicle control system 4 may detect the state of the vehicle VH, for example, detect the vehicle body lateral acceleration, which is the lateral acceleration acting on the body of the vehicle VH. The vehicle control system 4 may then communicate with the information processing device 1 to output (transmit) determination basis information IB indicating the detected vehicle body lateral acceleration to the information processing device 1. In other words, the determination basis information IB transmitted by the vehicle control system 4 to the information processing device 1 may indicate the vehicle body lateral acceleration, which is the lateral acceleration acting on the body of the vehicle VH.

[0044] (Measurement and Reporting of Duration During Which the Steering Angle of the Vehicle Body Remains Constant) The vehicle control system 4 may detect the state of the vehicle VH and, for example, measure the time during which the steering angle of the vehicle VH remains constant (e.g., the steering angle is within a predetermined range) (constant steering angle duration). The state during which the steering angle of the vehicle VH remains constant may be rephrased as, for example, a state in which "the vehicle VH is traveling without meandering." The vehicle control system 4 may then communicate with the information processing device 1 and transmit to the information processing device 1 determination basis information IB indicating the detected constant steering angle duration. In other words, the determination basis information IB transmitted by the vehicle control system 4 to the information processing device 1 may indicate the time during which the steering angle of the vehicle VH remains constant (constant steering angle duration).

[0045] (Detection and Reporting of Load on Driver's Seat) The vehicle control system 4 may detect the state of the vehicle VH, for example, detect the load on the driver's seat where the driver DR is seated, and in particular, detect the loads on the left and right sides of the driver's seat. In other words, the vehicle control system 4 may detect each of the loads on the right side of the driver's seat and the loads on the left side of the driver's seat. Furthermore, the vehicle control system 4 may calculate the difference (amount of difference) between the load on the right side of the driver's seat and the load on the left side of the driver's seat. Then, the vehicle control system 4 may transmit, to the information processing device 1, determination basis information IB indicating each of the loads on the right side of the driver's seat and the loads on the left side of the driver's seat. The determination basis information IB may indicate the load acting on the right side of the driver's seat and the load acting on the left side of the driver's seat, as well as the difference between the two (amount of difference).

[0046] (Reporting Route Information Indicating a Route from the Vehicle's Current Position to the Destination) The vehicle control system 4 may operate as a car navigation system for the vehicle VH, and may include "predefined route information indicating a predefined route for the vehicle VH" in the determination basis information IB and transmit the information processing device 1. The "predefined route for the vehicle VH" is a route from the vehicle VH's current position to the destination, and the predefined route information in this embodiment indicates the predefined route for the vehicle VH, particularly the "radius of curvature of a curve that the vehicle VH is scheduled to enter." In other words, the determination basis information IB including the predefined route information may indicate the "radius of curvature of a curve that the vehicle VH is scheduled to enter."

[0047] The vehicle control system 4 may include an image display device (not shown), which may be provided, for example, in the cabin of the vehicle VH. The information to be output (for example, displayed) by the image display device may be controlled in accordance with an information output control signal from the information processing device 1. In other words, the information processing device 1 may control the information (for example, an image) to be output by the image display device.

[0048] (Information Processing Device) The information processing device 1 controls each of the operator 2, the operator processing unit 3, and the vehicle control system 4 using inputs from the operator processing unit 3 and the vehicle control system 4. For example, the information processing device 1 receives operation amount information IO from the operator processing unit 3 (particularly, the steering operation detection unit 32) and calculates a steering angle (or steering amount) corresponding to the steering operation SO from the steering operation SO indicated by the operation amount information IO. The information processing device 1 then generates a steering angle control signal AC that realizes the calculated steering amount (steering angle) and transmits (outputs) the generated steering angle control signal AC to the vehicle control system 4 (particularly, the steering device), thereby controlling the traveling direction (steering angle) of the vehicle VH.

[0049] In addition, the information processing device 1 controls the operator processing unit 3 (particularly, the operation control unit 36), i.e., the operation of the operator 2, using the operation amount information IO and grip information IG received from the operator processing unit 3, and the judgment basis information IB received from the vehicle control system 4.

[0050] In particular, the information processing device 1 controls the operation of the operator 2 according to the manner of the steering operation SO by the driver DR. Specifically, the information processing device 1 controls the operation of the operator 2 according to whether the manner of the steering operation SO by the driver DR is a two-handed operation manner or a one-handed operation manner. The two-handed operation manner is a manner in which "the driver DR performs the steering operation SO using both the first operator 2F and the second operator 2S." The one-handed operation manner is a manner in which "the driver DR performs the steering operation SO using only one of the first operator 2F and the second operator 2S."

[0051] When a steering operation SO is performed in the two-hand operation mode, the information processing device 1 interlocks the first operator 2F and the second operator 2S. When a steering operation SO is performed in the one-hand operation mode, the information processing device 1 basically does not interlock the first operator 2F and the second operator 2S, and fixes the operator 2 that is not being used for the steering operation SO, out of the first operator 2F and the second operator 2S. However, even when a steering operation SO is performed in the one-hand operation mode, the information processing device 1 interlocks the first operator 2F and the second operator 2S when a predetermined interlocking condition LC is satisfied.

[0052] When the steering operation SO is performed in the one-hand operation mode, the information processing device 1 basically does not interlock the first operator 2F and the second operator 2S, but fixes the operator 2 that is not used for the steering operation SO. Therefore, the information processing device 1 has the following advantages compared to a conventional method of controlling the operation of two operators, i.e., a method of "moving (e.g., moving) the other operator that is not being used for the operation in conjunction with the operated operator." That is, the information processing device 1 can reduce the possibility that the driver's hand, arm, etc., will come into contact with an operator that is moving even though it is not being used for the operation, resulting in the driver unintentionally operating the operator. When the steering operation SO is performed in the one-hand operation mode, the information processing device 1 basically fixes the operator 2 that is not being used for the steering operation SO, thereby reducing the possibility that the operator 2 that is not being used for the steering operation SO will come into contact with the driver's hand, arm, etc. Therefore, the information processing device 1 can reduce the possibility that the driver DR will unintentionally operate the "operator 2 not used for steering operation SO" due to contact between the "operator 2 not used for steering operation SO" and the driver DR's hand, arm, etc.

[0053] Furthermore, even when the steering operation SO is performed in a one-handed operation mode, the information processing device 1 interlocks the first operator 2F and the second operator 2S if the interlocking condition LC is satisfied. For example, if the information processing device 1 determines that "even if the 'operator 2 not used for the steering operation SO' is interlocked with the 'operator 2 used for the steering operation SO,' there is a low possibility that the 'operator 2 not used for the steering operation SO' will come into contact with the driver DR's hand, arm, or the like," the information processing device 1 determines that the interlocking condition LC is satisfied and interlocks the first operator 2F and the second operator 2S. Also, if the information processing device 1 determines that "it is desirable to interlock the 'operator 2 not used for the steering operation SO' with the 'operator 2 used for the steering operation SO,'" the information processing device 1 determines that the interlocking condition LC is satisfied and interlocks the first operator 2F and the second operator 2S. A case in which it is desirable to link the "operator 2 not used for the steering operation SO" to the "operator 2 used for the steering operation SO" is, for example, a case in which there is a high possibility that the driver DR will change the operation mode from one-handed operation to two-handed operation. When the driver DR attempts to change the operation mode from one-handed operation to two-handed operation, if the "operator 2 not used for the steering operation SO" is not linked to the "operator 2 used for the steering operation SO," the driver DR must perform the following preparatory operation. That is, the driver DR must perform a preparatory operation to move or rotate the operator 2 so that the "position P or rotation amount" of the operator 2 that was not used for the steering operation SO (i.e., not used for the steering operation SO) matches the "position P or rotation amount" corresponding to the "current steering angle of the vehicle VH." Therefore, for example, when there is a high possibility that the operation mode of the driver DR will change from the one-handed operation mode to the two-handed operation mode, the information processing device 1 preliminarily links the "operator 2 not used for the steering operation SO" to the "operator 2 used for the steering operation SO." By linking them, the information processing device 1 can eliminate the need for the driver DR to perform a preparatory operation when the driver DR tries to change the operation mode from one-handed operation to two-handed operation, and enables the driver DR to change the operation mode quickly and efficiently.The information processing device 1 appropriately links the first operator 2F and the second operator 2S depending on the situation, even when the steering operation SO is performed in a one-handed operation mode. That is, when the linkage condition LC is satisfied, the information processing device 1 links the first operator 2F and the second operator 2S. The information processing device 1 enables the driver DR to flexibly change the operation mode while suppressing the possibility of erroneous operation of an "operator 2 not being used for the steering operation SO." For example, the information processing device 1 enables the driver DR to quickly and efficiently change the operation mode. The information processing device 1, which has been outlined above, will be described in detail below using FIGS. 2 to 6.

[0054] §2 Configuration Example [Hardware Configuration] Fig. 2 schematically illustrates an example of the hardware configuration of the information processing device 1 according to this embodiment. As shown in Fig. 2, 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. 2, the communication interface and the external interface are referred to as a "communication I / F" and an "external I / F."

[0055] 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 and threshold information TI.

[0056] The information processing program PG is a program for causing the information processing device 1 to execute information processing (see FIG. 5, etc.) described below that controls the operation of at least one of the first operator 2F and the second operator 2S. The information processing program PG includes a series of instructions for the information processing.

[0057] The threshold information TI indicates a threshold (interlocking reference value RL) used when determining whether the interlocking condition LC is satisfied. The threshold information TI may indicate, as the interlocking reference value RL, a "predetermined operation amount threshold OAT" used to determine the operation amount of the steering operation SO (e.g., the position P or rotation amount of the operator 2 due to the steering operation SO). The threshold information TI may indicate, as the interlocking reference value RL, a "predetermined lateral acceleration threshold HAT" used to determine the vehicle body lateral acceleration, which is the lateral acceleration acting on the vehicle body of the vehicle VH. The threshold information TI may indicate, as the interlocking reference value RL, a "predetermined load threshold LOT" used to determine the difference between the load applied to the right side of the driver's seat and the load applied to the left side of the driver's seat. The threshold information TI may indicate, as the interlocking reference value RL, a "predetermined curvature radius threshold CRT" used to determine the curvature radius of the curve that the vehicle VH is scheduled to enter. The threshold information TI may indicate, as the interlocking reference value RL, a "predetermined non-grasping reference time NGT" used to determine the time during which neither the first operator 2F nor the second operator 2S is grasped by the driver DR. The threshold information TI may indicate, as the interlocking reference value RL, at least one of the operation amount threshold OAT, the lateral acceleration threshold HAT, the load threshold LOT, the curvature radius threshold CRT, and the non-grasping reference time NGT.

[0058] In addition to the interlocking reference value RL, the threshold information TI may further indicate a threshold (release reference value RU) used when determining "whether or not to release the interlock between the first operator 2F and the second operator 2S" (i.e., whether or not the release condition CC is satisfied). The threshold information TI may indicate, as the release reference value RU, a "predetermined determination duration JDT" used to determine the time during which the steering angle of the vehicle VH remains constant (constant steering angle duration). The threshold information TI may indicate, as the release reference value RU, a "predetermined distance threshold DST" used to determine the distance between the first operator 2F or the second operator 2S and the hand of the driver DR. The threshold information TI may indicate, as the release reference value RU, at least one of the determination duration JDT and the distance threshold DST.

[0059] 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.

[0060] 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.

[0061] That is, the information processing device 1 is connected to the operator processing unit 3 and acquires (receives) operation amount information IO indicating a steering operation SO (e.g., the position P or the amount of rotation of the operator 2) detected by the steering operation detection unit 32. In this embodiment, the information processing device 1 receives first operation amount information IOF indicating a first steering operation SOF (e.g., the first position PF or the first amount of rotation) of the first operator 2F from the first operator processing unit 3F. Similarly, the information processing device 1 receives second operation amount information IOS indicating a second steering operation SOS (e.g., the second position PS or the second amount of rotation) of the second operator 2S from the second operator processing unit 3S.

[0062] The information processing device 1 is also connected to the operator processing unit 3 and acquires grip information IG indicating "the grip GR of the operator 2 by the driver DR" (presence or absence of such grip GR) detected by the grip detection unit 34. In this embodiment, the information processing device 1 receives first grip information IGF indicating presence or absence of the first grip GRF of the first operator 2F by the driver DR from the first operator processing unit 3F. Similarly, the information processing device 1 receives second grip information IGS indicating presence or absence of the second grip GRS of the second operator 2S by the driver DR from the second operator processing unit 3S.

[0063] Furthermore, the information processing device 1 outputs (transmits) an operator control signal SC to the operator processing unit 3 (particularly, the operation control unit 36) to control the operation of the operator 2, for example, to move, rotate, or fix the operator 2. Specifically, the information processing device 1 moves or rotates at least one of the first operator 2F and the second operator 2S by transmitting an operator control signal SC (particularly, a linkage instruction signal SCL) to the operation control unit 36, thereby linking the first operator 2F and the second operator 2S. The information processing device 1 fixes an operator 2 not used for the steering operation SO by transmitting an operator control signal SC (particularly, a lock instruction signal SCF) to the operation control unit 36, for example, to move or rotate the operator 2 to its neutral position and then fix it. The information processing device 1 sends an operator control signal SC (particularly, a steering angle corresponding control signal SCC) to the operation control unit 36, thereby moving or rotating the operator 2 not used for the steering operation SO so that the "position P or rotation amount" of the operator 2 becomes the "position P or rotation amount" corresponding to the steering angle of the vehicle. The information processing device 1 sends an operator control signal SC (particularly, a reaction force control signal SCR) to the operation control unit 36, thereby applying an operation reaction force to the steering operation SO of the operator 2 by the driver DR.

[0064] The information processing device 1 is connected to the vehicle control system 4, and acquires from the vehicle control system 4 basic judgment information IB indicating the state of the vehicle VH (e.g., vehicle body lateral acceleration, duration of constant steering angle, loads on the right and left sides of the driver's seat, radius of curvature of the curve into which the vehicle VH is scheduled to enter, etc.). The basic judgment information IB may indicate at least one of the "vehicle body lateral acceleration of the vehicle VH," "duration of constant steering angle," "loads on the right and left sides of the driver's seat (particularly, the difference between these two loads)," and "radius of curvature of the curve into which the vehicle VH is scheduled to enter."

[0065] Furthermore, the information processing device 1 outputs a control signal (steering angle control signal AC) to the vehicle control system 4. For example, the information processing device 1 transmits the steering angle control signal AC to a steering device of the vehicle control system 4 to control the traveling direction (e.g., the steering angle) of the vehicle VH.

[0066] 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.

[0067] 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. 2 , 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.

[0068] 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.

[0069] [Software Configuration] Fig. 3 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. 3, the information processing device 1 according to this embodiment operates as a computer including, as software modules, an operation amount information acquisition unit 110, a grip information acquisition unit 120, a basic information acquisition unit 130, an operation mode determination unit 140, an interlocking condition determination unit 150, a steering device control unit 160, and an operator operation control unit 170. That is, in this embodiment, each software module of the information processing device 1 is realized by the control unit 11 (CPU).

[0070] The operation amount information acquisition unit 110 acquires operation amount information IO indicating the steering operation SO of the operator 2 by the driver DR (for example, the position P or rotational operation amount of the operator 2). In this embodiment, the operation amount information acquisition unit 110 receives the operation amount information IO from the operator processing unit 3. The operation amount information acquisition unit 110 may periodically acquire the operation amount information IO, for example, at an operation amount acquisition period corresponding to the detection period of the "position P or rotational operation amount of the operator 2" by the operator processing unit 3 (particularly the steering operation detection unit 32).

[0071] For example, the operation amount information acquisition unit 110 receives first operation amount information IOF indicating a first steering operation SOF of the first operator 2F (e.g., a first position PF or a first rotation amount of the first operator 2F) from the first operator processing unit 3F (particularly, the first steering operation detection unit 32F). Similarly, the operation amount information acquisition unit 110 receives second operation amount information IOS indicating a second steering operation SOS of the second operator 2S (e.g., a second position PS or a second rotation amount of the second operator 2S) from the second operator processing unit 3S (particularly, the second steering operation detection unit 32S). The operation amount information acquisition unit 110 notifies the operation mode determination unit 140 and the steering device control unit 160 of the acquired operation amount information IO (first operation amount information IOF and second operation amount information IOS).

[0072] The grip information acquisition unit 120 acquires grip information IG indicating the grip GR (presence or absence of grip GR) of the operator 2 by the driver DR. In this embodiment, the grip information acquisition unit 120 receives the grip information IG from the operator processing unit 3. The grip information acquisition unit 120 may periodically acquire the grip information IG, for example, at a grip information acquisition period corresponding to the detection period of the grip GR by the operator processing unit 3 (particularly the grip detection unit 34). The grip information acquisition period may coincide with the above-mentioned operation amount acquisition period.

[0073] For example, the grip information acquisition unit 120 receives first grip information IGF indicating the presence or absence of a first grip GRF for the first operator 2F from the first operator processing unit 3F (particularly, the first grip detection unit 34F). Similarly, the grip information acquisition unit 120 receives second grip information IGS indicating the presence or absence of a second grip GRS for the second operator 2S from the second operator processing unit 3S (particularly, the second grip detection unit 34S). The grip information acquisition unit 120 notifies the operation mode determination unit 140 of the acquired grip information IG (first grip information IGF and second grip information IGS).

[0074] The basic information acquisition unit 130 acquires judgment basic information IB indicating at least one of the "vehicle body lateral acceleration of the vehicle VH," "constant steering angle duration," "loads applied to the right and left sides of the driver's seat (particularly, the difference between these two loads)," and "radius of curvature of the curve into which the vehicle VH is scheduled to enter." In this embodiment, the basic information acquisition unit 130 receives this judgment basic information IB from the vehicle control system 4. The basic information acquisition unit 130 notifies the interlocking condition determination unit 150 of at least one of the "vehicle body lateral acceleration of the vehicle VH," "constant steering angle duration," "loads applied to the right and left sides of the driver's seat," and "radius of curvature of the curve into which the vehicle VH is scheduled to enter," which are indicated by the acquired judgment basic information IB.

[0075] The operation mode determination unit 140 determines the mode (operation mode) of the steering operation SO by the driver DR, and specifically, determines whether the mode of the steering operation SO by the driver DR is a two-handed operation mode or a one-handed operation mode. For example, the operation mode determination unit 140 determines whether a first steering operation SOF is performed on the first operator 2F and whether a second steering operation SOS is performed on the second operator 2S. If both the first steering operation SOF and the second steering operation SOS are present (both are being performed), the operation mode determination unit 140 determines that "the mode of the steering operation SO by the driver DR is a two-handed operation mode." In other words, if both the first steering operation SOF and the second steering operation SOS are present, the operation mode determination unit 140 determines that "the driver DR is performing the steering operation SO using both the first operator 2F and the second operator 2S." When only one of the first steering operation SOF and the second steering operation SOS is present (when only one is being performed), the operation mode determination unit 140 determines that "the mode of the steering operation SO by the driver DR is the one-handed operation mode." In other words, when only one of the first steering operation SOF and the second steering operation SOS is present, the operation mode determination unit 140 determines that "the driver DR is performing the steering operation SO using only one of the first operator 2F and the second operator 2S." The operation mode determination unit 140 notifies the interlocking condition determination unit 150 and the operator operation control unit 170 of the determination result of the operation mode by the driver DR (whether it is the two-handed operation mode or the one-handed operation mode). In addition to the determination result of the operation mode by the driver DR, if the operation mode determination unit 140 determines that the driver DR is performing one-handed operation, it notifies the interlocking condition determination unit 150 and the operator operation control unit 170 of whether the driver DR is performing the first steering operation SOF or the second steering operation SOS.

[0076] In this embodiment, when the operation mode determination unit 140 confirms that each operator 2 is "held by the driver DR (there is a gripping GR)" and that "the position P or the amount of rotation has changed," it determines that a steering operation SO has been performed on the operator 2. For example, as illustrated in Fig. 3 , the operation mode determination unit 140 includes a grip determination unit 141 that determines whether each operator 2 is "held by the driver DR (in other words, whether there is a gripping GR)."

[0077] The grip determination unit 141 determines whether or not a first grip GRF is present for the first operator 2F, and determines whether or not a second grip GRS is present for the second operator 2S. In this embodiment, the grip determination unit 141 uses the grip information IG (first grip information IGF and second grip information IGS) acquired by the operation amount information acquisition unit 110 to determine whether or not a grip GR is present for each of the first operator 2F and the second operator 2S.

[0078] Specifically, the grip determination unit 141 determines whether the first grip information IGF indicates that there is a first grip GRF for the first operator 2F. When the first grip information IGF indicates that there is no first grip GRF for the first operator 2F, the grip determination unit 141 may further measure the time (first non-grip time) during which the state of "there is no first grip GRF for the first operator 2F" continues. As described above, the grip information acquisition unit 120 periodically acquires grip information IG (first grip information IGF and second grip information IGS), for example, at a grip information acquisition cycle. Therefore, when each of a plurality of temporally consecutive first grip information IGF indicates that "there is no first grip GRF for the first operator 2F," the grip determination unit 141 may measure the above-mentioned first non-grip time using the grip information acquisition cycle. Similarly, the grip determination unit 141 determines whether the second grip information IGS indicates that there is a second grip GRS for the second operator 2S. When the second grip information IGS indicates that there is no second grip GRS for the second operator 2S, the grip determination unit 141 may further measure the time during which the state of "there is no second grip GRS for the second operator 2S" continues (second non-grip time). When each of multiple temporally consecutive pieces of second grip information IGS indicates that "there is no second grip GRS for the second operator 2S," the grip determination unit 141 may measure the above-mentioned second non-grip time using the grip information acquisition cycle.

[0079] When the grip determination unit 141 determines that "there is no first grip GRF" (in other words, the first grip information IGF indicates that "there is no first grip GRF for the first operator 2F"), the operation mode determination unit 140 determines that "there is no first steering operation SOF for the first operator 2F (the first steering operation SOF is not being performed)." Similarly, when the grip determination unit 141 determines that "there is no second grip GRS" (in other words, the second grip information IGS indicates that "there is no second grip GRS for the second operator 2S"), the operation mode determination unit 140 determines that "there is no second steering operation SOS for the second operator 2S (the second steering operation SOS is not being performed)."

[0080] When the grip determination unit 141 determines that "there is a first grip GRF," the operation mode determination unit 140 further performs the following determination. That is, the operation mode determination unit 140 determines whether there is a change in the first position PF or the first amount of rotation of the first operator 2F. For example, the operation mode determination unit 140 determines whether there is a change in "the first position PF or the first amount of rotation in each detection cycle," which is indicated by the first operation amount information IOF acquired by the operation amount information acquisition unit 110 in each operation amount acquisition cycle. When "there is a change in the first position PF or the first amount of rotation," the operation mode determination unit 140 determines that "there is a first steering operation SOF with respect to the first operator 2F (the first steering operation SOF is being performed)." That is, when there is a first grip GRF and there is a change in the first position PF or the first amount of rotation, the operation mode determination unit 140 determines that there is a first steering operation SOF with respect to the first operator 2F. When the grip determination unit 141 determines that "a second grip GRS is present," the operation mode determination unit 140 further performs the following determination. That is, the operation mode determination unit 140 determines whether there is a change in the second position PS or the second amount of rotation of the second operator 2S. For example, the operation mode determination unit 140 determines whether "the second position PS or the second amount of rotation in each detection cycle" indicated by the second operation amount information IOS acquired by the operation amount information acquisition unit 110 in each operation amount acquisition cycle has changed. When "there is a change in the second position PS or the second amount of rotation," the operation mode determination unit 140 determines that "a second steering operation SOS for the second operator 2S is present (a second steering operation SOS is being performed)." That is, when there is a second grip GRS and there is a change in the second position PS or the second amount of rotation, the operation mode determination unit 140 determines that there is a second steering operation SOS for the second operator 2S.

[0081] The operation mode determination unit 140 determines whether or not a steering operation SO has been performed for each operator 2, taking into consideration not only a change in the "position P or rotation amount" but also the "presence or absence of a gripping GR" for each operator 2. Here, for example, a case can be considered in which the "position P or rotation amount" of the operator 2 unintentionally changes when the operator 2 comes into contact with the driver DR's hand, arm, or the like, even though the driver DR is not gripping the operator 2. Even in such a case, the operation mode determination unit 140 takes into consideration not only a change in the "position P or rotation amount" but also the "presence or absence of a gripping GR," and therefore can determine that the change in the "position P or rotation amount" in such a case is not a steering operation SO for the operator 2. In other words, the operation mode determination unit 140 can determine with high accuracy whether or not a steering operation SO has been performed for the operator 2 by taking into consideration not only a change in the "position P or rotation amount" for the operator 2 but also the "presence or absence of a gripping GR." Then, the information processing device 1 accepts the "position P or rotational operation amount" of the operator 2 only for which it determines that a steering operation SO has been performed as the operation amount of the steering operation SO, and controls, for example, the direction of travel (steering angle) of the vehicle VH based on the operation amount.

[0082] If the vehicle VH is equipped with a camera that captures images of the hands (left and right hands) of the driver DR, the operation mode determination unit 140 may determine, from the image captured by the camera, whether or not a steering operation SO has been performed for each operator 2. Furthermore, if the vehicle VH (particularly, each operator processing unit 3) is equipped with a sensor that detects the amount of change in the "position P or amount of rotation" of each operator 2, the operation mode determination unit 140 may use the detection result of the sensor to determine whether or not a steering operation SO has been performed for each operator 2.

[0083] The interlocking condition determination unit 150 determines whether the interlocking condition LC is satisfied, and in particular, determines whether the interlocking condition LC is satisfied when the operation mode determination unit 140 determines that "the mode of the steering operation SO by the driver DR is a one-handed operation mode." The interlocking condition determination unit 150 determines, for example, whether at least one of the following first interlocking conditions LC1 to sixth interlocking conditions LC6 is satisfied. That is, in this embodiment, the interlocking condition LC includes at least one of the first interlocking conditions LC1 to sixth interlocking conditions LC6. The interlocking condition determination unit 150 may determine that "the interlocking condition LC is satisfied" when at least one of the first interlocking conditions LC1 to sixth interlocking conditions LC6 is satisfied. The interlocking condition determination unit 150 may determine that "the interlocking condition LC is satisfied" only when a plurality of interlocking conditions LC among the first interlocking conditions LC1 to sixth interlocking conditions LC6 are satisfied. The interlocking condition determination unit 150 may determine that the "interlocking condition LC is satisfied" only when all of a predetermined number of interlocking conditions LC among the first interlocking condition LC1 to the sixth interlocking condition LC6 are satisfied.

[0084] (First Interlocking Condition) As the first interlocking condition LC1, the interlocking condition determination unit 150 may determine whether "the position P or the rotation amount of the operator 2 used for the steering operation SO, of the first operator 2F or the second operator 2S, is equal to or greater than the operation amount threshold OAT." In other words, as the first interlocking condition LC1, the interlocking condition determination unit 150 may determine whether "the operation amount of the steering operation SO for the operator 2 used for the steering operation SO, of the first operator 2F or the second operator 2S, is equal to or greater than the operation amount threshold OAT." In this embodiment, the interlocking condition determination unit 150 acquires threshold information TI by referring to the storage unit 12. Then, the interlocking condition determination unit 150 compares the position P or the rotation amount of the operator 2 for which the operation mode determination unit 140 has determined that a steering operation SO is being performed with the operation amount threshold OAT indicated by the threshold information TI. Specifically, when the operation mode determination unit 140 determines that "the driver DR is performing a first steering operation SOF," the interlocking condition determination unit 150 compares the first position PF or the first rotation amount of the first operator 2F (i.e., the operation amount of the first steering operation SOF) with the operation amount threshold OAT. Furthermore, when the operation mode determination unit 140 determines that "the driver DR is performing a second steering operation SOS," the interlocking condition determination unit 150 compares the second position PS or the second rotation amount of the second operator 2S (i.e., the operation amount of the second steering operation SOS) with the operation amount threshold OAT. When the position P or the rotation amount of the operator 2 (i.e., the operation amount of the steering operation SO) determined by the operation mode determination unit 140 to be performing a steering operation SO is equal to or greater than the operation amount threshold OAT, the interlocking condition determination unit 150 determines that "the first interlocking condition LC1 is satisfied."

[0085] (Second Interlocking Condition) As the second interlocking condition LC2, the interlocking condition determination unit 150 may determine whether "vehicle body lateral acceleration, which is the lateral acceleration acting on the vehicle body of the vehicle VH, is equal to or greater than a lateral acceleration threshold value HAT." In this embodiment, the interlocking condition determination unit 150 references the storage unit 12 to acquire threshold value information TI. The interlocking condition determination unit 150 then compares the "vehicle body lateral acceleration of the vehicle VH" indicated by the determination basic information IB acquired by the basic information acquisition unit 130 with the lateral acceleration threshold value HAT indicated by the threshold value information TI. If the vehicle body lateral acceleration of the vehicle VH is equal to or greater than the lateral acceleration threshold value HAT, the interlocking condition determination unit 150 determines that "the second interlocking condition LC2 is satisfied."

[0086] (Third Interlocking Condition) As the third interlocking condition LC3, the interlocking condition determination unit 150 may determine whether "the difference between the load applied to the right side and the load applied to the left side of the driver's seat where the driver DR is seated is equal to or greater than the load threshold LOT." In this embodiment, the interlocking condition determination unit 150 references the storage unit 12 to acquire threshold information TI. Then, the interlocking condition determination unit 150 compares the "difference between the load applied to the right side and the load applied to the left side of the driver's seat" indicated by the determination basic information IB acquired by the basic information acquisition unit 130 with the load threshold LOT indicated by the threshold information TI. If the "difference between the load applied to the right side and the load applied to the left side of the driver's seat" is equal to or greater than the load threshold LOT, the interlocking condition determination unit 150 determines that "the third interlocking condition LC3 is satisfied."

[0087] (Fourth Interlocking Condition) As the fourth interlocking condition LC4, the interlocking condition determination unit 150 may determine whether "the radius of curvature of the curve that the vehicle VH is scheduled to enter is equal to or less than the curvature radius threshold CRT." In this embodiment, the interlocking condition determination unit 150 references the storage unit 12 to acquire threshold information TI. The interlocking condition determination unit 150 then compares the "radius of curvature of the curve that the vehicle VH is scheduled to enter" indicated by the determination basic information IB acquired by the basic information acquisition unit 130 with the curvature radius threshold CRT indicated by the threshold information TI. If the "radius of curvature of the curve that the vehicle VH is scheduled to enter" is equal to or less than the curvature radius threshold CRT, the interlocking condition determination unit 150 determines that "the fourth interlocking condition LC4 is satisfied."

[0088] (Fifth Interlocking Condition) As the fifth interlocking condition LC5, the interlocking condition determination unit 150 may determine whether or not a user operation instructing the interlocking of the first operator 2F and the second operator 2S has been received from the driver DR. In this embodiment, the interlocking condition determination unit 150 determines, for example, whether or not at least one of the switches provided in each operator 2 has been operated, resulting in an instruction from the driver DR to interlock the first operator 2F and the second operator 2S. Then, if the switch in question has received a user operation from the driver DR instructing the interlocking of the first operator 2F and the second operator 2S, the interlocking condition determination unit 150 determines that the fifth interlocking condition LC5 is satisfied.

[0089] (Sixth Interlocking Condition) As the sixth interlocking condition LC6, the interlocking condition determination unit 150 may determine whether "a state in which neither the first operator 2F nor the second operator 2S is grasped by the driver DR continues for a non-grasp reference time NGT or longer." As described above, the grasp determination unit 141 determines whether or not the first operator 2F and the second operator 2S are grasped GR, that is, whether or not the first grasp GRF and the second grasp GRS are respectively present. In addition, the grasp determination unit 141 measures the time during which the state in which "the first operator 2F is not grasped by the driver DR" continues (first non-grasp time) and the time during which "the second operator 2S is not grasped by the driver DR" continues (second non-grasp time). Therefore, the interlocking condition determination unit 150 may determine the time (non-grip time) during which "a state in which neither the first operator 2F nor the second operator 2S is being grasped by the driver DR" by using the results of the determination and measurement by the grip determination unit 141. The interlocking condition determination unit 150 compares the non-grip time determined by using the results of the determination and measurement by the grip determination unit 141 with the non-grip reference time NGT indicated by the threshold information TI acquired by referring to the memory unit 12. Then, if the non-grip time (the time during which "a state in which neither the first operator 2F nor the second operator 2S is being grasped by the driver DR") is equal to or longer than the non-grip reference time NGT, the interlocking condition determination unit 150 determines that "the sixth interlocking condition LC6 is satisfied."

[0090] The interlocking condition determination unit 150 may further determine whether a release condition CC is satisfied, and may particularly determine whether the release condition CC is satisfied when the operation mode determination unit 140 determines that "the mode of the steering operation SO by the driver DR is a two-handed operation mode." The interlocking condition determination unit 150 determines whether at least one of the following first release condition CC1 and second release condition CC2 is satisfied, for example. The interlocking condition determination unit 150 may determine that "the release condition CC is satisfied" when at least one of the first release condition CC1 and the second release condition CC2 is satisfied.

[0091] (First Cancellation Condition) As the first cancellation condition CC1, the interlocking condition determination unit 150 may determine whether "the state in which the first operator 2F or the second operator 2S is no longer grasped by the driver DR and the steering angle of the vehicle VH is constant continues for a determination duration time JDT or longer." For example, the interlocking condition determination unit 150 may determine "whether the first operator 2F or the second operator 2S is no longer grasped by the driver DR" using the determination of "presence or absence of gripping GR" by the grip determination unit 141. Furthermore, the interlocking condition determination unit 150 may determine the first non-grasping time or the second non-grasping time using the measurement result by the grip determination unit 141. Furthermore, the interlocking condition determination unit 150 may acquire threshold information TI by referring to the storage unit 12. The interlocking condition determination unit 150 may then compare the "time during which the state in which the steering angle of the vehicle VH remains constant (constant steering angle duration)" indicated by the determination basic information IB acquired by the basic information acquisition unit 130 with the determination duration JDT indicated by the threshold information TI. For example, if the first non-gripping time or the second non-gripping time and the constant steering angle duration are both equal to or longer than the determination duration JDT, the interlocking condition determination unit 150 may determine that the "first release condition CC1 is satisfied."

[0092] (Second Cancellation Condition) As the second cancellation condition CC2, the interlocking condition determination unit 150 may determine whether "the first operator 2F or the second operator 2S is no longer gripped by the driver DR, and the distance between the operator 2 that is no longer gripped and the hand of the driver DR is equal to or greater than the distance threshold DST." For example, the interlocking condition determination unit 150 may determine whether "the first operator 2F or the second operator 2S is no longer gripped by the driver DR" by using the determination of "presence or absence of grip GR" by the grip determination unit 141. Furthermore, the interlocking condition determination unit 150 may measure the distance between the operator 2 that is no longer gripped by the driver DR and the hand of the driver DR from the image captured by the camera that captures the left and right hands of the driver DR. The interlocking condition determination unit 150 compares the measured “distance between the operator 2 that is no longer held by the driver DR and the hand of the driver DR” with the distance threshold DST indicated by the threshold information TI acquired by referring to the memory unit 12. For example, when the first operator 2F or the second operator 2S is no longer held by the driver DR and the distance between the operator 2 that is no longer held and the hand of the driver DR is equal to or greater than the distance threshold DST, the interlocking condition determination unit 150 may determine that the “second release condition CC2 is satisfied.”

[0093] Steering device control unit 160 controls the steering device of vehicle control system 4, and in this embodiment, controls the steering device of vehicle control system 4 by transmitting a steering angle control signal AC to vehicle control system 4. In particular, steering device control unit 160 generates the steering angle control signal AC based on the steering operation SO (for example, the position P or rotation amount achieved by the steering operation SO) indicated by the operation amount information IO acquired by operation amount information acquisition unit 110. Specifically, steering device control unit 160 may calculate the steering amount of vehicle VH from the "position P or rotation amount" (operation amount) of operator 2 indicated by the operation amount information IO, and generate the steering angle control signal AC that instructs to achieve the calculated steering amount. As described above, the operation amount is the "position P or rotation operation amount" of operator 2 for which operation mode determination unit 140 has determined that "a steering operation SO has been performed." The steering device control unit 160 controls the steering device of the vehicle control system 4 by transmitting the generated steering angle control signal AC to the vehicle control system 4, that is, controls the traveling direction (steering angle) of the vehicle VH.

[0094] The manipulator operation control unit 170 controls the operation of at least one of the first manipulator 2F and the second manipulator 2S, for example, by moving or rotating at least one of the first manipulator 2F and the second manipulator 2S, or by fixing at least one of the first manipulator 2F and the second manipulator 2S. In particular, the manipulator operation control unit 170 controls the operation of at least one of the first manipulator 2F and the second manipulator 2S, using at least one of the determination results of the operation mode determination unit 140 (and the grip determination unit 141) and the determination result of the interlocking condition determination unit 150.

[0095] (When Two-Hand Operation is Being Performed) When the operation mode determination unit 140 determines that "the steering operation SO is being performed in the two-hand operation mode," the operator operation control unit 170 moves or rotates at least one of the first operator 2F and the second operator 2S to link the first operator 2F and the second operator 2S. That is, the operator operation control unit 170 links one of the first operator 2F and the second operator 2S to "the other operator 2 that is being moved or rotated by the steering operation SO," and moves or rotates it in a direction different from (e.g., the opposite direction from) "the direction of movement or rotation of the other operator 2" to "a position P or amount of rotation" corresponding to "the position P or amount of rotation of the other operator 2." In this embodiment, the operator operation control unit 170 links the first operator 2F and the second operator 2S to each other by transmitting a linkage instruction signal SCL to the operator processing unit 3 (particularly, the operation control unit 36).

[0096] (When One-Hand Operation is Being Performed and the Interlocking Condition is Satisfied) When the operation mode determination unit 140 determines that "the steering operation SO is being performed in the one-hand operation mode" and the interlocking condition determination unit 150 determines that "the interlocking condition LC is satisfied," the operator operation control unit 170 interlocks the first operator 2F and the second operator 2S. That is, the operator operation control unit 170 interlocks the first operator 2F and the second operator 2S by moving or rotating the "operator 2 not being used for the steering operation SO" of the first operator 2F and the second operator 2S to a "position P or rotation amount" that corresponds to the "position P or rotation amount of the operator 2 used for the steering operation SO." Specifically, the operator operation control unit 170 moves or rotates the "operator 2 not being used for the steering operation SO" in conjunction with the "operator 2 being moved or rotated by the steering operation SO," in a direction different from (e.g., the opposite direction) the "direction of movement or rotation of the operator 2 being moved or rotated by the steering operation SO," to a "position or amount of rotation" corresponding to the "position or amount of rotation of the operator 2 being moved or rotated by the steering operation SO." In the present embodiment, the operator operation control unit 170 moves or rotates the "operator 2 not being used for the steering operation SO" by transmitting an interlocking instruction signal SCL to the operation control unit 36 ​​that controls the operation of the "operator 2 not being used for the steering operation SO," thereby interlocking the first operator 2F and the second operator 2S.

[0097] (When one-handed operation is being performed and the interlocking condition is not satisfied) When the operation mode determination unit 140 determines that "the steering operation SO is being performed in the one-handed operation mode" and the interlocking condition determination unit 150 determines that "the interlocking condition LC is not satisfied," the operator operation control unit 170 locks "the operator 2 not being used for the steering operation SO" out of the first operator 2F and the second operator 2S. In the present embodiment, the operator operation control unit 170 locks "the operator 2 not being used for the steering operation SO" by transmitting a lock instruction signal SCF to the operation control unit 36 ​​that controls the operation of "the operator 2 not being used for the steering operation SO."

[0098] When the steering operation SO is performed in the one-handed operation mode and the interlocking condition LC is not satisfied, the operator operation control unit 170 may fix the "operator 2 not used for the steering operation SO" in the neutral position of the "operator 2 not used for the steering operation SO." By fixing the "operator 2 not used for the steering operation SO" in the neutral position, the operator operation control unit 170 achieves the following effect. That is, the operator operation control unit 170 fixes the "operator 2 not used for the steering operation SO" in the neutral position rather than in an arbitrary position, so that the driver DR can know in advance the position at which the "operator 2 not used for the steering operation SO" is fixed. Furthermore, when the driver DR attempts to operate the "operator 2 not used for the steering operation SO (i.e., not operated)," the driver DR can immediately grasp the "operator 2 not used for the steering operation SO" fixed in the neutral position. In other words, since the operator 2 that the driver DR has not operated until then is fixed in the neutral position, when the driver DR wishes to operate the operator 2, he or she can immediately grasp the operator 2 and operate the operator 2.

[0099] As described above, when a steering operation SO is performed in the one-handed operation mode and the interlocking condition LC is satisfied, the operator operation control unit 170 interlocks the first operator 2F and the second operator 2S with each other. When the interlocking condition determination unit 150 determines that "the first interlocking condition LC1 is satisfied," the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S. In other words, when the operation amount of the steering operation SO performed in the one-handed operation mode (the position P or the rotation amount of the operator 2 due to the steering operation SO) is equal to or greater than the operation amount threshold OAT, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S.

[0100] In the example shown in Fig. 4A, the driver DR performs a steering operation SO using both the first operator 2F and the second operator 2S, that is, the steering operation SO is performed in a two-handed operation mode. Therefore, the first operator 2F and the second operator 2S operate in conjunction with each other through the above-described control by the operator operation control unit 170. In Fig. 4A, the first operator 2F and the second operator 2S are moved in opposite directions (in the illustrated example, the first operator 2F moves forward and the second operator 2S moves backward) to corresponding positions P (in the illustrated example, positions where the movement amounts of each operator 2 from the neutral position are the same).

[0101] In the example shown in (B1) of FIG. 4, the driver DR performs the steering operation SO using only the second operator 2S. That is, only the second steering operation SOS is performed, and the steering operation SO is performed in a one-handed operation mode. The position P (second position PS) of the second operator 2S, in other words, the operation amount of the second steering operation SOS is less than the operation amount threshold OAT. Therefore, the operator operation control unit 170 fixes the first operator 2F, which is not used for the steering operation SO, without interlocking it with the second operator 2S, which is used for the steering operation SO. In the example shown, the first operator 2F is fixed in the neutral position of the first operator 2F.

[0102] In the example shown in (B2) of FIG. 4 , the driver DR performs a steering operation SO using only the second operator 2S, but the second position PS of the second operator 2S is equal to or greater than the operation amount threshold OAT. Therefore, the operator operation control unit 170 links the first operator 2F, which is not used for the steering operation SO, to the second operator 2S, which is used for the steering operation SO. In (B2) of FIG. 4 , the first operator 2F is moved to a position corresponding to the "second position PS of the second operator 2S" in the direction opposite to the moving direction of the second operator 2S (forward in the illustrated example). In the illustrated example, the first operator 2F is moved so that the "amount of movement of the second operator 2S used for the steering operation SO from the neutral position of the second operator 2S" corresponds to (e.g., equal to) the "amount of movement of the first operator 2F not used for the steering operation SO from the neutral position of the first operator 2F."

[0103] When the steering operation SO is performed in the one-hand operation mode, the operator operation control unit 170 interlocks the first operator 2F and the second operator 2S with each other only when a first interlocking condition LC1, which states that "the operation amount of the steering operation SO performed in the one-hand operation mode is equal to or greater than the operation amount threshold OAT," is satisfied. This allows the operator operation control unit 170 to achieve the following effect. That is, unless the first interlocking condition LC1 is satisfied, the operator operation control unit 170 fixes the operator 2 not being used for the steering operation SO, thereby reducing the possibility of the operator 2 not being used for the steering operation SO coming into contact with the driver DR's hand, arm, or the like. Therefore, the operator operation control unit 170 can reduce the possibility of the driver DR unintentionally operating the operator 2 not being used for the steering operation SO due to contact between the driver DR's hand, arm, or the like and the operator 2 not being used for the steering operation SO. In particular, it is believed that the hand, arm, etc. of the driver DR that is not operating the operator 2 is often located near, for example, the "neutral position of the operator 2 not used for the steering operation SO." Therefore, when the steering operation SO is performed in a one-handed operation mode with a small amount of operation (i.e., the operator 2 used for the steering operation SO is moved a small amount from the neutral position), if the "operator 2 not used for the steering operation SO" is linked to the "operator 2 used for the steering operation SO," the following event is likely to occur. That is, there is a high possibility that the hand, arm, etc. of the driver DR that is not operating the operator 2 will come into contact with the "operator 2 not used for the steering operation SO," which is moved a small amount from the neutral position in linkage with the "operator 2 used for the steering operation SO" (see (B1) in FIG. 4). In contrast, when the amount of steering operation SO performed in the one-hand operation mode is large (i.e., the amount of movement of the operator 2 used for the steering operation SO from the neutral position is large), the possibility of the above-mentioned contact occurring is low even if the "operator 2 not used for the steering operation SO" is linked to the "operator 2 used for the steering operation SO" (see (B2) in FIG. 4). Therefore, when the steering operation SO is performed in the one-hand operation mode and the amount of operation of the steering operation SO performed in the one-hand operation mode is less than the operation amount threshold OAT, the operator operation control unit 170 fixes the operator 2 not used for the steering operation SO.In other words, when the operator operation control unit 170 determines that there is a high possibility that the "operator 2 not used for the steering operation SO" will come into contact with the hand, arm, or the like of the driver DR when the "operator 2 not used for the steering operation SO" is linked to the "operator 2 used for the steering operation SO," the operator operation control unit 170 fixes the "operator 2 not used for the steering operation SO." Through this control, the operator operation control unit 170 can reduce the possibility that the hand, arm, or the like of the driver DR will come into contact with the "operator 2 not used for the steering operation SO." Furthermore, when there is a low possibility that the "operator 2 not used for the steering operation SO" will come into contact with the hand, arm, or the like of the driver DR even when the "operator 2 not used for the steering operation SO" is linked to the "operator 2 used for the steering operation SO," the operator operation control unit 170 links the two operators 2. Specifically, even when the steering operation SO is performed in one-handed operation mode, the operator operation control unit 170 links the first operator 2F and the second operator 2S to each other by determining that "the operation amount of the steering operation SO performed in one-handed operation mode is equal to or greater than the operation amount threshold OAT."

[0104] Furthermore, cases in which "the operation amount of the steering operation SO is equal to or greater than the operation amount threshold OAT" are expected to include cases in which the vehicle VH is parked or the driver makes a large turn around a sharp curve. After such a steering operation SO, it is preferable for the driver DR to be able to return the steering wheel with both hands. In other words, there is a high possibility that the driver DR's operation mode will change from a one-handed operation mode to a two-handed operation mode. Therefore, when the operation amount of the steering operation SO is equal to or greater than the operation amount threshold OAT, the operator operation control unit 170 pre-links the "operator 2 not used for the steering operation SO" to the "operator 2 used for the steering operation SO." By this linkage, the operator operation control unit 170 makes it easy for the driver DR to change the operation mode from one-handed operation to two-handed operation. For example, the driver DR can easily return the steering wheel that has been turned significantly with both hands.

[0105] The operator operation control unit 170 may link the first operator 2F and the second operator 2S when the linkage condition determination unit 150 determines that the second linkage condition LC2 is satisfied. In other words, the operator operation control unit 170 may link the first operator 2F and the second operator 2S when the vehicle body lateral acceleration, which is the lateral acceleration acting on the vehicle body of the vehicle VH, is equal to or greater than the lateral acceleration threshold HAT.

[0106] An example of a case where "the vehicle body lateral acceleration of the vehicle VH is equal to or greater than the lateral acceleration threshold HAT" is when the vehicle VH makes a large steering turn around a sharp curve, etc. When the vehicle body lateral acceleration of the vehicle VH is equal to or greater than the lateral acceleration threshold HAT, the operator operation control unit 170 pre-links the "operator 2 not being used for the steering operation SO" to the "operator 2 being used for the steering operation SO." By linking them in this way, the operator operation control unit 170 makes it easy for the driver DR to change the operation mode from one-handed operation to two-handed operation, and for example, the driver DR can easily use both hands to return the steering wheel to its original position after a large turn.

[0107] The operator operation control unit 170 may interlock the first operator 2F and the second operator 2S when the interlocking condition determination unit 150 determines that the third interlocking condition LC3 is satisfied. In other words, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S when the difference between the load applied to the right side and the load applied to the left side of the driver's seat is equal to or greater than the load threshold LOT.

[0108] Examples of cases in which the "difference between the load on the right side of the driver's seat and the load on the left side" is equal to or greater than the load threshold LOT include cases in which the vehicle VH is parked or the vehicle makes a large turn around a sharp curve. When the "difference between the load on the right side of the driver's seat and the load on the left side" is equal to or greater than the load threshold LOT, the operator operation control unit 170 pre-links the "operator 2 not being used for steering operation SO" to the "operator 2 being used for steering operation SO." This linking allows the operator operation control unit 170 to easily change the operation mode from one-handed operation to two-handed operation, allowing the driver DR to easily use both hands to return the steering wheel to its original position after a large turn, for example.

[0109] The operator operation control unit 170 may interlock the first operator 2F and the second operator 2S when the interlocking condition determination unit 150 determines that the "fourth interlocking condition LC4 is satisfied." In other words, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S when the radius of curvature of the curve into which the vehicle VH is scheduled to enter is equal to or smaller than the curvature radius threshold CRT.

[0110] When "the radius of curvature of the curve into which the vehicle VH is scheduled to enter is equal to or less than the curvature radius threshold CRT," it is assumed that the driver DR will make a large steering turn on the curve. When the vehicle body lateral acceleration of the vehicle VH is equal to or greater than the lateral acceleration threshold HAT, the operator operation control unit 170 pre-links the "operator 2 not being used for the steering operation SO" to the "operator 2 being used for the steering operation SO." By linking them, the operator operation control unit 170 makes it easy for the driver DR to change the operation mode from one-handed operation to two-handed operation, and, for example, the driver DR can easily make a large steering turn with both hands.

[0111] When the interlocking condition determination unit 150 determines that the fifth interlocking condition LC5 is satisfied, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S. In other words, when the operator operation control unit 170 receives a user operation from the driver DR instructing the interlocking of the first operator 2F and the second operator 2S, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S.

[0112] When "a user operation instructing interlocking of the first operator 2F and the second operator 2S is received from the driver DR," it is considered that the possibility of the driver DR accidentally contacting the "operator 2 not used for the steering operation SO" with the driver's hand, arm, or the like is low. Therefore, when the above-mentioned user operation is performed, the operator operation control unit 170 interlocks the "operator 2 not used for the steering operation SO" with the "operator 2 used for the steering operation SO." By this interlocking, the operator operation control unit 170 can interlock the first operator 2F and the second operator 2S in accordance with the driver DR's instruction while avoiding unintended contact between the "operator 2 not used for the steering operation SO" and the driver's hand, arm, or the like.

[0113] When the interlocking condition determination unit 150 determines that the sixth interlocking condition LC6 is satisfied, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S. In other words, when a state in which neither the first operator 2F nor the second operator 2S is grasped by the driver DR continues for a non-grasp reference time NGT or longer, the operator operation control unit 170 may interlock the first operator 2F and the second operator 2S.

[0114] When "a state in which neither the first operator 2F nor the second operator 2S is grasped by the driver DR continues for at least the non-grasping reference time NGT," it is unclear whether the driver DR plans to use the first operator 2F or the second operator 2S to perform the steering operation SO after this state. Therefore, the operator operation control unit 170 links the first operator 2F and the second operator 2S so that either the first operator 2F or the second operator 2S may be used for the driver DR's steering operation SO. This linkage allows the driver DR to use either the first operator 2F or the second operator 2S for the steering operation SO.

[0115] (When the operator not being operated is gripped during one-handed operation) If the operation mode determination unit 140 determines that "the steering operation SO is being performed in the one-handed operation mode" and then the grip determination unit 141 determines that "the operator 2 not being used for the steering operation SO is being gripped," the operator operation control unit 170 performs the following process. That is, the operator operation control unit 170 moves or rotates the "operator 2 not being used for the steering operation SO" to a position P or a rotation amount corresponding to the steering angle of the vehicle VH. In other words, after it is determined that the steering operation SO is being performed in the one-handed operation mode, when it is detected that "the operator 2 not being used for the steering operation SO" of the two operators 2 is being gripped by the driver DR, the operator operation control unit 170 moves or rotates the "operator 2 not being used for the steering operation SO" to a position P or a rotation amount corresponding to the steering angle of the vehicle VH. In this embodiment, the operator operation control unit 170 moves or rotates the "operator 2 not used for steering operation SO" to a position P or rotation amount corresponding to the steering angle of the vehicle VH by sending a steering angle corresponding control signal SCC to the operation control unit 36 ​​that controls the operation of the "operator 2 not used for steering operation SO."

[0116] When the driver DR grasps one of the two operators 2 that is not used for the steering operation SO during one-handed operation, it is assumed that the driver DR will start the steering operation SO using the "operator 2 that is not used for the steering operation SO." In other words, there is a high possibility that the driver DR's operation mode will change from the one-handed operation mode to the two-handed operation mode. Therefore, the operator operation control unit 170 moves or rotates the "operator 2 that is not used for the steering operation SO" to a position P or a rotation amount that corresponds to the steering angle of the vehicle VH. Through this control, the operator operation control unit 170 can eliminate the need for the driver DR to perform a preparatory operation when the driver DR attempts to change the operation mode from one-handed operation to two-handed operation, thereby enabling the driver DR to change the operation mode quickly and efficiently.

[0117] While executing the above-described process of "moving or rotating the operator 2 not used for the steering operation SO to a position P or a rotation amount corresponding to the steering angle of the vehicle VH" (the steering angle-position correspondence process), the operator operation control unit 170 may further execute the following process. That is, the operator operation control unit 170 may send an operator control signal SC (e.g., a vibration control signal instructing the operator 2 to vibrate) to the operation control unit 36 ​​that controls the operation of the operator 2 not used for the steering operation SO, thereby vibrating the operator 2 not used for the steering operation SO until the execution of the above-described "steering angle-position correspondence process" is completed. The operator operation control unit 170 may send a light-emission control signal to the operator 2 not used for the steering operation SO, thereby causing the light-emitting device of the operator 2 not used for the steering operation SO to emit light, for example, in a predetermined color, until the execution of the above-described "steering angle-position correspondence process" is completed. The operator operation control section 170 may send a shape control signal to the shape control section of the operator processing unit 3, which controls the shape of the "operator 2 not used for the steering operation SO," and change the shape of the "operator 2 not used for the steering operation SO" until the execution of the above-mentioned "steering angle-position correspondence process" is completed. Through this control, the driver DR can easily recognize that the "operator 2 not used for the steering operation SO" is moving or rotating to a position P or rotation amount that corresponds to the steering angle of the vehicle VH.

[0118] (When the release condition is satisfied after it is determined that both hands are being operated) If the operation mode determination unit 140 determines that "the steering operation SO is being performed in the two-hand operation mode" and then the interlocking condition determination unit 150 determines that "the release condition CC is satisfied," the operator operation control unit 170 releases the interlock between the first operator 2F and the second operator 2S. In this embodiment, the operator operation control unit 170 releases the interlock between the first operator 2F and the second operator 2S by stopping the transmission of the interlocking instruction signal SCL to the operator processing unit 3 (particularly the operation control unit 36).

[0119] As described above, the release conditions CC (each of the first release condition CC1 and the second release condition CC2) include "the first operator 2F or the second operator 2S no longer being held by the driver DR." Therefore, when "the release condition CC is satisfied," the operator operation control unit 170 may release the interlock between the first operator 2F and the second operator 2S, and then may move or rotate the "operator 2 no longer held by the driver DR" to the neutral position of the "operator 2 no longer held by the driver DR," and then fix it. In this embodiment, the operator operation control unit 170 may move or rotate the "operator 2 no longer held by the driver DR" to its neutral position and then fix it by transmitting a lock instruction signal SCF to the operation control unit 36 ​​that controls the operation of the "operator 2 no longer held by the driver DR."

[0120] When the interlocking condition determination unit 150 determines that the first release condition CC1 is satisfied, the operator operation control unit 170 may release the interlock between the first operator 2F and the second operator 2S. In other words, when the driver DR no longer grasps the first operator 2F or the second operator 2S and the state in which the steering angle of the vehicle VH remains constant continues for a determination duration JDT or longer, the operator operation control unit 170 may release the interlock between the first operator 2F and the second operator 2S.

[0121] A case in which "the first operator 2F or the second operator 2S is no longer being held by the driver DR and the steering angle of the vehicle VH remains constant for a period of time equal to or longer than the determination duration JDT" is assumed to be a case in which the driver DR is stably operating the vehicle VH with one hand without causing it to meander. In such a case, the driver DR is likely to continue operating the vehicle with one hand, i.e., the driver DR is expected to change the operation mode from two-handed operation to one-handed operation. Therefore, when "the first operator 2F or the second operator 2S is no longer being held by the driver DR and the steering angle of the vehicle VH remains constant for a period of time equal to or longer than the determination duration JDT," the operator operation control unit 170 releases the link between the first operator 2F and the second operator 2S and fixes the "operator 2 that is no longer being held by the driver DR." Through this control, the operator operation control unit 170 can reduce the possibility that the driver DR will unintentionally operate the "operator 2 that is not being used for steering operation SO" due to contact between the "operator 2 that is no longer being held (i.e., not being used for steering operation SO)" and the driver DR's hand, arm, etc.

[0122] When the interlocking condition determination unit 150 determines that the "second release condition CC2 is satisfied," the operator operation control unit 170 may release the interlock between the first operator 2F and the second operator 2S. In other words, when the first operator 2F or the second operator 2S is no longer held by the driver DR and the distance between the operator 2 that is no longer held and the hand of the driver DR is equal to or greater than the distance threshold DST, the operator operation control unit 170 may release the interlock between the first operator 2F and the second operator 2S.

[0123] When "the first operator 2F or the second operator 2S is no longer held by the driver DR, and the distance between the operator 2 that is no longer held and the hand of the driver DR is equal to or greater than the distance threshold DST," the driver DR is unlikely to immediately resume the steering operation SO using the operator 2 that is no longer held. In other words, it is expected that the driver DR will change the operation mode from two-handed operation to one-handed operation. Therefore, when "the first operator 2F or the second operator 2S is no longer held by the driver DR, and the distance between the operator 2 that is no longer held and the hand of the driver DR is equal to or greater than the distance threshold DST," the operator operation control unit 170 releases the link between the first operator 2F and the second operator 2S and fixes "the operator 2 that is no longer held by the driver DR." Through this control, the operator operation control unit 170 can reduce the possibility that the driver DR will unintentionally operate the "operator 2 that is not being used for steering operation SO" due to contact between the "operator 2 that is no longer being held (i.e., not being used for steering operation SO)" and the driver DR's hand, arm, etc.

[0124] (Regarding Operation Reaction Force) The operator operation control unit 170 may control the magnitude (torque) of the operation reaction force RF against the steering operation SO for each operator 2. In the present embodiment, the operator operation control unit 170 controls the torque of the operation reaction force RF by transmitting a reaction force control signal SCR to the operator processing unit 3 (particularly the operation control unit 36). For example, the operator operation control unit 170 may control the torque of the operation reaction force RF in accordance with the determination result by the operation mode determination unit 140. Specifically, the operator operation control unit 170 may switch the torque of the operation reaction force RF depending on whether the steering operation SO is performed in a two-handed operation mode or a one-handed operation mode. The operator operation control unit 170 may control the torque of the operation reaction force RF so that the torque of the operation reaction force RF when the steering operation SO is performed in the two-hand operation mode (e.g., the sum of the torque of the first operation reaction force RF1 and the torque of the second operation reaction force RF2) is larger than the magnitude of the operation reaction force RF when the steering operation SO is performed in the one-hand operation mode (e.g., the torque of the first operation reaction force RF1 or the torque of the second operation reaction force RF2). The operator operation control unit 170 may control the torque of the operation reaction force RF so that the torque of the first operation reaction force RF1 and the torque of the second operation reaction force RF2 when the steering operation SO is performed in the two-hand operation mode are each smaller than the torque of the first operation reaction force RF1 or the torque of the second operation reaction force RF2 when the steering operation SO is performed in the one-hand operation mode. By such control, the operator operation control unit 170 can apply an appropriate torque operation reaction force RF to the steering operation SO depending on whether the steering operation SO is performed in a two-handed operation mode or a one-handed operation mode.

[0125] As described above, the vehicle VH (particularly, the operator processing unit 3) may include a sensor (e.g., a torque sensor) that detects a change in the “position P or rotation amount” of the operator 2. After the operation mode determination unit 140 determines that “the steering operation SO is being performed in a one-handed operation mode,” if the torque sensor or the like detects that “the driver DR has performed a steering operation SO using an operator 2 that was not used for the steering operation SO, with an acceleration equal to or greater than a predetermined acceleration threshold,” the information processing device 1 may execute the following process. That is, the information processing device 1 may determine the possibility of a collision between the vehicle VH and an object other than the vehicle VH. For example, the information processing device 1 may perform such a determination based on the “driving environment around the vehicle VH” detected by an environment detection device (not shown). When it is determined that there is a possibility of a collision between the vehicle VH and an object other than the vehicle VH, the information processing device 1 (particularly, the operator operation control unit 170) may cause the first operator 2F and the second operator 2S to operate in conjunction with each other. Furthermore, the information processing device 1 (particularly, the steering device control unit 160) may control the steering angle of the vehicle VH using the steering operation SO that has a higher probability of avoiding the above-mentioned collision, between the steering operation SO using the first operator 2F (first steering operation SOF) and the steering operation SO using the second operator 2S (second steering operation SOS).

[0126] When there is a possibility of a collision between the vehicle VH and an object other than the vehicle VH and both of two operators 2, including an operator 2 that had not previously been used for a steering operation SO, are now used for a steering operation SO, it is desirable to interlock the two operators 2. Therefore, when the information processing device 1 detects that "the driver DR has performed a steering operation SO using an operator 2 that had not previously been used for a steering operation SO, with an acceleration equal to or greater than a predetermined acceleration threshold," and determines that there is a possibility of a collision between the vehicle VH and an object other than the vehicle VH, the information processing device 1 interlocks the first operator 2F and the second operator 2S with each other. Then, the information processing device 1 controls the steering angle of the vehicle VH using the steering operation SO that has a higher probability of avoiding the collision, out of the first steering operation SOF and the second steering operation SOS, thereby increasing the possibility of avoiding the collision.

[0127] When it is determined that there is no possibility of a collision between the vehicle VH and an object other than the vehicle VH, the information processing device 1 (particularly, the operator operation control unit 170) may maintain fixation of the operator 2 that was not being used for the steering operation SO at the time when it was determined that "the steering operation SO is being performed in the one-handed operation mode." The information processing device 1 (particularly, the steering device control unit 160) may control the steering angle of the vehicle VH by the steering operation SO of the operator 2 that was being used for the steering operation SO at the time when it was determined that "the steering operation SO is being performed in the one-handed operation mode."

[0128] When there is no possibility of a collision as described above, a steering operation SO "performed by the driver DR using an operator 2 that had not been used for a steering operation SO up until then, with an acceleration equal to or greater than a predetermined acceleration threshold" may be an erroneous operation. Therefore, the information processing device 1 can control the steering angle of the vehicle VH based on the steering operation SO for the operator 2 that has been continuously used for a steering operation SO, rather than on the steering operation SO that may be an erroneous operation.

[0129] The information processing device 1 may display, on an image display device provided in the passenger compartment of the vehicle VH, an image indicating whether the first operator 2F and the second operator 2S are interlocked. Through this processing, the information processing device 1 can notify an occupant of the vehicle VH of whether the first operator 2F and the second operator 2S are interlocked. If the first operator 2F and the second operator 2S are not interlocked, the information processing device 1 may display, on the image display device, an image indicating the first position PF or first rotation amount of the first operator 2F and the second position PS or second rotation amount of the second operator 2S. Through this processing, the information processing device 1 can notify an occupant of the vehicle VH of the position P or rotation amount of each operator 2, in addition to whether the first operator 2F and the second operator 2S are interlocked.

[0130] §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 a process of "controlling the operation of at least one of the first operator 2F and the second operator 2S." However, the processing procedure described below is merely an example, and each step may be modified as much as possible. Furthermore, steps in the processing procedure described below may be omitted, replaced, or added as appropriate depending on the embodiment.

[0131] (Step S110) In step S110, the control unit 11 acquires operation amount information IO and grip information IG. For example, the control unit 11 operates as the operation amount information acquisition unit 110 and receives the operation amount information IO from the operator processing unit 3 (particularly, the steering operation detection unit 32), and for example, periodically receives the operation amount information IO at an operation amount acquisition period. For example, the control unit 11 operates as the grip information acquisition unit 120 and receives the grip information IG from the operator processing unit 3 (particularly, the grip detection unit 34), and for example, periodically receives the grip information IG at an operation information acquisition period.

[0132] (Step S120) In step S120, the control unit 11 operates as the operation mode determination unit 140 and determines whether both hands are being operated in the vehicle VH, that is, whether the mode of the steering operation SO by the driver DR is a two-handed operation mode or a one-handed operation mode. For example, the control unit 11 determines the mode of the steering operation SO by the driver DR based on the operation amount information IO and grip information IG acquired in step S110. In this embodiment, the control unit 11 determines, for each operator 2, whether the grip information IG acquired in each grip information acquisition cycle in step S110 indicates that "a grip GR is present." Furthermore, the control unit 11 determines, for each operator 2, whether the "position PF or rotation amount in each detection cycle" indicated by the operation amount information IO acquired in each operation amount acquisition cycle in step S110 has changed. The control unit 11 determines that a steering operation SO has been performed for each operator 2 when there is gripping GR and the position PF or the amount of rotation has changed. When there is a steering operation SO (first steering operation SOF) for the first operator 2F and a steering operation SO (second steering operation SOS) for the second operator 2S, the control unit 11 determines that "both hands are being operated (i.e., the steering operation SO by the driver DR is in the two-hand operation mode)" (Yes in step S120) and proceeds to step S130. When there is only one of the first steering operation SOF and the second steering operation SOS, the control unit 11 determines that "both hands are not being operated (i.e., the steering operation SO by the driver DR is in the one-hand operation mode)" (No in step S120) and proceeds to step S210.

[0133] (Step S130) In step S130, the control unit 11 operates as the manipulator operation control unit 170, and links the first manipulator 2F and the second manipulator 2S together. In this embodiment, the control unit 11 sends a linkage instruction signal SCL to the manipulator processing unit 3, thereby linking the first manipulator 2F and the second manipulator 2S together.

[0134] (Step S140) In step S140, the control unit 11 operates as the grip determination unit 141 or the interlocking condition determination unit 150 and determines whether one of the first and second operators 2F and 2S has been released from the driver DR. If the control unit 11 determines that the first operator 2F or the second operator 2S has been released from the driver DR (Yes in step S140), the control unit 11 proceeds to step S150. If the control unit 11 determines that both the first operator 2F and the second operator 2S are being held by the driver DR (No in step S140), the control unit 11 returns to step S130 and repeats the processes of steps S130 and S140 until the control unit 11 determines that the first operator 2F or the second operator 2S has been released from the driver DR.

[0135] (Step S150) In step S150, the control unit 11 operates as the interlocking condition determination unit 150 and determines whether the cancellation condition CC is satisfied. In this embodiment, the control unit 11 determines whether at least one of the first cancellation condition CC1 and the second cancellation condition CC2 is satisfied. If it is determined that the cancellation condition CC is satisfied (Yes in step S150), the control unit 11 proceeds to step S160. If it is determined that the cancellation condition CC is not satisfied (No in step S150), the control unit 11 repeats the process of step S150 until it determines that the cancellation condition CC is satisfied.

[0136] (Step S160) In step S160, the control unit 11 operates as the operator operation control unit 170 and releases the interlock between the first operator 2F and the second operator 2S. After releasing the interlock between the first operator 2F and the second operator 2S, the control unit 11 may further move or rotate the "operator 2 that is no longer held by the driver DR" to the neutral position of the "operator 2 that is no longer held" and then fix it. In this embodiment, the control unit 11 releases the interlock between the first operator 2F and the second operator 2S by stopping the transmission of an interlock instruction signal SCL to the operator processing unit 3. Furthermore, the control unit 11 may move or rotate the "operator 2 that is no longer held" to the neutral position and then fix it by transmitting a lock instruction signal SCF to the operator processing unit 3.

[0137] In step S160, the control unit 11 may release the link between the first operator 2F and the second operator 2S if the first release condition CC1 is satisfied, which states that "the first operator 2F or the second operator 2S is no longer grasped by the driver DR and the state in which the steering angle of the vehicle VH remains constant continues for a judgment duration JDT or longer."

[0138] In step S160, the control unit 11 may release the link between the first operator 2F and the second operator 2S if the second release condition CC2 is satisfied, which is "the first operator 2F or the second operator 2S is no longer being held by the driver DR, and the distance between the operator 2 that is no longer being held and the hand of the driver DR is greater than or equal to the distance threshold DST."

[0139] (Step S210) In step S210, the control unit 11 operates as the basic information acquisition unit 130 and acquires the determination basic information IB. In this embodiment, the control unit 11 receives the determination basic information IB from the vehicle control system 4.

[0140] (Step S220) In step S220, the control unit 11 operates as the interlocking condition determination unit 150 and determines whether the interlocking condition LC is satisfied. In this embodiment, the interlocking condition LC includes at least one of the first interlocking condition LC1 to the sixth interlocking condition LC6, and, for example, the control unit 11 determines whether at least one of the first interlocking condition LC1 to the sixth interlocking condition LC6 is satisfied. If it is determined that the interlocking condition LC is satisfied (Yes in step S220), the control unit 11 proceeds to step S230. If it is determined that the interlocking condition LC is not satisfied (No in step S220), the control unit 11 proceeds to step S240.

[0141] (Step S230) In step S230, the control unit 11 operates as the operator operation control unit 170 and interlocks the first operator 2F and the second operator 2S. For example, the control unit 11 interlocks the "operator 2 not used in the steering operation SO" with the "operator 2 moved or rotated by the steering operation SO," moving or rotating the "operator 2 not used in the steering operation SO" in a direction different from (e.g., the opposite direction) the "direction of movement or rotation of the operator 2 moved or rotated by the steering operation SO" to a "position or amount of rotation" corresponding to the "position P or amount of rotation of the operator 2 moved or rotated by the steering operation SO." In this embodiment, the control unit 11 moves or rotates the "operator 2 not used in the steering operation SO" by transmitting an interlock instruction signal SCL to the operation control unit 36 ​​that controls the operation of the "operator 2 not used in the steering operation SO," thereby interlocking the first operator 2F and the second operator 2S.

[0142] If it is determined in step S220 that the first interlocking condition LC1 is satisfied, that is, "the position P or rotation amount (i.e., the operation amount of the steering operation SO) of the operator 2 used for the steering operation SO, out of the first operator 2F and the second operator 2S, is greater than or equal to the operation amount threshold OAT," the control unit 11 may interlock the first operator 2F and the second operator 2S in step S230.

[0143] If it is determined in step S220 that the second interlocking condition LC2, that is, "the vehicle body lateral acceleration of the vehicle VH is equal to or greater than the lateral acceleration threshold HAT," is satisfied, then in step S230 the control unit 11 may interlock the first operator 2F and the second operator 2S.

[0144] If it is determined in step S220 that the third linkage condition LC3, that is, "the difference between the load on the right side of the driver's seat and the load on the left side is greater than or equal to the load threshold LOT," is satisfied, then in step S230 the control unit 11 may link the first operator 2F and the second operator 2S.

[0145] If it is determined in step S220 that the fourth interlocking condition LC4, that "the radius of curvature of the curve into which the vehicle VH is scheduled to enter is less than or equal to the curvature radius threshold CRT," is satisfied, then in step S230 the control unit 11 may interlock the first operator 2F and the second operator 2S.

[0146] If it is determined in step S220 that the fifth linkage condition LC5, that is, "a user operation instructing linkage between the first operator 2F and the second operator 2S has been received," is satisfied, then in step S230 the control unit 11 may link the first operator 2F and the second operator 2S.

[0147] If it is determined in step S220 that the sixth interlocking condition LC6, that is, "the state in which neither the first operator 2F nor the second operator 2S is grasped by the driver DR continues for more than the non-grasping reference time NGT," is satisfied, then in step S230 the control unit 11 may interlock the first operator 2F and the second operator 2S.

[0148] (Step S240) In step S240, the control unit 11 operates as the operator operation control unit 170 and fixes the "operator 2 not being used for the steering operation SO" of the first operator 2F and the second operator 2S. In the present embodiment, the control unit 11 fixes the "operator 2 not being used for the steering operation SO" by sending a lock instruction signal SCF to the operation control unit 36 ​​that controls the operation of the "operator 2 not being used for the steering operation SO." In step S240, the control unit 11 may fix the "operator 2 not being used for the steering operation SO" to the neutral position of the "operator 2 not being used for the steering operation SO."

[0149] (Step S250) In step S250, the control unit 11 operates as the grip determination unit 141 and determines whether or not the driver DR has gripped an operator 2 that is not being used for the steering operation SO. If it is determined that the operator 2 that is not being used for the steering operation SO has been gripped (Yes in step S250), the control unit 11 proceeds to step S260. If it is determined that the operator 2 that is not being used for the steering operation SO has not been gripped (No in step S250), the control unit 11 returns to step S240 and repeats the processes of steps S240 and S250 until it is determined that the operator 2 that is not being used for the steering operation SO has been gripped.

[0150] (Step S260) In step S260, control unit 11 operates as operator operation control unit 170, and moves or rotates "operator 2 not being used for steering operation SO" to a position P or a rotation amount corresponding to the steering angle of vehicle VH. In the present embodiment, control unit 11 moves or rotates "operator 2 not being used for steering operation SO" to a position P or a rotation amount corresponding to the steering angle of vehicle VH by sending a steering angle-responsive control signal SCC to operation control unit 36 ​​that controls the operation of "operator 2 not being used for steering operation SO."

[0151] Although not illustrated in FIG. 5 , the control unit 11 may execute the following processing when, after determining that "the steering operation SO is being performed in a one-hand operation mode," it detects that "the driver DR has performed a steering operation SO using an operator 2 that was not used for the steering operation SO, with an acceleration equal to or greater than a predetermined acceleration threshold." That is, the control unit 11 may determine the possibility of a collision between the vehicle VH and an object other than the vehicle VH. When it determines that there is a possibility of a collision between the vehicle VH and an object other than the vehicle VH, the control unit 11 may cause the first operator 2F and the second operator 2S to operate in conjunction with each other. Then, the control unit 11 may control the steering angle of the vehicle VH using the steering operation SO that has a higher probability of avoiding the above-mentioned collision, out of the first steering operation SOF and the second steering operation SOS. When it is determined that there is no possibility of a collision between the vehicle VH and an object other than the vehicle VH, the control unit 11 may maintain the fixation of the operator 2 that was not being used for the steering operation SO at the time when it was determined that "the steering operation SO is being performed in the one-hand operation mode." The control unit 11 may also control the steering angle of the vehicle VH by the steering operation SO of the operator 2 that was being used for the steering operation SO at the time when it was determined that "the steering operation SO is being performed in the one-hand operation mode."

[0152] [Features] As described above, the information processing device 1 according to this embodiment is an information processing device that controls the operation of at least one of the first operator 2F and the second operator 2S in a vehicle VH that includes the first operator 2F and the second operator 2S, each of which can receive a steering operation SO. The information processing device 1 includes an operation mode determination unit 140, an interlocking condition determination unit 150, and an operator operation control unit 170. The operation mode determination unit 140 determines the mode of the steering operation SO performed by the driver DR and determines whether the mode of the steering operation SO is a two-handed operation mode or a one-handed operation mode. The interlocking condition determination unit 150 determines whether the interlocking condition LC is satisfied. The operator operation control unit 170 moves, rotates, or fixes at least one of the first operator 2F and the second operator 2S.

[0153] When the operation mode determination unit 140 determines that "the steering operation SO is being performed in a two-handed operation mode," the operator operation control unit 170 moves or rotates one of the first operator 2F and the second operator 2S in conjunction with "the other operator 2 that is moving or rotating by the steering operation SO," in a direction different from "the direction of movement or rotation of the other operator 2 involved," to "a position P or amount of rotation" that corresponds to "the position P or amount of rotation of the other operator 2 involved."

[0154] When the operation mode determination unit 140 determines that "the steering operation SO is being performed in a one-handed operation mode" and the interlocking condition determination unit 150 determines that "the interlocking condition LC is satisfied," the operator operation control unit 170 interlocks "the operator 2 not being used for the steering operation SO" among the first operator 2F and the second operator 2S with "the operator 2 being moved or rotated by the steering operation SO," and moves or rotates it in a direction different from "the direction of movement or rotation of the operator 2 being moved or rotated by the steering operation SO" to "a position P or amount of rotation" that corresponds to "the position P or amount of rotation of the operator 2 being moved or rotated by the steering operation SO."

[0155] When the operation mode determination unit 140 determines that "the steering operation SO is being performed in a one-handed operation mode" and the interlocking condition determination unit 150 determines that "the interlocking condition LC is not satisfied," the operator operation control unit 170 fixes "the operator 2 that is not being used for the steering operation SO" out of the first operator 2F and the second operator 2S.

[0156] The information processing method PM according to this embodiment is an information processing method that causes a processor (for example, the control unit 11 of the information processing device 1, particularly the CPU) to execute a process for controlling the operation of at least one of the first operator 2F and the second operator 2S. The information processing method PM causes the processor to execute steps S120, S130, S220, S230, and S240 illustrated in Fig. 5. In step S120, the processor determines the manner of the steering operation SO by the driver DR, and determines whether the manner of the steering operation SO is a two-handed operation manner or a one-handed operation manner. If it is determined that the steering operation SO by the driver DR is a two-handed operation mode (Yes in step S120), in step S130 the processor moves or rotates one of the first operator 2F and the second operator 2S in conjunction with the "other operator 2 that is moved or rotated by the steering operation SO" in a direction different from the "direction of movement or rotation of the other operator 2 involved," to a "position P or amount of rotation" that corresponds to the "position P or amount of rotation of the other operator 2 involved." If it is determined that the steering operation SO by the driver DR is a one-handed operation mode (No in step S120), in step S220 the processor determines whether an interlocking condition LC is satisfied. If it is determined that the interlocking condition LC is satisfied (Yes in step S220), in step S230, the processor interlocks the "operator 2 not being used for the steering operation SO" of the first operator 2F and the second operator 2S with the "operator 2 being moved or rotated by the steering operation SO," and moves or rotates it in a direction different from the "direction of movement or rotation of the operator 2 being moved or rotated by the steering operation SO" to a "position P or rotation amount" that corresponds to the "position P or rotation amount of the operator 2 being moved or rotated by the steering operation SO." If it is determined that the interlocking condition LC is not satisfied (No in step S220), in step S240, the processor fixes the "operator 2 not being used for the steering operation SO" of the first operator 2F and the second operator 2S.

[0157] As described above, when the steering operation SO is being performed in the one-handed operation mode, the information processing device 1 (information processing method PM) basically does not interlock the first operator 2F and the second operator 2S, and fixes the operator 2 that is not being used for the steering operation SO. Therefore, the information processing device 1 (information processing method PM) can reduce the possibility that the driver's hand, arm, or the like comes into contact with an operator that is moving even though it is not being used for operation, and the driver unintentionally operates the operator. The information processing device 1 (information processing method PM) can reduce the possibility that the driver DR unintentionally operates the operator 2 that is not being used for the steering operation SO, and the like, comes into contact with the driver's hand, arm, or the like.

[0158] Furthermore, even when the steering operation SO is performed in the one-hand operation mode, the information processing device 1 (information processing method PM) interlocks the first operator 2F and the second operator 2S when an interlocking condition LC is satisfied. Even when the steering operation SO is performed in the one-hand operation mode, the information processing device 1 (information processing method PM) interlocks the first operator 2F and the second operator 2S appropriately depending on the situation, that is, when the interlocking condition LC is satisfied, the information processing device 1 (information processing method PM) interlocks the first operator 2F and the second operator 2S. The information processing device 1 (information processing method PM) enables the driver DR to flexibly change the operation mode while suppressing the possibility of erroneous operation of an "operator 2 not used for the steering operation SO," thereby enabling, for example, the driver DR to change the operation mode promptly and efficiently.

[0159] §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.

[0160] 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.

[0161] REFERENCE SIGNS LIST 1...information processing device, 2...operator, 2F...first operator (first operator), 2S...second operator (second operator), 140...operation mode determination unit, 150...interlocking condition determination unit, 170...operator operation control unit, CRT...curvature radius threshold, DR...driver, DST...distance threshold, HAT...lateral acceleration threshold, JDT...determination duration, LC...interlocking condition, LC1...first interlocking condition, LC2...second interlocking condition, LC3...third interlocking condition, LC4...fourth interlocking condition, LC5...fifth interlocking condition, LC6...sixth interlocking condition, LOT...load threshold, NGT...non-grasp reference time, OAT...operation amount threshold, P...position, PM...information processing method, SO...steering operation, VH...vehicle

Claims

1. An information processing method for a vehicle equipped with a first operator and a second operator, each capable of receiving a steering operation, in which a processor is caused to execute processing to control the operation of at least one of the first operator and the second operator, wherein the processor: determines the manner in which the steering operation is being performed by a driver of the vehicle, by determining whether the steering operation is being performed in a two-handed operation manner in which the driver performs the steering operation using both the first operator and the second operator, or in a one-handed operation manner in which the driver performs the steering operation using only one of the first operator and the second operator; and moves, rotates, or fixes at least one of the first operator and the second operator, by If it is determined in the step of determining the mode of the steering operation that the steering operation is being performed in the two-handed operation mode, one of the first operator and the second operator is moved or rotated in a direction different from the direction of movement or rotation of the other operator, in conjunction with the other operator that is moved or rotated by the steering operation, to a position or amount of rotation corresponding to the position or amount of rotation of the other operator; if it is determined in the step of determining the mode of the steering operation that the steering operation is being performed in the one-handed operation mode, it is further determined whether a predetermined interlocking condition is satisfied; and only if it is determined that the interlocking condition is satisfied, one of the first operator and the second operator that is not being used for the steering operation is moved or rotated in a direction different from the direction of movement or rotation of the operator that is moved or rotated by the steering operation, in conjunction with the operator that is moved or rotated by the steering operation, to a position or amount of rotation corresponding to the position or amount of rotation of the operator that is moved or rotated by the steering operation; When it is determined that the interlocking condition is not satisfied, fixing one of the first operator and the second operator that is not being used for the steering operation.

2. The information processing method according to claim 1, wherein the interlocking condition includes a first interlocking condition that the position or rotation amount of the operator used for the steering operation, of the first operator and the second operator, is equal to or greater than a predetermined operation amount threshold.

3. An information processing method according to claim 1 or 2, wherein the interlocking condition includes a second interlocking condition that the vehicle body lateral acceleration, which is the lateral acceleration acting on the vehicle body, is equal to or greater than a predetermined lateral acceleration threshold.

4. An information processing method as described in claim 1 or 2, wherein the linkage condition includes a third linkage condition that the difference between the load on the right side of the driver's seat in which the driver is seated and the load on the left side of the seat is equal to or greater than a predetermined load threshold.

5. The information processing method of claim 1 or 2, wherein the processor further executes a step of acquiring route information indicating the radius of curvature of a curve that the vehicle is scheduled to enter from a car navigation system, and the linkage conditions include a fourth linkage condition that the radius of curvature is equal to or less than a predetermined curvature radius threshold.

6. An information processing method according to claim 1 or 2, wherein in the step of fixing an operator not used in the steering operation, the processor fixes the operator not used in the steering operation to a neutral position of the operator not used in the steering operation.

7. An information processing method as described in claim 1 or 2, wherein, in the step of determining the steering operation mode, after determining that the steering operation is being performed in the one-handed operation mode, if it is detected that one of the first operator and the second operator that is not being used for the steering operation is being grasped by the driver, the processor further executes a step of moving or rotating the operator that is not being used for the steering operation to a position or rotation amount corresponding to the steering angle of the vehicle.

8. An information processing method as described in claim 1 or 2, wherein the linkage condition includes a fifth linkage condition that a user operation has been received from the driver instructing the first operator and the second operator to be linked to each other.

9. An information processing method as described in claim 1 or 2, wherein the linkage condition includes a sixth linkage condition that the state in which neither the first operator nor the second operator is grasped by the driver continues for a predetermined non-grasping reference time or longer.

10. An information processing method as described in claim 1 or 2, wherein, in the step of determining the steering operation mode, after it is determined that the steering operation is being performed in the two-hand operation mode, if the first operator or the second operator is no longer held by the driver and the state in which the steering angle of the vehicle remains constant continues for a predetermined determination duration or longer, the processor further executes the steps of: releasing the link between the first operator and the second operator; and moving or rotating the first operator or the second operator that is no longer held to a neutral position and then fixing it.

11. The information processing method of claim 1 or 2, wherein, after determining in the step of determining the steering operation mode that the steering operation is being performed in the two-handed operation mode, if the first operator or the second operator is no longer grasped by the driver and the distance between the no longer grasped first operator or the second operator and the driver's hand becomes equal to or greater than a predetermined distance threshold, the processor further executes the steps of: releasing the link between the first operator and the second operator; and moving or rotating the no longer grasped first operator or the second operator to a neutral position and then fixing it.

12. The information processing method of claim 1 or 2, wherein, in the step of determining the steering operation mode, after determining that the steering operation is being performed in the one-handed operation mode, if it is detected that the driver has performed the steering operation using an operator that was not used for the steering operation, with an acceleration equal to or greater than a predetermined acceleration threshold, the processor further executes a step of determining the possibility of a collision between the vehicle and an object other than the vehicle, and if it is determined in the step of determining the possibility of a collision that there is a possibility of a collision, the processor executes the steps of: linking the first operator and the second operator with each other; and controlling the steering angle of the vehicle using the steering operation using the first operator or the steering operation using the second operator, whichever has a higher probability of avoiding the collision.

13. An information processing method as described in claim 12, wherein, when it is determined in the step of determining the possibility of a collision that there is no possibility of a collision, the processor maintains fixation of an operator that was not used for the steering operation at the time when it was determined that the steering operation was being performed in the one-handed operation mode, and controls the steering angle of the vehicle by steering the operator that was used for the steering operation at the time when it was determined that the steering operation was being performed in the one-handed operation mode.

14. An information processing device for controlling the operation of at least one of a first operator and a second operator, each of which can receive a steering operation, in a vehicle equipped with a first operator and a second operator, the information processing device comprising: an operation mode determination unit for determining the mode of the steering operation by a driver of the vehicle, the operation mode determination unit determining whether the steering operation is being performed in a two-handed operation mode in which the driver performs the steering operation using both the first operator and the second operator, or in a one-handed operation mode in which the driver performs the steering operation using only one of the first operator and the second operator; an interlocking condition determination unit for determining whether a predetermined interlocking condition is satisfied; and an operator operation control unit for moving, rotating, or fixing at least one of the first operator and the second operator, When the operation mode determination unit determines that the steering operation is being performed in the two-handed operation mode, one of the first operator and the second operator is moved or rotated in a direction different from the direction of movement or rotation of the other operator, to a position or amount of rotation corresponding to the position or amount of rotation of the other operator, in conjunction with the other operator that is moved or rotated by the steering operation; when the operation mode determination unit determines that the steering operation is being performed in the one-handed operation mode and the interlocking condition determination unit determines that the interlocking condition is satisfied, one of the first operator and the second operator that is not being used for the steering operation is moved or rotated in a direction different from the direction of movement or rotation of the operator that is moved or rotated by the steering operation, to a position or amount of rotation corresponding to the position or amount of rotation of the operator that is moved or rotated by the steering operation; an operator operation control unit that, when the operation mode determination unit determines that the steering operation is being performed in the one-handed operation mode and the interlocking condition determination unit determines that the interlocking condition is not satisfied, fixes one of the first operator and the second operator that is not being used for the steering operation.

Images