Vehicle control system, vehicle control method and program

A vehicle control system includes a display and a display controller configured to cause the display to display an image related to a state of a vehicle and perform control for switching display details to be displayed on the display when a predetermined event has occurred in the vehicle before driving assistance of the vehicle is started.

TECHNICAL FIELD

The present invention relates to a vehicle control system, a vehicle control method, and a program.

BACKGROUND ART

Research is being conducted on technology for driving a vehicle by automatically controlling at least one of acceleration, deceleration, and steering of the vehicle (hereinafter referred to as “automated driving”). In this regard, technology for changing a display form in at least one display device among a plurality of display devices mounted on a vehicle in accordance with switching between an automated driving mode and a manual driving mode has been disclosed (for example, see Patent Literature 1).

CITATION LIST

Patent Literature

SUMMARY OF INVENTION

Technical Problem

However, in the conventional technology, because a start timing of automated driving is the same as a switching timing of a display form of a display device, it may not be possible to notify an occupant that a vehicle is in a situation in which driving assistance can be executed.

The present invention has been made in view of such circumstances and an objective of the present invention is to provide a vehicle control system, a vehicle control method, and a program capable of notifying an occupant that a vehicle can execute driving assistance before the start of control.

Solution to Problem

(1): There is provided a vehicle control system including: a display (450or460); and a display controller (120) configured to cause the display to display an image related to a state of a vehicle and perform control for switching display details to be displayed on the display when a predetermined event has occurred in the vehicle before driving assistance of the vehicle is started.

(2): In (1), the vehicle control system further includes an operator (410) configured to receive an operation from an occupant of the vehicle, wherein the predetermined event is a state in which a predetermined operation has been received by the operator.

(3): In (1), the display controller switches display details of the display to information about the driving assistance when the predetermined event has occurred.

(4): In (3), the vehicle control system further includes an external environment recognizer (321) configured to recognize at least one of another vehicle near the vehicle, an obstacle, and a road shape, wherein the display controller causes the display to display a recognition result from the external environment recognizer as the information about the driving assistance.

(5): In (3), the display controller causes an image showing a road shape in front of the vehicle and an image showing a future trajectory of the vehicle to be displayed as the information about the driving assistance on the display when the vehicle is executing the driving assistance.

(6): In (1), the display controller causes an image showing each of a plurality of types of driving assistance having different degrees of driving assistance to be displayed on the display.

(7): In (6), the display controller causes an image showing a degree of driving assistance which is being executed among the plurality of types of driving assistance having the different degrees of driving assistance to be displayed on the display when the driving assistance of the vehicle has been executed.

(8): In (1), the display controller switches the entire screen displayed on the display when the predetermined event has occurred before the driving assistance of the vehicle is started.

(9): In (1), the display controller returns the switched display details when the predetermined event has occurred to display details before switching if the driving assistance has ended.

(10): In (1), the predetermined event is a state in which an internal process necessary for the driving assistance has been completed.

(11): There is provided a vehicle control method including: displaying, by an in-vehicle computer, an image related to a state of a vehicle on a display; and switching, by the in-vehicle computer, display details to be displayed on the display when a predetermined event has occurred in the vehicle before driving assistance of the vehicle is started.

(12): There is provided a program for causing an in-vehicle computer to: display an image related to a state of a vehicle on a display; and switch display details to be displayed on the display when a predetermined event has occurred in the vehicle before driving assistance of the vehicle is started.

Advantageous Effects of Invention

According to (1) to (12), it is possible to notify an occupant that a vehicle can execute driving assistance.

DESCRIPTION OF EMBODIMENTS

Hereinafter, embodiments of a vehicle control system, a vehicle control method, and a vehicle control program of the present invention will be described with reference to the drawings. In the embodiment, a vehicle control system is applied to an automated driving vehicle in which automated driving (autonomous driving) is possible. The automated driving means that the vehicle travels in a state in which an operation of an occupant is not required in principle and is considered as a type of driving assistance. Also, the automated driving vehicle may also be driven by manual driving. In the following description, the “occupant” is assumed to be an occupant sitting in a seat of a driver, i.e., a seat where a driving operation element is provided.

In the present embodiment, for example, degrees of driving assistance include a first degree at which the driving assistance is executed by an operation of a driving assistance device such as an adaptive cruise control system (ACC) or a lane keeping assistance system (LKAS), a second degree which has a higher degree of control than the first degree and at which a surroundings monitoring obligation is imposed on the occupant to a certain degree although the automated driving is executed by automatically controlling at least one of acceleration/deceleration and steering of the vehicle in a state the occupant does not perform an operation on a driving operation element of the vehicle, and a third degree which has a higher degree of control than the second degree and at which no surroundings monitoring obligation is imposed on the occupant (or at which the surroundings monitoring obligation is lower than at the second degree). In the present embodiment, the driving assistance of the second degree and the third degree corresponds to the automated driving.

FIG. 1is a configuration diagram of a vehicle system1including a vehicle control system according to an embodiment. For example, a vehicle on which the vehicle system1is mounted (hereinafter referred to as a host vehicle M) is, for example, a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle. A driving source of the vehicle is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor is operated using electric power from an electric power generator connected to the internal combustion engine or discharge electric power of a secondary battery or a fuel cell.

For example, the vehicle system1includes a camera10, a radar device12, a finder14, a physical object recognition device16, a communication device20, a navigation device50, a map positioning unit (MPU)60, a vehicle sensor70, a driving operation element80, a vehicle interior camera90, a master controller100, a driving assistance controller200, an automated driving controller300, a human machine interface (HMI)400, a travel driving force output device500, a brake device510, and a steering device520. Such devices and equipment are connected to each other by a multiplex communication line such as a controller area network (CAN) communication line, a serial communication line, or a wireless communication network. The configuration shown inFIG. 1is merely an example, a part of the configuration may be omitted, and another configuration may be further added.

In the embodiment, for example, the “vehicle control system” includes the master controller100, the driving assistance controller200, the automated driving controller300, and the HMI400. An HMI controller120is an example of a “display controller”.

For example, the camera10is a digital camera using a solid-state imaging element such as a charge coupled device (CCD) or a complementary metal oxide semiconductor (CMOS). One or more cameras10are attached to any positions on the host vehicle M on which the vehicle system1is mounted. When the view in front of the host vehicle M is imaged, the camera10is attached to an upper part of a front windshield, a rear surface of a rearview mirror, or the like. When the view to the rear is imaged, the camera10is attached to an upper part of a rear windshield, a back door, or the like. When the view to the side is imaged, the camera10is attached to a door mirror or the like. For example, the camera10periodically and iteratively images the surroundings of the host vehicle M. The camera10may be a stereo camera.

The radar device12radiates radio waves such as millimeter waves around the host vehicle M and detects at least a position (a distance to and a direction) of a physical object by detecting radio waves (reflected waves) reflected by the physical object. One or more radar devices12are attached to any positions on the host vehicle M. The radar device12may detect a position and speed of the physical object in a frequency modulated continuous wave (FM-CW) scheme.

The finder14is a light detection and ranging or laser imaging detection and ranging (LIDAR) finder in which scattered light from irradiation light is measured and a distance to an object is detected. One or more finders14are attached to any positions on the host vehicle M.

The physical object recognition device16performs a sensor fusion process on detection results from some or all of the camera10, the radar device12, and the finder14so that a position, a type, a speed, and the like of a physical object are recognized. The physical object recognition device16outputs recognition results to the driving assistance controller200and the automated driving controller300.

For example, the communication device20communicates with another vehicle that is present in the surroundings of the host vehicle M using a cellular network, a Wi-Fi network, Bluetooth (registered trademark), a dedicated short range communication (DSRC), or the like, or communicates with various server devices via a wireless base station. Also, the communication device20communicates with a terminal possessed by a person outside the vehicle.

For example, the navigation device50includes a global navigation satellite system (GNSS) receiver51, a navigation HMI52, and a route determiner53, and stores first map information54in a storage device such as a hard disk drive (HDD) or a flash memory. The GNSS receiver51identifies the position of the host vehicle M on the basis of a signal received from a GNSS satellite. The position of the host vehicle M may be identified or supplemented by an inertial navigation system using an output of the vehicle sensor70. The navigation HMI52includes a display device, a speaker, a touch panel, a key, and the like. A part or all of the navigation HMI52may be shared with the HMI400that will be described below. For example, the route determiner53may determine a route from the position of the host vehicle M identified by the GNSS receiver51(or any input position) to a destination input by the occupant using the navigation HMI52(for example, including information about a via-point when the vehicle travels to the destination) by referring to the first map information54. For example, the first map information54is information in which a road shape is expressed by a link indicating a road and nodes connected by the link. The first map information54may include a curvature of the road, point of interest (POI) information, or the like. The route determined by the route determiner53is output to the MPU60. Also, the navigation device50may perform route guidance using the navigation HMI52on the basis of the route determined by the route determiner53. Also, for example, the navigation device50may be implemented by a function of a terminal device such as a smartphone or a tablet terminal possessed by the user. Also, the navigation device50may transmit the current position and the destination to a navigation server via the communication device20and acquire the route returned from the navigation server.

For example, the MPU60functions as a recommended lane determiner61and holds second map information62in the storage device such as an HDD or a flash memory. The recommended lane determiner61divides the route provided from the navigation device50into a plurality of blocks (for example, divides the route into intervals of 100 [m] with respect to a vehicle progress direction), and determines a recommended lane for each block by referring to second map information62. The recommended lane determiner61determines what number lane the vehicle travels on from the left. When a branching position, a merging position, or the like is present on the route, the recommended lane determiner61determines the recommended lane so that the host vehicle M may travel on a reasonable travel route for progressing to a branch destination.

The second map information62is map information with accuracy higher than that of the first map information54. For example, the second map information62may include information about the center of a lane or information about a boundary of a lane. The second map information62may include road information, traffic regulations information, address information (an address and a postal code), facility information, telephone number information, and the like. The road information includes information indicating a type of a road such as an expressway, a toll road, a national highway, a prefectural road, or information about the number of lanes on the road, the area of an emergency parking zone, the width of each lane, a gradient of the road, the position of the road (three-dimensional coordinates including the longitude, the latitude, and the height), the curvature of a curve of a lane, the positions of merging and branching points of a lane, a sign provided on the road, and the like. The second map information62may be updated at any time by accessing another device using the communication device20.

The vehicle sensors70include a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular speed around a vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

For example, the driving operation elements80may include an accelerator pedal, a brake pedal, a shift lever, a steering wheel, and other operation elements. An operation sensor that detects an operation amount or the presence or absence of an operation is attached to the driving operation elements80. A detection result of the operation sensor is output to any one or more of the master controller100, the driving assistance controller200, the automated driving controller300, the travel driving force output device500, the brake device510, and the steering device520.

For example, the vehicle interior camera90may image a face of the occupant (in particular, the occupant sitting in the seat of the driver) sitting in the seat installed in the interior of the vehicle. The vehicle interior camera90is a digital camera using a solid-state imaging element such as a CCD or a CMOS. For example, the vehicle interior camera90may periodically image the occupant. A captured image of the vehicle interior camera90is output to the master controller100.

[Various Types of Control Devices]

For example, the vehicle system1includes the master controller100, the driving assistance controller200, and the automated driving controller300as a part of a configuration of a control system. Also, the master controller100may be integrated into either one of the driving assistance controller200and the automated driving controller300.

The master controller100performs switching of a degree of driving assistance, control of the HMI400related thereto, and the like. For example, the master controller100includes a switching controller110, the HMI controller120, an operation element state determiner130, and an occupant state monitor140. Each of the switching controller110, the HMI controller120, the operation element state determiner130, and the occupant state monitor140is implemented by a processor such as a central processing unit (CPU) executing a program. Some or all of such functional parts may be implemented by hardware such as large scale integration (LSI), an application specific integrated circuit (ASIC), or a field-programmable gate array (FPGA), or may be implemented by cooperation between software and hardware.

For example, the switching controller110performs switching of the degree of driving assistance on the basis of an operation signal input from a predetermined switch (for example, a main switch and an auto switch that will be described below) included in the HMI400. Also, for example, the switching controller110may cancel the driving assistance and perform switching to manual driving on the basis of an acceleration, deceleration, or steering instruction operation on the driving operation element80such as the acceleration pedal, the brake pedal, or the steering wheel. Details of a function of the switching controller110will be described below.

Also, the switching controller110may perform switching of the degree of driving assistance on the basis of an action plan generated by an action plan generator323. For example, the switching controller110may end the driving assistance at a scheduled end point of the automated driving specified by the action plan.

The HMI controller120causes the HMI400to output a notification or the like related to switching of the degree of driving assistance. Also, when a predetermined event related to the host vehicle M has occurred, the HMI controller120switches details to be output to the HMI400. Also, the HMI controller120may cause the HMI400to output information about determination results from one or both of the operation element state determiner130and the occupant state monitor140. Also, the HMI controller120may output information received by the HMI400to one or both of the driving assistance controller200and the automated driving controller300. Details of a function of the

For example, the operation element state determiner130determines whether or not the steering wheel included in the driving operation elements80is being operated (specifically, a state is assumed to be an immediately operable state or a gripped state when the driver is actually performing an intentional operation). Details of a function of the operation element state determiner130will be described below.

The occupant state monitor140monitors a state of at least the occupant sitting in the seat of the driver of the host vehicle M on the basis of a captured image of the vehicle interior camera90. For example, the occupant state monitor140may determine whether or not the occupant is monitoring the surroundings of the host vehicle M as one type of monitoring. Details of a function of the occupant state monitor140will be described below.

The driving assistance controller200executes driving assistance of a first degree. For example, the driving assistance controller200executes ACC, LKAS, and other driving assistance control. For example, when ACC is executed, the driving assistance controller200controls the travel driving force output device500and the brake device510so that the host vehicle M travels in a state in which an inter-vehicle distance is uniformly maintained between the host vehicle M and a preceding traveling vehicle on the basis of information input from the camera10, the radar device12, and the finder14via the physical object recognition device16. That is, the driving assistance controller200performs acceleration and deceleration control (speed control) based on the inter-vehicle distance from the preceding traveling vehicle. Also, when LKAS is executed, the driving assistance controller200controls the steering device520so that the host vehicle M travels while maintaining a travel lane in which the host vehicle M is currently traveling (lane keeping). That is, the driving assistance controller200performs steering control for the lane keeping. The driving assistance of the first degree may include various types of control other than the automated driving (the second degree and the third degree) that do not request the occupant to operate the driving operation element80.

The automated driving controller300executes the driving assistance of the second degree and the third degree. For example, the automated driving controller300includes a first controller320and a second controller340. Each of the first controller320and the second controller340is implemented by a processor such as a CPU executing a program. Some or all of such functional parts may be implemented by hardware such as LSI, an ASIC, or an FPGA, or may be implemented by cooperation between software and hardware.

For example, the first controller320includes an external environment recognizer321, a host vehicle position recognizer322, and the action plan generator323.

The external environment recognizer321recognizes a state such as the position, the speed, or the acceleration of a nearby vehicle on the basis of information input from the camera10, the radar device12, and the finder14via the physical object recognition device16. The position of a nearby vehicle may be indicated by a representative point such as a center of gravity or a corner of the nearby vehicle or may be indicated by a region expressed by an outline of the nearby vehicle. The “state” of the nearby vehicle may include acceleration or jerk of the nearby vehicle, or an “action state” (for example, whether or not a lane change is being made or intended).

The external environment recognizer321may recognize at least one of the above-described nearby vehicle, an obstacle (for example, a guardrail, a utility pole, a parked vehicle, or a person such as a pedestrian), a road shape, and other physical objects.

For example, the host vehicle position recognizer322recognizes a lane (a travel lane) in which the host vehicle M is traveling and a relative position and an orientation of the host vehicle M related to the travel lane. For example, the host vehicle position recognizer322may recognize the travel lane by comparing a pattern of a road dividing line (for example, an arrangement of solid lines and broken lines) obtained from the second map information62with a pattern of a road dividing line in the vicinity of the host vehicle M recognized from an image captured by the camera10. For the recognition, a position of the host vehicle M acquired from the navigation device50and a processing result from the INS may be added.

For example, the host vehicle position recognizer322recognizes the position and the orientation of the host vehicle M with respect to the travel lane.FIG. 2is a diagram showing a state in which a relative position and an orientation of the host vehicle M related to a travel lane L1are recognized by the host vehicle position recognizer322. For example, the host vehicle position recognizer322recognizes a deviation OS from a travel lane center CL of a reference point (for example, a center of gravity) of the host vehicle M and an angle θ formed with respect to a line connecting the travel lane center CL to a traveling direction of the host vehicle M as the relative position and the orientation of the host vehicle M with respect to the travel lane L1. Also, alternatively, the host vehicle position recognizer322may recognize the position or the like of the reference point of the host vehicle M with respect to a side end of the travel lane L1as the relative position of the host vehicle M related to the travel lane. The relative position of the host vehicle M recognized by the host vehicle position recognizer322is provided to the recommended lane determiner61and the action plan generator323.

The action plan generator323generates an action plan for the host vehicle M to perform automated driving to a destination, or the like. For example, the action plan generator323may determine events to be sequentially executed in automated driving control so that the host vehicle M can travel in a recommended lane determined by the recommended lane determiner61and adapt to a surrounding situation with respect to the host vehicle M. For example, in the automated driving of the embodiment, the event includes a constant-speed travel event for traveling in the same travel lane at a constant speed, a low-speed following event for following the preceding traveling vehicle in the condition of a low speed (for example, 60 [km/h] or less), a lane change event for changing the travel lane of the host vehicle M, an overtaking event for overtaking the preceding traveling vehicle, a merging event for merging a vehicle at a merge point, a branching event for causing the host vehicle M to travel in a target direction at a branch point of the road, an emergency stop event for performing emergency stopping of the host vehicle M, and the like. In some cases, during the execution of such events, an action for avoidance may be planned on the basis of the surrounding situation (the presence of a nearby vehicle or a pedestrian, lane narrowing due to a roadwork, or the like) of the host vehicle M.

The action plan generator323generates a target trajectory along which the host vehicle M will travel in the future. The target trajectory is expressed by sequentially arranging points (trajectory points) which the host vehicle M will reach. A trajectory point is a point which the host vehicle M is required to reach at each of predetermined travel distances. Alternatively, a target speed and target acceleration for each of predetermined sampling times (for example, about every one tenth of a second [sec]) may be generated as a part of the target trajectory. Also, the trajectory point may be a position which the host vehicle M is required to reach at a sampling time of each predetermined sampling time. In this case, information about the target speed and the target acceleration is expressed by an interval between the trajectory points.

FIG. 3is a diagram showing a state in which the target trajectory is generated on the basis of the recommended lane. As shown inFIG. 3, the recommended lane is set so that traveling to the destination along the route is convenient. When the vehicle reaches a position at a predetermined distance before a point of switching to the recommended lane (the position may be determined according to the type of event), the action plan generator323may start a lane change event, a branching event, a merging event, or the like. During the execution of each event, when it is necessary to avoid an obstacle, an avoidance trajectory is generated as shown inFIG. 3.

Also, when a lane change event is started, the action plan generator323generates the target trajectory for the lane change.FIGS. 4 and 5are explanatory diagrams showing a process when the lane is changed. First, the action plan generator323selects two nearby vehicles from nearby vehicles which are traveling in an adjacent lane L2which is an adjacent lane adjacent to the lane (host vehicle lane) L1in which the host vehicle M travels and which is a lane change destination, and sets a lane change target position TAs between these two nearby vehicles. In the following description, a nearby vehicle that travels immediately before the lane change target position TAs in the adjacent lane will be referred to as a front reference vehicle mB, and a nearby vehicle that travels immediately after the lane change target position TAs in the adjacent lane will be referred to as a rear reference vehicle mC. The lane change target position TAs is a relative position based on a positional relationship between the host vehicle M, the front reference vehicle mB, and the rear reference vehicle mC.

In the example ofFIG. 4, a state in which the action plan generator323sets the lane change target position TAs is shown. InFIG. 4, a reference sign mA denotes the preceding traveling vehicle, a reference sign mB denotes the front reference vehicle, and a reference sign mC denotes the rear reference vehicle. Also, an arrow d denotes a progress (traveling) direction of the host vehicle M. In the case of the example ofFIG. 4, the action plan generator323sets the lane change target position TAs between the front reference vehicle mB and the rear reference vehicle mC in the adjacent lane L2.

Next, the action plan generator323determines whether or not a primary condition for determining whether or not the lane change is possible has been satisfied at the lane change target position TAs (i.e., the position between the front reference vehicle mB and the rear reference vehicle mC).

For example, the primary condition may be a condition in which there is no part of the nearby vehicle in a prohibition area RA provided in the adjacent lane and collision margin times TTC between the host vehicle M and the front reference vehicle mB and between the host vehicle M and the rear reference vehicle mC are larger than a threshold value. Also, this determination condition is an example of a case in which the lane change target position TAs is set to the side of the host vehicle M. When the primary condition has not been satisfied, the action plan generator323resets the lane change target position TAs. At this time, the host vehicle M may wait until a timing at which the lane change target position TAs satisfying the primary condition can be set or perform speed control for moving to the side of the lane change target position TAs by changing the lane change target position TAs.

As shown inFIG. 4, for example, the action plan generator323projects the host vehicle M onto the lane L2of the lane change destination of the host vehicle M and sets the prohibition area RA having a slight margin distance in front of and behind the prohibition area RA. The prohibition area RA is set as an area extending from one end to the other end in a lateral direction of the lane L2.

When there is no nearby vehicle in the prohibition area RA, for example, the action plan generator323assumes an extension line FM and an extension line RM that respectively extend virtually from the front end and the rear end of the host vehicle M to the side of the lane L2which is the lane change destination. The action plan generator323calculates collision margin time TTC(B) between the extension line FM and the front reference vehicle mB and collision margin time TTC(C) between the extension line RM and the rear reference vehicle mC. The collision margin time TTC(B) is time derived by dividing the distance between the extension line FM and the front reference vehicle mB by a relative speed of the host vehicle M and the front reference vehicle mB. The collision margin time TTC(C) is time derived by dividing the distance between the extension line RM and the rear reference vehicle mC by a relative speed of the host vehicle M and the rear reference vehicle mC. When the collision margin time TTC(B) is larger than a threshold value Th(B) and the collision margin time TTC(C) is larger than a threshold value Th(C), a trajectory generator118determines that the primary condition is satisfied. The threshold values Th(B) and Th(C) may be the same value or different values.

When the primary condition is satisfied, the action plan generator323generates a trajectory candidate for the lane change. In the example ofFIG. 5, the action plan generator323assumes that the preceding traveling vehicle mA, the front reference vehicle mB, and the rear reference vehicle mC travel in a predetermined speed model, and generates trajectory candidates so that the host vehicle M does not interfere with the preceding traveling vehicle mA and is positioned between the front reference vehicle mB and the rear reference vehicle mC at a certain future time on the basis of the speed model of these three vehicles and the speed of the host vehicle M. For example, the action plan generator323may smoothly connect the current position of the host vehicle M, the position of the front reference vehicle mB at any future time, the center of the lane of the lane change destination, and an end point of the lane change to each other, using a polynomial curve such as a spline curve, and dispose a predetermined number of trajectory points K on the curve at equal intervals or unequal intervals. At this time, the action plan generator323generates a trajectory so that at least one of the trajectory points K is disposed at the lane change target position TAs.

In various types of scenes, the action plan generator323generates a plurality of target trajectory candidates and selects an optimum target trajectory appropriate for the route to the destination at that time point.

For example, the second controller340may include a travel controller342. The travel controller342controls the travel driving force output device500, the brake device510, and the steering device520so that the host vehicle M passes through the target trajectory generated by the action plan generator323according to a scheduled time.

The HMI400presents various types of information to the occupant in the vehicle and receives an input operation from the occupant. For example, the HMI400may include some or all of various types of display devices, a light emitter, a speaker, a buzzer, a touch panel, various types of operation switches, a key, and the like. Also, the HMI400may include a part of a seat belt device that holds the occupant by means of a seat belt in a state in which the occupant sits on the seat. Details of a function of the HMI400will be described below.

The travel driving force output device500outputs a travel driving force (torque) for enabling the vehicle to travel to driving wheels. For example, the travel driving force output device500may include a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an electronic control unit (ECU) that controls the internal combustion engine, the electric motor, the transmission, and the like. The ECU controls the above-described components in accordance with information input from the travel controller342or information input from the driving operation element80.

For example, the brake device510includes a brake caliper, a cylinder that transfers oil pressure to the brake caliper, an electric motor that generates the oil pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor in accordance with information input from the travel controller342or information input from the driving operation element80, so that the brake torque according to the control operation is output to each wheel. The brake device510may include a mechanism for transferring the oil pressure generated by the operation of the brake pedal included in the driving operation element80to the cylinder via a master cylinder as a backup. Also, the brake device510is not limited to the configuration described above and may be an electronically controlled hydraulic brake device that controls an actuator in accordance with the information input from the travel controller342or the information input from the driving operation element80to transfer the oil pressure of the master cylinder to the cylinder. Also, the brake device510includes a plurality of types of brake devices using oil pressure, electric power, and the like.

For example, the steering device520includes a steering ECU and an electric motor. For example, the electric motor changes the direction of steerable wheels by applying a force to a rack and pinion mechanism. The steering ECU changes the direction of the steerable wheels by driving the electric motor in accordance with the information input from the travel controller342or the information input from the driving operation element80.

Also, during the manual driving, the information input from the driving operation element80is directly output to the travel driving force output device500, the brake device510, and the steering device520. Also, the information input from the driving operation element80may be output to the travel driving force output device500, the brake device510, and the steering device520via the automated driving controller300. Each ECU of the travel driving force output device500, the brake device510, and the steering device520performs each of operations on the basis of the information input from the driving operation element80and the like.

Hereinafter, a configuration example of the HMI400according to an embodiment will be described.FIG. 6is a diagram showing an example of the HMI400in the host vehicle M. For example, the HMI400includes a first operator410, a second operator420, light emitters430R and430L, a third operator440, a first display450, a head-up display (HUD) (a second display)460, and a third display470.

The first operator410, the second operator420, and the light emitters430R and430L are provided in a steering wheel82that is one of the driving operation elements80. Also, the steering wheel82is provided with a grip sensor82A. For example, the grip sensor82A may be an electrostatic capacitance sensor provided in a circumferential direction of the steering wheel82. The grip sensor82A detects a physical object approaching or coming into contact with an area of a detection target as a change in electrostatic capacitance. When the electrostatic capacitance is equal to or greater than a threshold value, the grip sensor82A outputs a predetermined detection signal to the operation element state determiner130of the master controller100. For example, the threshold value may be set to a value less than electrostatic capacitance generated when the occupant grips the steering wheel82. Also, the grip sensor82A may output the detection signal indicating the electrostatic capacitance to the operation element state determiner130regardless of whether or not the electrostatic capacitance is equal to or greater than the threshold value.

For example, the first operator410includes a main switch412and an auto switch414. The main switch412is a switch for setting the driving assistance in a state in which the driving assistance can be started. In other words, the main switch412is a switch for starting a process (an internal process) in a preparation step before the driving assistance is executed to be described below or a switch for determining whether or not it is possible to start the driving assistance.

When the main switch412is operated, the host vehicle M performs the process in the preparation step before executing the driving assistance (the internal process) without immediately starting the execution of the driving assistance. For example, the process in the preparation step is a start of a process of physical object recognition (specifically, a start of an operation of a Kalman filter, or the like). In a state in which the main switch412is operated and the driving assistance can be started (i.e., when a certain period of time has elapsed from the operation thereon or after the internal process is completed), a control for the driving assistance is started if the auto switch414is operated. That is, the auto switch414is a switch for actually starting the driving assistance of the first degree in a state in which the driving assistance may be started.

The second operator420includes an operation switch422for starting provision of an image communication function (also referred to as a video phone function). For example, the light emitters430R and430L are disposed on a spoke portion extending from a center boss portion of the steering wheel82toward an annular rim portion. A lighting state of the light emitters430R and430L is controlled according to control of the HMI controller120.

For example, the third operator440includes a rotation operator442that protrudes to a front side from a viewpoint of the occupant and a switch operator444. The rotation operator442is formed in a substantially cylindrical shape and may be rotated around an axis line. The switch operator444is provided near the rotation operator442or on a top surface of the rotation operator442. The third operator440includes a rotation sensor (not shown) such as an encoder that detects a rotation angle and a rotation speed of the rotation operator442, and a displacement sensor (not shown) that detects the displacement of the switch operator444. The third operator440outputs detection values output from the sensors to the master controller100. The detection values output to the master controller100are used in operations of an arrow or selection button, a confirmation button, and the like output to a screen of the third display470, or selection or confirmation of an input character, and the like.

Also, the third operator440may be a so-called touch panel type operator that performs selection, confirmation operation, or the like by touching a display screen with a fingertip. Also, the third operator440is provided with a light emitter446capable of emitting light in a predetermined color.

For example, the first display450is a display device that is provided in the vicinity of the front of the seat of the driver in an instrument panel and can be visually recognized by the occupant through a gap of the steering wheel82or through the steering wheel82. For example, the first display450is a liquid crystal display (LCD), an organic electroluminescence (EL) display device, or the like. Information necessary for the travel at the time of the manual driving or at the time of the automated driving of the host vehicle M or information about an instruction to the occupant is displayed on the first display450. For example, the information necessary for the travel at the time of the manual driving of the host vehicle M is a speed, an engine speed, the remaining amount of fuel, a radiator water temperature, a travel distance, and other information of the host vehicle M. On the other hand, for example, the information necessary for the travel of the host vehicle M at the time of the automated driving is information about a future trajectory of the host vehicle M, a degree of driving assistance, an instruction to the occupant, and the like.

For example, the HUD460is disposed at a position higher than that of the first display450. The HUD460projects an image on a predetermined image forming portion. For example, the HUD460causes a virtual image to be visually recognized from the viewpoint of an occupant sitting in the seat of the driver by projecting an image on a portion of a front windshield in front of the seat of the driver. A display area of the image projected by the HUD460is smaller than a display area of the image on the first display450. This is for preventing the occupant from missing a real physical object located in front of the image due to the image projected by the HUD460. Also, in the embodiment, an image may be displayed on the front windshield of the host vehicle M instead of the HUD460. In this case, for example, a light emitting diode (LED) incorporated in the instrument panel may emit light and the light emission of the LED may be reflected on the front windshield.

For example, the third display470is attached to the central portion of the instrument panel. For example, the third display470is an LCD, an organic EL display device, or the like. For example, the third display470displays an image corresponding to a navigation process executed by the navigation device50, a video of a communication partner in a video phone, or the like. Also, the third display470may display a television program, play a DVD, or display content of a downloaded movie or the like.

Also, the third display470may be provided with a light emitter472.FIG. 7is an illustrative diagram showing one aspect of a first positional relationship between the third display470and the light emitter472. For example, the light emitter472is provided in a part of the third display470or in the vicinity thereof. For example, the vicinity is a range in which the shortest distance between the light emitter472and the third display470is equal to or less than several centimeters [cm] (more specifically, about 3 [cm]). In the example ofFIG. 7, the light emitter472extending along at least one side forming a screen shape of the third display470is attached.

FIG. 8is an illustrative diagram showing another aspect of the positional relationship between the third display470and the light emitter472. In the example ofFIG. 8, the third display470is provided at a portion below a visor portion474of the instrument panel portion at the upper portion in front of the third display470. Also, the light emitted by the light emitter472is not blocked by the visor portion474and can be visually recognized by the occupant. By adopting this form, because the visor portion474may minimize irradiation of external light such as sunlight on the third display470and shield at least a part of the external light entering the light emitter472, visibility of light emission for the occupant can be improved.

The light emitter472is controlled by the HMI controller120so that the light emitter472emits light when the third display470is usable. For example, the term “usable” means that a screen related to the image communication function can be displayed on the third display470by operating the second operator420or an image related to a movie or a television program can be displayed on the third display470according to an operation on the third operator440.

FIG. 9is an explanatory diagram showing a notification indicating that the third display470is usable using an area of a part of a screen of the third display470. The HMI controller120allocates a first display area476and a second display area478to the entire screen area of the third display470. The first display area476is a pixel area extending along any one side of the entire screen of the third display470. When the third display470is usable, the HMI controller120turns on the light of the first display area476and causes the first display area476to blink using one or both of a predetermined color or a predetermined shape. Thereby, it is possible to notify the occupant that the third display470is in a usable state without providing the light emitter472.

Also, the HMI controller120displays details of an operation of the second operator420or the third operator440or details of execution according to an operation on the second display area478.

[Display Control of HMI400Related to Automated Driving]

Next, the display control of the HMI400related to the automated driving will be described. Also, a layout on a display screen to be described below is merely an example and may be arbitrarily changed. The layout refers to a disposition, a color, a size, and the like.

FIG. 10is a diagram showing various types of scenes until the lane change is executed by automated driving after the host vehicle M starts the automated driving from manual driving. In an example ofFIG. 10, a scene (1) is a scene in which the host vehicle M enters an expressway from a general road according to manual driving. A scene (2) is a scene in which the host vehicle M performs switching from the manual driving to the automated driving. A scene (3) is a scene in which the host vehicle M executes the lane change according to the automated driving. Hereinafter, display control corresponding to each of the scenes (1) to (3) will be described.

For example, the scene (1) is a scene before entry into the expressway. In this scene, because the main switch412and the auto switch414of the first operator410have not been operated, the driving assistance is not executed and the manual driving is performed. When the manual driving is performed, the HMI controller120causes the first display450to display the information necessary for the occupant of the seat of the driver to manually drive the host vehicle M using the driving operation element80. The HMI controller120causes the HUD460to display a part of the information displayed on the first display450. A screen of this case is shown inFIG. 11.

FIG. 11is a diagram showing an example of a first screen IM1-1and a second screen IM2-1displayed at the time of the manual driving. The first screen IM1-1is a screen displayed by the first display450and the second screen IM2-1is a screen viewed by the eyes of the occupant due to the projection by the HUD460. For example, the HMI controller120causes information about the remaining amount of battery power, a rotation speed, a shift position, an interior temperature, a travel distance, a travel speed, the remaining amount of fuel, and the like of the host vehicle M as the information necessary for the travel of the host vehicle M at the time of the manual driving to be displayed on the first screen IM1-1. Also, the HMI controller120causes the second screen IM2-1to display information about a speed within an image displayed on the first screen IM1-1so that a display size of the second screen IM2-1is smaller than that of the first screen IM1-1. As described above, because the necessary information is projected by the HUD460, a recognition area of the image viewed by the eyes of the occupant is smaller than a display area of the image of the first display450. Thus, the HMI controller120causes the first display450to display first information that is relatively detailed (detailed information) related to the driving assistance of the host vehicle M and causes the HUD460to display second information (simple information) which is simpler than the detailed information and is related to the driving assistance. For example, the simple information is information having an amount of information smaller than that of the detailed information. Also, for example, the simple information may be information in which the number of types of items to be displayed or the number of items to be displayed is smaller than the number of types of items to be displayed or the number of items to be displayed as the detailed information. Also, the simple information may be an image with low resolution, a simplified image, or a deformed image with respect to an image displayed as the detailed information. Also, the second information may be information with high importance or information with high urgency within the first information.

For example, the HMI controller120may cause the HUD460to display information obtained by extracting a part of the detailed information as the simple information. For example, inFIG. 11, the HMI controller120extracts information indicating the speed of the host vehicle M from the detailed information displayed on the first screen IM1-1and causes the second screen IM2-1to display the extracted information. As described above, the detailed information is displayed on the first display450and the simple information is displayed on the HUD460, so that it is possible to appropriately provide the information about the driving assistance and prevent the eyes of the occupant from becoming tired.

In the scene (2), the host vehicle M enters the expressway. When the HMI controller120receives an operation on the main switch412performed by the occupant, the HMI controller120changes screens to be displayed on the first display450and the HUD460. Display details of the screen after the change are shown inFIG. 12.

FIG. 12is a diagram showing an example of a third screen IM3-1and a fourth screen IM4-1displayed by operating the main switch412. The third screen IM3-1is a screen displayed by the first display450, and the fourth screen IM4-1is a screen viewed by the eyes of the occupant by the projection from the HUD460. The same applies to a third screen IM3-X (X is any natural number) and a fourth screen IM4-X shown in the following drawings. The third screen IM3-X and the fourth screen IM4-X are continuously displayed in a state in which the driving assistance is executable and in a state in which the driving assistance is being executed.

The third screen IM3-1includes a surroundings detection information display area600-1, a driving assistance state display area620-1, and a driving assistance start operation guide area640-1as areas for displaying the information about the driving assistance. Hereinafter, areas in the third screen IM3-X are referred to as a surroundings detection information display area600-X, a driving assistance state display area620-X, and a driving assistance start operation guide area640-X.

The HMI controller120causes an image showing a road shape in front of the host vehicle M acquired from the second map information62, an image showing the host vehicle M recognized by the host vehicle position recognizer322, and an image showing a nearby vehicle m recognized by the external environment recognizer321to be displayed in the surroundings detection information display area600-1. Also, the HMI controller120causes the first display450to display an image showing all nearby vehicles m recognized by the external environment recognizer321. Also, the HMI controller120may cause the first display450to display only nearby vehicles m that affect a future trajectory of the host vehicle M among all nearby vehicles m recognized by the external environment recognizer321. Thereby, it is possible to reduce the number of vehicles to be monitored by the occupant and it is possible to reduce a burden of monitoring.

Also, the HMI controller120causes all information indicating candidates for the state of the driving assistance (including the automated driving) executable by the host vehicle M to be displayed in the driving assistance state display area620-1. In the example ofFIG. 12, an image621indicating three indicators “Assist”, “Hands Off”, and “Eyes Off” is shown as information indicating candidates for the state of the driving assistance. For example, the degree of driving assistance is expressed by each indicator alone or a combination of a plurality of indicators.

The indicator “Assist” indicates that the host vehicle M is executing the driving assistance at the first degree of the ACC, the LKAS, or the like, or the host vehicle M is in a state in which the host vehicle M can transition to the driving assistance of the first degree. Information about whether the host vehicle M is executing driving assistance at the first degree or can transition to driving assistance of the first degree may be ascertained from a requested action notification image622that will be described below.

The indicator “Hands Off” indicates that the host vehicle M is in a state in which it is not necessary for the occupant to operate the driving operation element80but the host vehicle M is executing the driving assistance of the second degree at which the surroundings monitoring obligation is imposed on the occupant or the host vehicle M is in a state in which the host vehicle M can transition to the driving assistance of the second degree. Whether the host vehicle M is executing the driving assistance at the second degree or can transition to the driving assistance of the second degree can be ascertained from the requested action notification image622.

The indicator “Eyes Off” indicates that the host vehicle M is in a state in which it is not necessary for the occupant to operate the driving operation element80and the host vehicle M is executing the driving assistance of the third degree at which no surroundings monitoring obligation is imposed on the occupant or the host vehicle M is in a state in which the host vehicle M may transition to the driving assistance of the third degree. Whether the host vehicle M is executing the driving assistance at the third degree or can transition to the driving assistance of the third degree can be ascertained from the requested action notification image622. Also, in an example ofFIG. 12, the state in which the driving assistance of the host vehicle M is not being executed (a manual driving state) is shown.

Also, the HMI controller120displays the requested action notification image622at a display position corresponding to the image621showing the three indicators “Assist”, “Hands Off”, and “Eyes Off” in the driving assistance state display area620-1. The term “corresponding” refers to a form in which a corresponding relationship such as the presence of a guideline indicating horizontal alignment, vertical alignment, or association can be recognized by a person. As an example, the “display position corresponding to the image621” is a display position adjacent to the image621and is a display position several centimeters [cm] or less (for example, 3 [cm] or less) away from the display position of the image621which is a reference in at least one of upward, downward, right, and left directions. For example, the requested action notification image622is an image showing a predetermined action performed on the driving operation element80by the occupant. For example, the requested action notification image622includes an image showing the driving operation element80and an image showing a predetermined portion of the occupant. For example, the requested action notification image622is an image schematically showing a positional relationship between the steering wheel82and hands of the occupant.

The HMI controller120causes information for guiding the occupant with respect to his/her operation of starting the driving assistance to be displayed in the driving assistance start operation guide area640-1. In an example ofFIG. 12, the occupant is guided in the driving assistance start operation guide area640-1so that the driving assistance is started by the occupant operating the auto switch414.

In addition to or instead of displaying that the driving assistance is started by the occupant operating the auto switch414in the driving assistance start operation guide area640-1, the HMI controller120may cause a sound indicating that the driving assistance is started by the occupant operating the auto switch414to be output from the speaker included in the HMI400.

At least a part of the information displayed in the surroundings detection information display area600-1, the driving assistance state display area620-1, and the driving assistance start operation guide area640-1may be displayed in another display area. Also, information about a travel distance, a temperature inside the vehicle, fuel, a speed, and a shift position of the host vehicle M may be displayed on the third screen IM3-1.

The HMI controller120causes simple information obtained by extracting the part of the detailed information to be displayed on the fourth screen IM4-1of the HUD460with respect to the detailed information displayed on the third screen IM3-1. Information related to a road shape in front of the host vehicle M and information indicating a speed of the host vehicle M within information related to the driving assistance displayed on the display screen IM3-1of the first display450are displayed on the fourth screen M4-1of the HUD460.

In a state shown inFIG. 12, when it is detected that the auto switch414has been operated by the occupant as a predetermined event, the master controller100causes the driving assistance controller200to execute the driving assistance of the first degree. Also, for example, the HMI controller120changes the screens to be displayed on the first display450and the HUD460to screens shown inFIG. 13.

FIG. 13is a diagram showing an example of screens IM3-2and IM4-2displayed on the first display450and the HUD460when the auto switch414is operated. The HMI controller120causes the image showing the degree of driving assistance that is being executed to be displayed so that the image showing the degree of driving assistance that is being executed is distinguishable from an image showing a degree of other driving assistance. For example, the HMI controller120causes the image of the indicator “Assist” to be highlighted and displayed in a driving assistance state display area620-2of the third screen IM3-2. Thereby, the occupant may ascertain that the driving assistance of the first degree is being performed.

Here, as the requested action notification image622, the HMI controller120causes a moving image for requesting the occupant to perform an operation necessary for the transition to the degree of driving assistance corresponding to “Hands Off” (automated driving) to be displayed as the requested action notification image622. For example, the moving image is an image including a dynamic object in which a predetermined physical object dynamically moves according to a passage of time. Also, the moving image may include an animation.

For example, when the driving assistance of the first degree is being executed and the driving assistance of the second degree is executable, the HMI controller120causes the requested action notification image622schematically showing operation details of the occupant for a state in which the hands of the occupant are removed from the steering wheel82to be displayed in the driving assistance state display area620-2of the third screen IM3-2as information about an operation method of the occupant for switching the driving assistance to the driving assistance of the second degree.

FIG. 14is a diagram showing an example of an image displayed in the driving assistance state display area620-2when the driving assistance of the first degree is executed. The HMI controller120causes the image621showing the three indicators and the requested action notification image622to be displayed in the driving assistance state display area620-2. For example, the requested action notification image622includes an image622A showing the steering wheel82and images622BL and622BR showing the hands of the occupant.

For example, the HMI controller120causes an animation in which the images622BL and622BR showing the hands of the occupant are removed from the image622A showing the steering wheel82in directions of arrows A and B to be displayed. Also, the HMI controller120may cause the image622A showing the steering wheel82and the images622BL and622BR showing the hands of the occupant to be emphasized and displayed. Thereby, because the image showing the indicator “Assist” is highlighted and displayed within the image621showing the three indicators, the occupant may intuitively ascertain that the driving assistance of the first degree is being executed. In addition, the occupant may intuitively ascertain that an action of separating the hands from the steering wheel82is requested from the animation of the requested action notification image622.

Also, in addition to or instead of the requested action notification image622of the image622A showing the steering wheel82and the images622BL and622BR showing the hands of the occupant, the HMI controller120may cause an image schematically showing a positional relationship between the accelerator pedal and a foot of the occupant or an image schematically showing a positional relationship between the brake pedal and the foot of the occupant to be displayed as the requested action notification image623in the driving assistance state display area620-2of the third screen IM3-2.

FIG. 15is a diagram showing a display example of the requested action notification image623including the accelerator pedal and the foot of the occupant. The HMI controller120causes the image621showing the three indicators and the requested action notification image623to be displayed in the driving assistance state display area620-2shown inFIG. 15. The requested action notification image623includes an image623A showing the accelerator pedal and an image623B showing the foot of the occupant. For example, when the driving assistance of the first degree is being executed and the driving assistance of the second degree is executable, the HMI controller120causes an animation in which the image623B showing the foot of the occupant has been separated from the image623A showing the accelerator pedal in a direction of an arrow C to be displayed in order to switch the driving assistance to the driving assistance of the second degree. Also, the HMI controller120may cause the image623A showing the accelerator pedal and the image623B showing the foot of the occupant to be emphasized and displayed. Thereby, the occupant can intuitively ascertain that an action of separating the foot from the accelerator pedal is being requested.

Also, the HMI controller120may cause information indicating that driving assistance is started by the occupant executing the action corresponding to the requested action notification image622to be displayed in a surroundings detection information display area600-2. In an example ofFIG. 13, information indicating that the driving assistance (“automated travel” inFIG. 13″) is started when the hands of the occupant are separated from the steering wheel82(the “steering wheel” inFIG. 13) is displayed in the surroundings detection information display area600-2.

Also, when the occupant is requested to perform an action of separating his/her hands from the steering wheel82, the HMI controller120may cause the light emitters430R and430L provided on the steering wheel82to be turned on or blinked.

Also, when the occupant is requested to perform the action of separating his/her hands from the steering wheel82, the HMI controller120may cause a sound indicating the request to be output from the speaker included in the HMI400. The HMI controller120may combine a plurality of notifications such as displaying of the requested action notification image622, turning on or blinking of the light emitters430R and430L, and outputting of the sound corresponding to the action of separating the hand from the steering wheel82and cause the plurality of notifications to be output from various types of equipment.

The HMI controller120causes information similar to that of the fourth screen IM4-1to be displayed on a fourth screen IM4-2of the HUD460.

Here, the operation element state determiner130determines whether or not the steering wheel82has been gripped by the occupant. For example, the operation element state determiner130determines whether or not the steering wheel82has been operated on the basis of an output from the grip sensor82A described above.

After the auto switch414is operated by the occupant, the switching controller110causes the driving assistance controller200to continue the driving assistance of the first degree when the operation element state determiner130determines that the steering wheel82is gripped by the occupant.

Also, when the operation element state determiner130determines that all conditions for the transition to the driving assistance of the second degree are satisfied and the steering wheel82is not gripped by the occupant in a state in which the auto switch414is operated, the switching controller110causes the automated driving controller300to execute the driving assistance of the second degree (i.e., the automated driving).

Also, when the automated driving controller300executes the driving assistance of the second degree, the HMI controller120changes the screens displayed on the first display450and the HUD460to, for example, screens shown inFIG. 16.

FIG. 16is a diagram showing an example of the screens displayed on the first display450and the HUD460during the driving assistance of the second degree. The HMI controller120causes the indicator for “Hands Off” corresponding to the driving assistance of the second degree to be highlighted and displayed in a driving assistance state display area620-3of a third screen IM3-3. Thereby, the occupant may ascertain that the driving assistance of the second degree is being performed.

Also, for example, the HMI controller120causes the image showing the road shape in front of the host vehicle M acquired from the second map information62, the image showing the host vehicle M recognized by the host vehicle position recognizer322, the image showing the nearby vehicle m recognized by the external environment recognizer321, and a future trajectory image602showing the future trajectory of the host vehicle M generated by the action plan generator323to be displayed in a surroundings detection information display area600-3. Also, although the driving assistance of the second degree (the automated travel inFIG. 16) is started, the HMI controller120causes information for allowing the occupant to continuously monitor a traffic situation of surroundings to be displayed in the surroundings detection information display area600-3.

The occupant state monitor140of the master controller100monitors that the occupant is continuously monitoring the traffic situation of the surroundings. For example, the occupant state monitor140acquires a face image of the occupant sitting in the seat of the driver from the image captured by the vehicle interior camera90and acquires a line-of-sight direction from the acquired face image. For example, the occupant state monitor140may acquire the line-of-sight direction of the occupant from the captured image of the vehicle interior camera90by means of deep learning using a neural network or the like. For example, a neural network that is learned to output the line-of-sight direction by inputting feature information of the eyes, the nose, the mouth, or the like or positions of irises of the eyeballs obtained by analyzing an unspecified large number of face images may be constructed in advance. In addition, the occupant state monitor140acquires the line-of-sight direction of the occupant by inputting the face image of the occupant of the host vehicle M to the neural network.

Also, the occupant state monitor140determines whether or not the occupant is monitoring the surroundings of the host vehicle M according to whether or not the line-of-sight direction of the occupant is included in a predetermined range of a direction in which the surroundings can be monitored. When the line-of-sight direction of the occupant is not included in the predetermined range of the direction in which the surroundings can be monitored or when the line-of-sight direction of the occupant cannot be acquired, the occupant state monitor140determines that the occupant is not monitoring the surroundings. When it is determined that the occupant is not monitoring the surroundings, the HMI controller120may issue a warning by sound or the like so as to allow the occupant to monitor the surroundings.

Also, when the line-of-sight direction of the occupant is not included in the predetermined range of the direction in which the surroundings can be monitored, the occupant state monitor140determines that the occupant is monitoring the surroundings. In this case, the automated driving controller300continues the driving assistance of the second degree. Also, when the driving assistance of the host vehicle M is being started, nothing is displayed in a driving assistance start operation guide area640-3.

The HMI controller120causes the future trajectory image602showing the future trajectory of the host vehicle M to be displayed on the fourth screen IM4-3of the HUD460in addition to information similar to that of the fourth screen IM4-2.

In the scene (3), the automated driving controller300performs the lane change of the host vehicle M according to the driving assistance of the second degree. In this case, the HMI controller120causes a screen corresponding to the driving assistance to be displayed on one or both of the first display450and the HUD460.

For example, the HMI controller120causes the image showing the occurrence of the lane change event of the host vehicle M executed by the automated driving controller300to be displayed in a first form at a first timing before behavior of the host vehicle M changes (for example, five seconds before the behavior changes).

FIG. 17is a diagram showing an example of a third screen IM3-4and a fourth screen IM4-4displayed at the first timing before the behavior of the host vehicle M changes. In addition to details displayed in the surroundings detection information display area600-3, for example, the HMI controller120causes an image604showing a direction in which the host vehicle M performs the lane change to be displayed in a surroundings detection information display area600-4of the third screen IM3-4. In an example ofFIG. 17, the image604in which the host vehicle M performs a lane change to a right lane adjacent to the travel lane is displayed.

For example, the image604is an image that does not include text. In an example ofFIG. 17, the image604is a figure showing a course change direction of the host vehicle M in a road width direction. For example, the HMI controller120gives an outer frame to the figure showing the course change direction of the host vehicle M and causes the first display450to display an image to which the outer frame has been given. Also, the HMI controller120divides the image604into a plurality of areas, gives outer frames to the plurality of divided areas, and causes the outer frames of the plurality of divided areas to be displayed. Also, the HMI controller120may cause the outer frames of the plurality of divided areas to be displayed in an animation in which the outer frames of the plurality of divided areas are sequentially displayed in the course change direction of the host vehicle M.

Also, the HMI controller120causes a direction indicator624indicating the course change of the host vehicle M to be displayed in a driving assistance state display area620-4. For example, the direction indicator624is a figure such as an arrow indicating the course change direction. The HMI controller120causes the direction indicator624to be displayed on the first display450at a timing synchronized with the first timing at which the image604is displayed.

The HMI controller120causes information similar to that of the fourth screen IM4-3to be displayed on the fourth screen IM4-4of the HUD460.

Also, the HMI controller120causes an image in which the image604is emphasized and displayed to be displayed in the surroundings detection information display area600-4at a second timing which is a timing after the first timing and before the behavior of the host vehicle M changes (for example, two seconds before the behavior changes).

FIG. 18is a diagram showing an example of a third screen IM3-5and a fourth screen IM4-5displayed at the second timing before the behavior of the host vehicle M changes. The HMI controller120causes an image606in which the image604is highlighted and displayed to be displayed in a surroundings detection information display area600-5of the third screen IM3-5. For example, the HMI controller120causes a display form in which the inside of the outer frame of the image604is colored to be displayed in the surroundings detection information display area600-5. Also, the HMI controller120may cause the outer frames of the plurality of areas divided in the image604to be displayed in an animation so that the outer frames are sequentially highlighted and displayed in the course change direction of the host vehicle M. Also, the HMI controller120may cause the image606to be displayed at the first timing and may cause the image606to be blinked and displayed at the second timing. Also, the HMI controller120may cause the image606to be displayed at the first timing and cause the image606at the second timing to be displayed in a color that is more conspicuous than a color displayed at the first timing. Thereby, the occupant can intuitively ascertain the course change direction.

Also, the HMI controller120causes the future trajectory image602displayed in the surroundings detection information display area600-5to be changed to a direction corresponding to the course change direction at a timing synchronized with the second timing Thereby, the occupant may intuitively ascertain that the change in the behavior is started in the lane change of the host vehicle M.

The HMI controller120causes information similar to that of the fourth screen IM4-4to be displayed on the fourth screen IM4-5of the HUD460. Also, the HMI controller120causes the future trajectory image602displayed on the fourth screen IM4-5of the HUD460to be displayed by making a change to a direction corresponding to the course change at a timing synchronized with the second timing

<Process Flow Corresponding to Scenes (1) to (3)>

FIG. 19is a flowchart showing an example of the flow of a process to be executed by the HMI controller120in the scenes (1) to (3). First, the HMI controller120determines whether or not an operation on the main switch412has been received (step S100). When the operation on the main switch412has not been received, the HMI controller120displays the first screen IM1-1on the first display450of the host vehicle M (step S102) and displays the second screen IM2-1on the HUD460(step S104).

Also, when the operation on the main switch412has been received, the HMI controller120displays the third screen IM3-1on the first display450(step S106) and displays the fourth screen IM4-1on the HUD460(step S108). Details of the process of step S106will be described below.

Next, the HMI controller120notifies the occupant of an action request for allowing the occupant to operate the auto switch414(step S110). Next, the HMI controller120determines whether or not the operation on the auto switch414has been received (step S112). When the operation on the auto switch414has been received, the HMI controller120displays the image showing that the driving assistance of the first degree is being executed on the third screen IM3-1and the fourth screen IM4-1(step S114). Next, the HMI controller120notifies the occupant of an action request for allowing the occupant to separate his/her hands from the steering wheel82(step S116).

Next, the HMI controller120determines whether or not the hands of the occupant have been separated from the steering wheel82by means of the operation element state determiner130(step S118). When the hands of the occupant have been separated from the steering wheel82, the HMI controller120displays the image showing that the driving assistance of the second degree is being executed on the third screen IM3-3(step S120). Details of the process of step S120will be described below. Thereby, the process of the present flowchart is ended.

Next, the details of the process of step S106will be described.FIG. 20is a flowchart showing an example of the process in which the HMI controller120causes the third screen IM3-1to be displayed on the first display450. In the example ofFIG. 20, the HMI controller120causes an image showing a road shape in front of the vehicle, the image showing the vehicle, and an image showing a nearby vehicle to be displayed in the surroundings detection information display area600-1(step S200). Next, the HMI controller120causes an image showing a degree of driving assistance and an image related to an action required to be performed by the occupant to be displayed in the driving assistance state display area620-1(step S202). Next, the HMI controller120causes information for guiding the occupant with respect to an operation of starting the driving assistance to be displayed in the driving assistance start operation guide area640-1(step S204). Thereby, the process of the present flowchart is ended.

Next, a display control process when an event in which the behavior of the host vehicle M changes occurs in a state in which the image showing that the driving assistance of the second degree is being executed is displayed in the process of step S120will be described.FIG. 21is a flowchart showing an example of the display control process when the event in which the behavior of the host vehicle M changes occurs. The process ofFIG. 21is iteratively executed during the execution of the driving assistance of the second degree or the third degree. During execution of automated driving, inFIG. 21, the automated driving controller300determines whether or not an event in which the behavior of the host vehicle M changes according to the automated driving has occurred (step S300). When the event in which the behavior of the host vehicle M changes has occurred, the HMI controller120causes an image showing the occurrence of an event associated with the change in the behavior of the host vehicle M to be displayed at a first timing before the behavior of the host vehicle M occurs (step S302).

Next, the HMI controller120determines whether or not the second timing has been reached before the change in the behavior of the host vehicle M occurs (step S304). The HMI controller120waits until the second timing has been reached when the second timing has not been reached before the change in the behavior of the host vehicle M occurs and causes an image showing the occurrence of the event associated with the change in the behavior of the host vehicle M to be emphasized and displayed when the second timing has been reached (step S306). Thereby, the process of the present flowchart is ended. The occupant can easily ascertain a timing at which the behavior of the vehicle changes by means of the process ofFIG. 21.

Next, scenes (4) to (6) will be described.FIG. 22is a diagram showing various types of scenes until driving assistance of a second degree is executed from a third degree after driving assistance of the third degree is executed with respect to the host vehicle M. In an example ofFIG. 22, the scene (4) is a scene in which the host vehicle M follows a nearby vehicle m during a traffic jam and therefore the driving assistance of the host vehicle M is switched from the second degree to the third degree. The scene (5) is a scene in which the host vehicle M is executing low-speed following travel which is an example of the driving assistance of the third degree. The low-speed following travel (a traffic jam pilot (TJP)) is a control form for following a preceding traveling vehicle at a predetermined speed or less. The predetermined speed is, for example, 60 [km/h] or less. The low-speed following travel is activated when the speed of the host vehicle M is equal to or less than the predetermined speed and the distance between the host vehicle M and the preceding traveling vehicle m is within a predetermined distance (confirmation). In the low-speed following travel, it is possible to implement the automated driving with high reliability by continuously performing relatively easy control such as following the preceding traveling vehicle on a congested road. In the low-speed following travel, an activation condition may be a condition that the host vehicle M travels at the predetermined speed or less or the host vehicle M follows the preceding traveling vehicle m. The scene (6) is a scene in which the driving assistance of the host vehicle M is switched from the third degree to the second degree. Hereinafter, display control corresponding to each of the scenes (4) to (6) will be described.

In the scene (4), the automated driving controller300performs acceleration control of the host vehicle M in a state in which the host vehicle M has not yet reached low-speed following travel. In this case, the HMI controller120displays screens corresponding to the driving assistance on one or both of the first display450and the HUD460.

FIG. 23is a diagram showing an example of a third screen IM3-6and a fourth screen IM4-6displayed at the time of the acceleration control of the host vehicle M. In the screen shown inFIG. 23, the activation condition of the low-speed following travel has not been yet satisfied. The HMI controller120causes an image608showing that the acceleration control is being executed to be displayed in a surroundings detection information display area600-6of the third screen IM3-6. The image608is a figure indicating the acceleration of the host vehicle M. The image608is displayed in front of the image showing the host vehicle M. In this case, the HMI controller120may cause the image608to be displayed in a display form in which an outer frame is given to the image608at a first timing before the host vehicle M accelerates and cause the image608to be displayed in a display form in which the inside of the outer frame of the image is colored at a second timing before the host vehicle M accelerates. Also, at the time of acceleration, the HMI controller120may cause an animation in which the image608moves to be displayed in the progress direction of the host vehicle. In contrast, at the time of deceleration, the HMI controller120may cause an animation in which the image608moves toward the host vehicle to be displayed. Thereby, the occupant can intuitively ascertain that the acceleration control of the host vehicle M is being executed.

The HMI controller120causes information similar to that of the fourth screen IM4-5to be displayed on the fourth screen IM4-6of the HUD460.

In the scene (5), the low-speed following travel is executed. In this case, the HMI controller120displays a screen corresponding to the low-speed following travel on the first display450and the HUD460.

FIG. 24is a diagram showing an example of a third screen IM3-7and a fourth screen IM4-7displayed at the time of the low-speed following travel. The HMI controller120causes a surroundings detection image610A indicating that the driving assistance of the third degree is being executed to be displayed in a surroundings detection information display area600-7.

For example, the surroundings detection image610A is an image showing that the monitoring of the surroundings of the host vehicle M is being performed by the camera10, the radar device12, the finder14, the physical object recognition device16, and the external environment recognizer321. For example, the surroundings detection image610A is an animation in which ripples spread outward from the center of the host vehicle M.

Also, the HMI controller120causes the images of the indicator “Eyes Off” indicating that no surroundings monitoring obligation is imposed on the occupant of the host vehicle M and the indicator “Hands Off” indicating that the operation on the driving operation element80is not requested to be highlighted and displayed in a driving assistance state display area620-7of the third screen IM3-7. Also, the HMI controller120causes an image626showing that the surroundings of the host vehicle M are being monitored by the camera10, the radar device12, the finder14, the physical object recognition device16, and the external environment recognizer321to be displayed in the driving assistance state display area620-7.

Also, in addition to information similar to that of the fourth screen IM4-6, the HMI controller120causes a surroundings detection image610B showing that the driving assistance of the third degree is being executed to be displayed on the fourth screen IM4-7of the HUD460. For example, the surroundings detection image610B is an animation in which ripples spread outward from the center of the host vehicle M.

Also, the HMI controller120causes one or both of an action speed and an action period of the surroundings detection image610A displayed on the third screen IM3-7to be linked with the surroundings detection image610B displayed on the fourth screen IM4-7. Thereby, it is possible to allow the occupant to intuitively ascertain that the surroundings detection image610A displayed on the third screen IM3-7and the surroundings detection image610B displayed on the fourth screen IM4-7are the same information.

Also, the HMI controller120may set a display form thinned out from a display form (a detailed display form) of the animation in the surroundings detection image610A displayed on the third screen IM3-7as a display form (a simple display form) of the surroundings detection image610B displayed on the fourth screen IM4-7. For example, the HMI controller120sets a display form in which one or both of the action speed and the action period of a dynamic object (an annular ripple) of the surroundings detection image610A displayed in the detailed display form are delayed as the simple display form.

Also, the HMI controller120may set a display form in which the number of the dynamic objects in the detailed display form is reduced as the simple display form.

Also, the HMI controller120may make a range of a field of view of an external environment displayed in the surroundings detection information display area600-7of the third screen IM3-7in the detailed display form different from a range of a field of view of an external environment displayed on a fourth screen IM4-8in the simple display form. The range of the field of view of the external environment is a range determined by a direction and a degree of zooming when the external environment is viewed from the occupant. For example, a size (for example, a maximum radius) of an annular dynamic object corresponds to a range of a field of view of an external environment in each image.

Also, in a state in which no surroundings monitoring obligation is imposed on the occupant, the HMI controller120performs control for notifying the occupant of usable equipment. For example, when the automated driving controller300is executing the driving assistance of the third degree, the third display470is set to be usable. In this case, as shown inFIG. 7orFIG. 8, the HMI controller120causes the light emitter472provided in a part of the third display470or in the vicinity thereof to emit light in a predetermined color.

Also, when the third display470is usable, the HMI controller120may cause the first display area476among the display areas of the screen in the third display470to be displayed in one or both of a predetermined color and a predetermined shape as shown inFIG. 9.

Also, when it is necessary to operate the third operator440for performing selection of details to be displayed on the third display470or the like, the HMI controller120controls the light emitter446provided in the third operator440so that light is emitted in a predetermined color. For example, the HMI controller120causes the light emitter472and the light emitter446to emit light in the same color. Thereby, the occupant may intuitively ascertain the usable equipment and an operation element of the equipment.

For example, when the third operator440is operated in a state in which the third display470is usable, the HMI controller120causes a screen corresponding to operation details to be displayed on the third display470. Also, when the operation switch422of the second operator420is operated in a state in which the third display470is usable, the HMI controller120causes an image of a communication partner to be displayed on the third display470. Thereby, the occupant may enjoy the communication while watching the communication partner displayed on the third display470. That is, the occupant may use the video phone.

Also, the HMI controller120associates an image captured by the vehicle interior camera90and a sound of the occupant acquired by a microphone (not shown) provided in a vehicle and transmits the image and the sound to a vehicle and/or a terminal device of the communication partner.

For example, an imaging element included in the vehicle interior camera90has sensitivity in wavelength ranges of infrared light and visible light. The vehicle interior camera90may include a lens filter that blocks infrared light and transmits visible light in a direction of the imaging element. Under the control of the HMI controller120, the lens filter is controlled so that the lens filter is at a position where the infrared light entering the vehicle interior camera90is blocked (a set position) or a position where the infrared light is not blocked (an unset position) by operating a mechanical mechanism. For example, in the HMI controller120, the lens filter is controlled so that the lens filter is at the set position when the image is used in the video phone and the lens filter is controlled so that the lens filter is at the unset position when the image is used for monitoring the occupant. Thereby, an image captured by only the visible light is used in the video phone and an image captured by the visible light and the infrared light is used for monitoring the occupant. Thereby, an image suitable for a field of application is acquired. In particular, when the image is used in the video phone, an image that does not have disharmony is transmitted to a device of the communication partner or the like.

Also, instead of the vehicle interior camera90, a camera dedicated to a video phone may be provided in the host vehicle M. In this case, the HMI controller120associates an image captured by the camera dedicated to the video phone and a sound acquired by the microphone and transmits the image and the sound to a vehicle or a terminal device of the communication partner.

In the scene (6), because there is no preceding traveling vehicle m that the host vehicle M follows at a low speed, the automated driving controller300switches the host vehicle M from the driving assistance of the third degree to the driving assistance of the second degree. In this case, as shown inFIG. 25, the HMI controller120causes one or both of the first display450and the HUD460to display information indicating a target to be monitored or operated by the occupant required for the occupant on the basis of the change in the degree of driving assistance.

FIG. 25is a diagram showing an example of a third screen IM3-8and a fourth screen IM4-8displayed for requesting the occupant to perform the surroundings monitoring. The HMI controller120causes information indicating that the low-speed following travel (“congestion following automated driving” inFIG. 25) is ended and information for allowing the occupant to check the traffic situation of the surroundings to be displayed in a surroundings detection information display area600-8.

Also, the HMI controller120causes a forward line-of-sight request image650for requesting the line of sight of the occupant to be in front of the host vehicle M to be displayed on the fourth screen IM4-8. The forward line-of-sight request image650is an image including an elliptical area showing a predetermined area in front of the vehicle M. Also, the forward line-of-sight request image650may be a predetermined shape such as a circle or a quadrangle or may be information such as a mark or a symbol character for prompting the occupant to pay attention. Also, the HMI controller120causes the forward line-of-sight request image650to be turned on or blinked in a predetermined color. Also, the HMI controller120may prompt the occupant to look forward by causing an LED incorporated in the instrument panel to be turned on and causing light emitted from the LED to be reflected on the front windshield.

The occupant state monitor140determines whether or not the occupant is monitoring the surroundings by means of the captured image of the vehicle interior camera90. When it is determined that the occupant is monitoring the surroundings, the switching controller110causes the automated driving controller300to switch the driving assistance of the host vehicle M from the third degree to the second degree. As shown inFIG. 26, the HMI controller120causes a screen corresponding to the driving assistance of the second degree to be displayed on one or both of the first display450and the HUD460.

FIG. 26is a diagram showing an example of a third screen IM3-9and a fourth screen IM4-9displayed when the driving assistance is switched from the third degree to the second degree. In the example ofFIG. 26, an example in which the host vehicle M accelerates to a target speed (for example, 80 [km/h]) set by the action plan generator323according to the driving assistance of the second degree is shown. For example, the HMI controller120causes an image608showing that the acceleration control is being executed to be displayed in a surroundings detection information display area600-9of the third screen IM3-9.

Also, the HMI controller120causes the indicator for “Hands Off” corresponding to the driving assistance of the second degree of the host vehicle M to be highlighted and displayed in a driving assistance state display area620-9of the third screen IM3-9. Also, the HMI controller120causes the requested action notification image622showing operation details of the occupant corresponding to the driving assistance of the second degree to be displayed in the driving assistance state display area620-9. Thereby, the occupant may intuitively ascertain that the driving assistance of the host vehicle M is switched from the third degree to the second degree.

<Process Flow Corresponding to Scenes (4) to (6)>

FIG. 27is a flowchart showing an example of a flow of a process to be executed by the HMI controller120in the scenes (4) to (6). First, the HMI controller120determines whether or not the automated driving controller300has started the low-speed following travel (step S400). When the low-speed following travel has been started, the HMI controller120displays an image showing that the driving assistance of the third degree is being executed on a third screen IM3and a fourth screen IM4(step S402). Next, the HMI controller120causes a light emitter provided in equipment that is usable by the driving assistance of the third degree to emit light (step S404).

Next, the HMI controller120determines whether or not the automated driving controller300has ended the low-speed following travel of the host vehicle (step S406). When the low-speed following travel has not been ended, the image display and the light emission of the light emitter are continued by the processing of steps S402and S404. That is, in the process of step S404, the HMI controller120causes the light emission of the light emitter provided in the equipment to be continued while the equipment is usable.

When the low-speed following travel has been ended, the HMI controller120displays information for allowing the occupant to monitor the surroundings on the third screen IM3and the fourth screen IM4(step S408). Next, the HMI controller120displays an image showing that the driving assistance of the second degree is being executed (step S410). Thereby, the process of the present flowchart is ended.

Also, as shown in the scenes (4) to (6), when the vehicle has not been stopped or when the degree of driving assistance is not the third degree, the HMI controller120applies a use restriction on a specific function that causes the line of sight of the occupant to be removed from the surroundings of the vehicle due to the use of the specific function. When the vehicle has been stopped or when the degree of driving assistance is the third degree, the HMI controller120cancels the use restriction on the specific function. The specific function includes, for example, a video phone function, and is a function of displaying content that is not related to the control or the travel of the host vehicle M on the third display470. The content that is not related to the control or the travel of the host vehicle M is, for example, an image stored in a DVD watched by the occupant as entertainment, an image transmitted from a broadcasting station (an image of a television), an image showing a communication partner in a video phone, or the like.

FIG. 28is a flowchart showing a flow of an execution process of the specific function by the HMI controller120. In the process of the present flowchart, the specific function will be described as a video phone function. The video phone function is a function of transmitting and receiving an image (a real-time image) and a sound to perform communication while viewing an image showing the communication partner. The image of the communication partner is displayed on the third display470. Also, the HMI controller120controls the communication device20so that the communication device20establishes communication with a communication device of the communication partner, thereby transmitting and receiving information including the image and the sound to implement the video phone function.

First, the HMI controller120determines whether or not the host vehicle M has been stopped on the basis of information acquired from the driving assistance controller200and the automated driving controller300(step S500). When the host vehicle M has been stopped, the HMI controller120cancels the use restriction on the video phone function (step S502). Therefore, the occupant may use the video phone function.

When the host vehicle M has not been stopped, the HMI controller120determines whether or not the host vehicle M is performing the low-speed following travel on the basis of the information acquired from the automated driving controller300(step S504). When the host vehicle M is performing the low-speed following travel, the HMI controller120cancels the use restriction on the video phone function (step S502). Thereby, the occupant can use the video phone function.

When the host vehicle has not been stopped and is not performing the low-speed following travel, the HMI controller120permits the use of only a sound (step S506). Thereby, a process of one routine of the present flowchart is ended.

FIG. 29is a diagram showing an example of a state in which an image displayed on the third display470is changed according to a degree of driving. As shown in FIG.29(A), for example, when the driving assistance of the third degree is being executed, the image of the communication partner is displayed on the third display470and the sound of the communication partner is output from the speaker. Thereby, the occupant can use the video phone function. On the other hand, as shown inFIG. 29(B), for example, when the driving assistance has transitioned from the driving assistance of the third degree to the driving assistance of another degree or the manual driving, the image of the communication partner displayed on the third display470is stopped and only the sound of the communication partner is output from the speaker. Thereby, the occupant can monitor the surroundings of the host vehicle M.

As described above, when the driving assistance transitions to the third degree and the occupant of the host vehicle M is not required to monitor the surroundings (when a time T4ofFIG. 37to be described below has been reached), the HMI controller120can cancel the use restriction on the specific function to more appropriately control the specific function.

Next, scenes (7) to (9) will be described.FIG. 30is a diagram showing various types of scenes until the host vehicle M is switched from the driving assistance of the second degree to the travel according to the manual driving. In an example ofFIG. 30, the scene (7) is a scene in which the host vehicle M performs the lane change for leaving an expressway on the basis of the action plan. The scene (8) is a scene in which the host vehicle M is switched from the automated driving to the manual driving. The scene (9) is a scene in which the host vehicle M moves from the expressway to the general road according to the manual driving. Hereinafter, display control corresponding to each of the scenes (7) to (9) will be described.

In the scene (7), the automated driving controller300executes driving assistance for enabling the host vehicle M to perform a lane change to the left side. In this case, the HMI controller120displays an image corresponding to the driving assistance on one or both of the first display450and the HUD460. Also, because similar display is performed by replacing details of the lane change of the host vehicle M to the right lane shown inFIGS. 17 and 18with the lane change to the left lane with respect to a display example at the time of the start or execution of the lane change, detailed description thereof will be omitted.

In the scene (8), the automated driving controller300performs control for switching the host vehicle M to the manual driving. In this case, the HMI controller120displays an image for allowing the occupant to execute the manual driving on one or both of the first display450and the HUD460.

FIG. 31is a diagram showing an example of a third screen IM3-10and a fourth screen IM4-10displayed at the time of the request for switching the host vehicle to the manual driving. Because an exit of the expressway is approaching, the HMI controller120causes a requested action notification image628for requesting the occupant to operate the steering wheel82to be displayed in a surroundings detection information display area600-10of the third screen IM3-10. Also, the HMI controller120may cause an animation in which an image showing the hands of the occupant is approaching from an image showing the steering wheel82to be displayed as the requested action notification image628.

Also, the HMI controller120causes an image of “Hands Off” corresponding to the driving assistance of the second degree and an image of “Assist” corresponding to the driving assistance of the first degree to be highlighted and displayed to be displayed in a driving assistance state display area620-10of the third screen IM3-10.

Here, the HMI controller120determines whether or not the occupant is gripping the steering wheel82on the basis of a determination result of the operation element state determiner130. When the operation element state determiner130determines that the occupant is not gripping the steering wheel82continuously for a predetermined period of time, the HMI controller120causes an image for strengthening the warning step by step and allowing the occupant to execute the manual driving to be displayed on one or both of the first display450and the HUD460.

FIG. 32is a diagram showing an example of a third screen IM3-11and a fourth screen IM4-11for strengthening the warning for allowing the occupant to execute the manual driving. For example, the HMI controller120causes information indicating a target to be monitored or operated by the occupant to be displayed in a driving assistance state display area600-11of the third screen IM3-11so that the information is more emphasized than the display of the surroundings situation of the host vehicle M. Specifically, instead of an image showing a road shape in front of the host vehicle M, an image showing the host vehicle M, and an image showing a future trajectory of the host vehicle M, the HMI controller120causes information indicating that the occupant operates the steering wheel82to be superimposed and displayed in the driving assistance state display area600-11of the third screen IM3-11.

Also, the HMI controller120causes a requested action notification image660schematically showing a positional relationship between the steering wheel82and the hands of the occupant to be displayed on the fourth screen IM4-11. The HMI controller120may cause an animation in which an image showing the hands of the occupant approaches an image showing the steering wheel82so that the hands of the occupant grip the steering wheel82to be displayed as the requested action notification image660. Also, the HMI controller120may issue a warning by sound or the like to allow the occupant to grip the steering wheel82.

Also, the HMI controller120causes the light emitters430R and430L provided in the steering wheel82to emit light, blink, or stop the light emission so as to allow the occupant to grip the steering wheel82. Thereby, the occupant may easily recognize details required for the occupant according to a change in the degree of driving assistance.

Also, for example, when the occupant is requested to grip the steering wheel82in a state in which the light emitters430R and430L emit light and blink in accordance with the degree of driving assistance of the host vehicle M, the HMI controller120makes the light emission state of the light emitters430R and430L different from the current light emission state. For example, the HMI controller120makes at least one of light emission, blinking, a light emission color, and light emission luminance of the light emitters430R and430L different from the current light emission state.

Also, when the degree of driving assistance changes to a degree lower than the degree of current driving assistance, the HMI controller120causes the light emitters430R and430L to emit light, blink, or stop the light emission. Thereby, it is possible to notify the occupant that the driving assistance is driving assistance in which it is highly necessary to grip the steering wheel82.

Also, when the operation element state determiner130determines that the occupant is not gripping the steering wheel82continuously for a predetermined time, the HMI controller120may cause the speaker to output a sound by strengthening the warning step by step. Also, the HMI controller120may cause a vibrator for vibrating the seat or the seat belt to be operated and issue a warning by vibrating the seat or the seat belt with stepwise strength.

FIG. 33is a diagram showing the issuance of a warning to the occupant by vibrating the seat belt. InFIG. 31, for example, a seat480of the host vehicle M, a seat belt device482, and a vibrator484are provided. The seat belt device482is a so-called three-point seat belt device. For example, the seat belt device482may include a seat belt482A, a winding portion482B for winding up the seat belt482A, an anchor482C for fixing the seat belt482A at a predetermined position on the seat480, and a buckle482D detachable from a tongue provided on the seat belt482A. The vibrator484vibrates the seat belt at predetermined time intervals and with predetermined strength according to control of the HMI controller120.

The HMI controller120causes the vibrator484to be operated at a timing for allowing the occupant to grip the steering wheel82. Thereby, the occupant can intuitively ascertain that the manual driving is started by gripping the steering wheel82.

Also, when the operation element state determiner130determines that the occupant is not gripping the steering wheel82even when a predetermined period of time has elapsed after the HMI controller120performs the display shown inFIG. 32, the HMI controller120displays a screen for indicating that the driving assistance (for example, the automated driving) is ended as shown inFIG. 34.

FIG. 34is a diagram showing an example of a third screen IM3-12and a fourth screen IM4-12that display information indicating that the automated driving is ended. The HMI controller120causes information for prompting the occupant to change the driving operation for ending the automated driving to be displayed in a driving assistance state display area600-12of the third screen IM3-12so that the information is superimposed on an image showing a road shape in front of the host vehicle M, an image showing the host vehicle M, and an image showing a future trajectory of the host vehicle M. Also, the HMI controller120causes an image of “Hands Off” to be highlighted and displayed in a driving assistance state display area620-12of the third screen IM3-12, but may cause the image to be highlighted and displayed in a color or the like different from that highlighted and displayed shown inFIG. 29.

Also, the HMI controller120causes the requested action notification image660schematically showing a positional relationship between the steering wheel82and the hands of the occupant to be displayed on the fourth screen IM4-12. Also, the HMI controller120may issue a warning using a strong sound or the like as compared with the display on the third screen IM3-11and the fourth screen IM4-12shown inFIG. 30in order to allow the occupant to grip the steering wheel82. Also, the HMI controller120may cause the light emitters430R and430L to be turned on or blinked in order to allow the occupant to grip the steering wheel82. For example, the HMI controller120shortens a blinking period or causes the light emitters430R and430L to be turned on or blinked in a plurality of colors in order to strengthen the warning.

Also, for example, the HMI controller120may cause the vibrator484to operate at a timing at which the third screen IM3-12is displayed on the first display450and the fourth screen IM4-12is displayed on the HUD460to vibrate the seat belt482A. In this case, the HMI controller120may cause the vibrator484to be operated so that the vibration is stronger than the vibration of the seat belt482A when the images are displayed on the third screen IM3-11and the fourth screen IM4-11. Thereby, the occupant may intuitively ascertain that the automated driving is ended.

Also, when the operation element state determiner130determines that the occupant is not gripping the steering wheel82even when a predetermined period of time has elapsed after the HMI controller120performs the display shown inFIG. 32, the master controller100causes the automated driving controller300to execute the automated driving for emergently stopping the host vehicle M at a predetermined position (for example, a road shoulder or a nearest parking area). In this case, as shown inFIG. 35, the HMI controller120causes a screen indicating that the emergency stop of the host vehicle M is executed by the automated driving to be displayed on a third screen IM3-13.

FIG. 35is a diagram showing an example of a third screen IM3-13and a fourth screen IM4-13at the time of the emergency stop of the host vehicle M. The HMI controller120causes information indicating that an emergency stop is performed to be displayed in a driving assistance state display area600-13of the third screen IM3-13. Also, a notification of a form of the third screen IM3-13has a stronger warning than notifications of forms of the third screens IM3-10to IM3-12.

In the scene (9), the occupant receives an instruction for allowing the occupant to grip the steering wheel82, the occupant grips the steering wheel82until the driving assistance is ended, the manual driving is started, and the host vehicle M enters the general road from the expressway. The switching controller110switches the driving state of the host vehicle M to a state in which the occupant performs manual driving of the host vehicle M. The HMI controller120causes the first screen IM1-1to be displayed on the first display450and causes the second screen IM1-2to be displayed on the HUD460.

<Process Flow Corresponding to Scenes (7) to (9)>

FIG. 36is a flowchart showing an example of a flow of a process to be executed by the HMI controller120in the scenes (7) to (9). In the present process, as described above, when the automated driving is being executed, the HMI controller120provides a notification for requesting the occupant of the host vehicle M to perform a predetermined action (for example, the grip of the steering wheel82) and causes the output to output the notification by changing a notification form so that the notification is emphasized step by step according to the passage of time from the start of the notification. The output is a display that displays an image, a speaker that outputs a sound, or the like. Also, in the present process, the predetermined action is the grip of the steering wheel82as an example, but, instead of (in addition to) the grip of the steering wheel82, the predetermined action may be an action in which the occupant monitors the surroundings, an action in which the occupant puts the foot on the driving operation element80so that the occupant can operate the driving operation element80(for example, the accelerator pedal or the brake pedal), or the like.

First, the HMI controller120determines whether or not the driving assistance is ended (step S600). When the driving assistance is ended, the HMI controller120causes the image for prompting the occupant to grip the steering wheel82(for example, the screen IM3-10) in a state in which an image showing a trajectory along which the host vehicle M travels is maintained to be displayed on the first display450(step S602).

Next, the HMI controller120determines whether or not the occupant has gripped the steering wheel82within a first predetermined period of time from a determination result of the operation element state determiner130(step S604).

When it is determined that the occupant has gripped the steering wheel82within the first predetermined period of time, the HMI controller120causes a first screen IM1to be displayed on the first display450(step S606) and causes a second screen IM2to be displayed on the HUD460(step S608). That is, in the processing of step S606and step S608, the HMI controller120returns the screens displayed on the first display450and the HUD460to the screens before the main switch412is pressed. In addition to or instead of the processing of step S606or step S608, the HMI controller120may return the state of the main switch412to the state before the switch is pressed.

Also, when it is determined that the occupant has not gripped the steering wheel82within the first predetermined period of time in step S604, the HMI controller120causes the image for requesting the occupant to grip the steering wheel82(for example, the screen IM3-11) to be displayed on the first display450instead of an icon indicating the trajectory along which the host vehicle M travels (step S610).

Next, the HMI controller120determines whether or not the occupant has gripped the steering wheel82within a second predetermined period of time from the determination result of the operation element state determiner130(step S612). When it is determined that the occupant has gripped the steering wheel82within the second predetermined period of time, the HMI controller120causes the first screen IM1to be displayed on the first display450(step S606) and causes the second screen IM2to be displayed on the HUD460(step S608).

In step S612, when it is determined that the occupant has not gripped the steering wheel82within the second predetermined period of time, the HMI controller120causes the image showing that the driving assistance is ended (for example, the third screen IM3-12) to be displayed on the first display450(step S614). Also, at this time, the HMI controller120causes the vibrator484for vibrating the seat belt482A to be operated. Also, in the embodiment, the seat480may be provided with a vibrator that vibrates the seat480. In this case, when it is determined that the occupant has not gripped the steering wheel82within the second predetermined period of time, the HMI controller120may cause the vibrator provided in the seat480to be operated.

Next, the HMI controller120determines whether or not the occupant has gripped the steering wheel82within a third predetermined period of time from a determination result of the operation element state determiner130(step S616). When it is determined that the occupant has gripped the steering wheel82within the third predetermined period of time, the HMI controller120causes the first screen IM1to be displayed on the first display450(step S606) and causes the second screen IM2to be displayed on the HUD460(step S608).

When it is determined that the occupant has not gripped the steering wheel82within the third predetermined period of time in step S616, the HMI controller120displays an image showing that the emergency stop of the host vehicle M is executed on the first display450(step S618). Thereby, the process of the present flowchart is ended.

<Switching Timings of Various Types of Equipment or Control Related to Driving Assistance>

Here, switching timings of various types of equipment or control related to the driving assistance of the host vehicle M will be described with reference to the drawings.FIG. 37is a diagram showing the switching timings of various types of equipment or the control related to the driving assistance.

InFIG. 37, switching timings related to a passage of time of (A) on/off of the main switch412, (B) on/off of the auto switch414, (C) on/off of the manual driving mode display, (D) on/off of the driving assistance mode display, (E) on/off of the driving assistance of the first degree, (F) gripping/non-gripping of the steering wheel82, (G) on/off of the driving assistance of the second degree, (H) on/off of the driving assistance of the third degree, and (I) necessity/non-necessity of the driving monitoring of the occupant are shown with respect to the switching related to the driving assistance.

At time T0, the host vehicle M is traveling according to the manual driving of the occupant. In this case, the main switch412and the auto switch414are not operated, and the screens (the first screen IM1and the second screen IM2) of the manual driving mode are displayed on the first display450and the HUD460. Also, at time T0, the driving assistance (the first to third degrees) for the host vehicle M is not performed and the occupant needs to grip the steering wheel82and monitor the surroundings.

At time T1, an operation of turning on the main switch412is being executed by the occupant. In this case, the screens (the third screen IM3and the fourth screen IM4) of the driving assistance mode are displayed on the first display450and the HUD460. In a state between times T1and T2, the driving control of the driving assistance is not performed and manual driving is continued.

At time T2, an operation of turning on the auto switch414is being executed by the occupant. In this case, the master controller100causes the driving assistance controller200to execute the driving assistance of the first degree. The HMI controller120displays an image showing that the driving assistance of the second degree is executed when the occupant separates his/her hands from the steering wheel82in the driving assistance mode display.

At time T3, the occupant is separating his/her hands from the steering wheel82in a state in which the driving assistance of the second degree is possible in the host vehicle M. In this case, the switching controller110causes the driving assistance of the second degree by the automated driving controller300to be executed from the driving assistance of the first degree by the driving assistance controller200.

At time T4, for example, the driving assistance of the third degree is executed by the host vehicle M performing the low-speed following travel. In this case, the surroundings monitoring of the occupant is unnecessary.

At time T5, the driving assistance of the third degree is ended and the driving assistance is switched to the driving assistance of the second degree. Therefore, the surroundings monitoring of the occupant is necessary. Also, at the time T5, the display for switching the host vehicle M from the driving assistance of the second degree to the manual driving is performed. In this case, the HMI controller120displays the information for allowing the occupant to grip the steering wheel82in the driving assistance mode display.

At time T6, the occupant grips the steering wheel82. In this case, the switching controller110switches the driving assistance from the driving assistance of the second degree by the automated driving controller300to the driving assistance of the first degree by the driving assistance controller200. Also, the switching controller110performs switching to the manual driving when a predetermined period of time has elapsed in the driving assistance of the first degree.

At time T7, the host vehicle M is switched to the manual driving. In this case, the main switch412and the auto switch414are switched to an off state in correspondence with a timing when the host vehicle M is switched to the manual driving.

Next, the switching control of the driving assistance in the embodiment will be described.FIG. 38is a diagram showing the switching control of the driving assistance in the embodiment. The driving control of the host vehicle M according to the embodiment includes driving control according to the driving assistance of the first to third degrees and driving control according to the manual driving of the occupant. For example, the switching controller110may switch the driving control in a switching pattern shown in (a) to (h) ofFIG. 38on the basis of a traveling state of the host vehicle M and a state of the occupant.

In the switching pattern (a), the switching controller110switches the driving control of the host vehicle M from the manual driving to the driving assistance of the first degree. In this case, the switching controller110causes the driving assistance controller200to execute the driving assistance of the first degree.

In the switching pattern (b), the switching controller110switches the driving control from the driving assistance of the first degree to the driving assistance of the second degree. In this case, the switching controller110causes the automated driving controller300to execute the driving assistance of the second degree.

In the switching pattern (c), the switching controller110performs switching from the driving assistance of the second degree to the driving assistance of the third degree. In this case, the switching controller110causes the automated driving controller300to execute the driving assistance of the third degree.

In the switching pattern (d), the switching controller110performs switching from the driving assistance of the third degree to the driving assistance of the second degree. In this case, the switching controller110causes the automated driving controller300to execute the driving assistance of the second degree.

In the switching pattern (e), the switching controller110performs switching from the driving assistance of the second degree to the driving assistance of the first degree. In this case, the switching controller110causes the driving assistance controller200to execute the driving assistance of the first degree.

In the switching pattern (f), the switching controller110performs switching from the driving assistance of the first degree to the manual driving. In this case, the switching controller110causes the host vehicle M to execute the driving control by the manual driving.

In the switching pattern (g), when a predetermined event has occurred in the host vehicle M while the driving assistance of the second degree is executed, the switching controller110performs switching from the driving assistance of the second degree to the manual driving. For example, the predetermined event is a case in which a value received by the automated driving controller300is different from a value of a predetermined range assumed in advance, a case in which a signal from other equipment is blocked, or a case in which the transmission of a signal to control target equipment is impossible.

In the switching pattern (h), when the occupant is gripping the steering wheel82in a specific scene, the switching controller110causes the automated driving controller300to continue the driving assistance of the second degree. For example, the specific scene is a scene in which the host vehicle M travels through a connection path such as an interchange or a junction. The switching controller110switches the driving control of the host vehicle M in correspondence with each of the switching patterns.

According to the embodiments described above, it is possible to notify an occupant that a vehicle can execute driving assistance before the start of control.

REFERENCE SIGNS LIST

16Physical object recognition device

80Driving operation element

90Vehicle interior camera

130Operation element state determiner

140Occupant state monitor

140,200Driving assistance controller

300Automated driving controller

500Travel driving force output device

M Host vehicle