• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
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    • 专利摘要:
    vehicle information display apparatus. A vehicle information display apparatus for use in an autonomous vehicle is provided that has drive control switches between the autonomous driving control, in which the vehicle is autonomously driven, and the drive control manual, in the which the vehicle is manually driven by a driver. the vehicle information display apparatus includes a driving attention level estimator (15) configured to estimate a driver's driving attention level, and an information display controller (16) configured to alternate information to present to the driver according to the level of attention to driving of the controller estimated by the level of driving attention estimator(15).
    公开号:BR112016023042B1
    申请号:R112016023042-6
    申请日:2014-04-02
    公开日:2022-01-11
    发明作者:Akihiko Ebina
    申请人:Nissan Motor Co. Ltd；
    IPC主号:
    专利说明:

    TECHNICAL FIELD
    [001] The present invention relates to a vehicle information presenting apparatus that is applied to a vehicle, with an autonomous driving capability and is configured to present information about the vehicle's travel condition. BACKGROUND OF THE ART
    [002] An information display device capable of informing a driver with information irrespective of the driver's change in posture, age, or the like is conventionally known (Patent Literature 1). Patent Literature 1 informs a conduit of information by changing the width of an attention-grabbing frame or adjusting the amount of light stimulus according to the driver's viewing angle. LIST OF QUOTATIONS PATENT LITERATURE
    [003] Patent Literature 1: Japanese Patent Application No. 2008-191778. SUMMARY OF THE INVENTION
    [004] Patent Literature 1 constantly gives information to the driver. During autonomous driving, a driver is likely to pay a low level of attention to driving. Excessive display of information can overwhelm the driver with an increased monitoring task.
    [005] The present invention was made in view of the above problem, and aims to provide a vehicle information display apparatus capable of displaying adequate information to an occupant according to the condition of the occupant during autonomous driving.
    [006] A vehicle information display apparatus according to an aspect of the present invention calculates a driver's driving attention level and changes the information to present to the driver according to the driver's driving attention level estimate. . BRIEF DESCRIPTION OF THE DRAWINGS
    [007] [FIG. 1] Fig. 1 is a block diagram showing the configuration of an autonomous vehicle to which a vehicle information display apparatus according to a first embodiment of the present invention is applied. [FIG. 2] Fig. 2 shows two examples of assistance driving information displayed on a display.[FIG. 3] Fig. 3 shows two examples of system condition information shown on the display.[FIG. 4] Fig. 4 is a flowchart illustrating the processing of display information performed by the vehicle information display apparatus according to the first embodiment. [FIG. 5] Fig. 5 (a) is a graph showing the relationship between the consciousness level decrease coefficient R11 and the diameter of a conductor's pupil. FIG. 5(b) is a graph showing the relationship between the coefficient of decrease in the level of consciousness R12 and a driver's heart rate. FIG. 5(c) is a graph showing the relationship between the coefficient of decreased level of consciousness R13 and the frequency of yawning.[FIG. 6] Fig. 6(a) is a graph showing the relationship between the inattention coefficient in conduction R21 and a response time. FIG. 6(b) is a graph showing the relationship between the conduction inattention coefficient R22 and the speech rate. FIG. 6(c) is a graph showing the relationship between a conduction inattention coefficient R23 and field fluctuation.[FIG. 7] Fig. 7(a) is a graph showing the relationship between the S11 system confidence coefficient and a sensor detection rate. FIG. 7(b) is a graph showing the relationship between the system confidence coefficient S12 and a CPU occupancy rate. FIG. 7(c) is a graph showing the relationship between the confidence coefficient of the S13 system and the fidelity of the computed path results and target values.[FIG. 8] Fig. 8 is a block diagram showing the configuration of an autonomous vehicle to which a vehicle information display apparatus according to a second embodiment of the present invention is applied. [FIG. 9] Fig. 9 is a flowchart illustrating the information display processing performed by the vehicle information display apparatus according to the second embodiment. [FIG. 10] Fig. 10 is a graph showing the relationship between the driving inattention coefficient R24 and a seat pressure.[FIG. 11] Fig. 11 shows other examples of driving assistance information shown on the display. DESCRIPTION OF THE FORMS OF ACHIEVEMENT
    [008] Embodiments of the present invention are described below with reference to the drawings.
    [009] [First Embodiment] As shown in Fig. 1, an autonomous vehicle (simply referred to as vehicle) essentially includes an autonomous/manual drive selection switch 1, an autonomous driving controller 2, the condition of the determining system 9, estimated driving attention level 15, an information display controller 16, and a display 17.
    [010] Autonomous / Manual Driving Select Switch 1 is operated by a driver to select and switch between autonomous driving and manual vehicle steering. For example, the autonomous / manual driving selector switch 1 is placed next to the driver's seat of the vehicle.
    [011] The autonomous driving controller 2 is a computer integrally including a CPU and a recording unit, such as a RAM, a ROM, and a hard disk. Autonomous Driving Controller 2 is configured to perform autonomous driving control of the vehicle based on the vehicle's travel condition and vehicle exterior information (outside-vehicle information), when autonomous driving has been selected by the driver with the switch. autonomous / manual driving selection 1. More specifically, the autonomous driving controller 2 acquires the information outside the vehicle, using database 3, such as maps and traffic information, and an information device outside the acquisition vehicle 4 (for example, a camera or a laser sensor). The autonomous driving controller 2 detects the vehicle's travel condition by means of a vehicle's condition sensing device 5 (eg, a vehicle speed sensor). Then, autonomous driving controller 2 determines a travel route to a destination based on information in database 3, and controls various control bodies 6, 7 and 8 based on information from outside the vehicle and the vehicle travel conditions so that the vehicle can travel according to the travel route. The vehicle is thus autonomously driven by the autonomous driving controller 2.
    [012] System condition determining factor 9 determines an autonomous driving system condition using information issued by the autonomous driving controller 2. The condition autonomous driving system indicates operating status outside the vehicle vehicle acquisition device information 4, such as a camera, and the various control organs 6, 7 and 8. When these devices are in operation, the condition of the determining system 9 determines that the condition of the system is normal. Upon being unable to acquire the information out of the vehicle due to a camera failure or the like, the condition of the determining system 9 determines that the condition of the system is abnormal.
    [013] When the condition of the autonomous driving system is normal, the condition of the determining system 9 can classify the system condition as favorable or unfavorable according to the environments that will travel. Traveling environments include weather and road conditions. System condition is rated as favorable when devices are providing sufficient performance. System condition is classified as unfavorable when any of the devices is not delivering sufficient performance. To be more specific, the cases where the condition of the determining system 9 determines that the system condition is unfavorable because any of the devices is not providing sufficient performance include a case where the camera can only recognize its surroundings due to bad weather (such as heavy rain, snow or fog), a case where the laser sensor only provides low detection accuracy due to darkness or backlight, a case where the camera cannot recognize the lanes due to poor road conditions (because, for example, the white line has been used farther or the road is a dirt road), and a case where the camera cannot decide a travel path due to road works.
    [014] A conversation determiner 13 is a device that recognizes voice generated inside the vehicle compartment. The conversation determiner 13 recognizes and analyzes the driver's voice picked up by a microphone 10. The conversation determiner 13 recognizes the driver's voice using pre-recorded driver voice data to distinguish the driver's voice from the voice of others. The conversation includes one between the driver and another occupant and one between the driver and the vehicle. A loudspeaker (not shown) is installed in the vehicle compartment. Through this loudspeaker, information from the vehicle's display device can initiate various types of conversations (which can be a daily conversation or a hobby) for the driver. Then, the conversation determiner 13 recognizes and analyzes the speech (voice) of the conductor in this conversation. Even when multiple occupants are in the vehicle, information from the vehicle's display device can initiate a conversation with the driver through the loudspeaker.
    [015] A camera 11 is an apparatus that captures the driver's facial images. The camera 11 includes an image capturing element such as a CCD or a CMOS, and is placed near the cabin mirror or on the dashboard. The shooting angle of camera 11 can be changed accordingly. Camera 11 can capture not only facial images, but also an action of the driver in the seat (for example, an action of the controller adjusting in the seat). Note that the camera 11 is different from the camera on the outside of the vehicle's information acquisition device 4.
    [016] The heart rate measurement unit 12 is located on a part of the steering wheel and measures the driver's heart rate when the driver holds this part with both hands. Alternatively, the heart rate measurement unit 12 can be a non-contact sensor built into the seat.
    [017] An alert level 14 determinant is a device that determines the alert level of the driver. Alert Level Determiner 14, determines the driver's alertness level by monitoring the driver's eye movement, such as pupil diameter or number of eye blinks, using the driver's facial images captured by the camera. 11, images of the face being subjected to various types of image processing, such as gray scaling, edge detection, and pattern matching. The consciousness level determining factor 14 determines the driver's level of alertness also by monitoring the driver's heart rate measured by the heart rate measurement unit 12.
    [018] The triggering attention level 15 estimator is a device that calculates the driver's attention level on driving. Driving attention level 15 estimates the driver's driving attention level based on the controller voice analyzed by the conversational determiner 13 and the driver alertness level determined by the alerting level determiner 14.
    [019] The information display controller 16 switches the information to present on the display 17 according to the condition of the autonomous driving system and the driver's driving attention level. Specifically, information from the display controller 16 alternates between information regarding the condition of the system (called the condition information system below) and information about driving assistance (called the driving assistance information below). The system condition information indicates whether the system condition is normal or abnormal, and when the system condition is normal, it additionally indicates whether the system condition is favorable or unfavorable. A detailed description for the driving assistance information will be given later.
    [020] The screen 17 presents various information elements for the driver, and is placed, for example, next to the driver's seat of the vehicle. The display 17 can be placed in a position where the information can be displayed not only to the driver but also to other occupants.
    [021] The System Condition Determiner 9, the Conversation Determiner 13, the Alert Level Determiner 14, the Driving Attention Level Estimator 15, and the Information Presentation Controller 16 are configured as a computer integrally including a CPU and a recording unit, such as RAM, ROM and hard disk.
    [022] Then, with reference to fig. 2, two examples are given of the driving assistance information presented on the display 17 by the information display controller 16. The driving assistance information shows obstacles in a path of travel, a direction of travel, or the like to help a smooth transition from autonomous driving to manual driving. As shown in fig. 2(a), images 18 and 20 are displayed on display 17. Image 18 indicates obstacles in the way of a journey and a direction of travel. Shaded rectangles indicate areas that the vehicle cannot travel, and unshaded rectangles indicate areas that the vehicle can travel. Thus, image 18 indicates that the road on which the vehicle is traveling has two lanes. The arrow in image 18 indicates that the vehicle is turning right at the next intersection. Image 19 indicates that the vehicle is turning right in four seconds. Image 20 is a triangular image that indicates the condition of the autonomous driving system and changes in color according to the condition of the system. Image 20 colors are not limited. For example, image 20 turns green when the system condition is favorable and turns red when the system condition is unfavorable. It is desirable that colors that people can easily understand what they mean are selected, such as red (danger), yellow (caution) and green (normal), for example. The information display controller 16 may also change the color of the image 20 gradually according to the value S1 of a system confidence level to be described later. As shown in Fig. 2(b), the information display controller 16 can display a tachometer, speedometer, and a fuel gauge as the driving assistance information.
    [023] Then, with reference to fig. 3, two examples are data of autonomous driving of information system condition presented on the display 17 by the information presentation controller 16. When the system condition is favorable, the information presentation controller 16 presents an image 21, in which a mark vehicle shape is superimposed on a green rectangle, as shown in Fig. 3(a). When the system condition is unfavorable, the information display controller 16 displays an image 22 in which a vehicle-shaped mark is superimposed on a red rectangle, as shown in Fig. 3(b). When presented with one of these simple images that differ only in color, the driver can see at a glance whether the condition of the system is favorable or unfavorable. When the condition of the system is unfavorable, the image 22 may be flashed, rotated or outlined to attract the driver's attention. When the system condition is abnormal, the display controller information 16 does not display anything on the display 17, or displays the image 22 at a larger size than when the system condition is unfavorable. By thus making an emphatic display when the system condition is abnormal, the information display controller 16 can draw the driver's attention strongly.
    [024] Then, with reference to the flowchart in Fig. 4, a description of information is made showing processing performed by the vehicle information presenting device. This flowchart starts when autonomous driving is selected with the switch.
    [025] First, in Step S101, the condition of the determining system 9 determines whether the condition of the autonomous driving system is normal. Processing proceeds to step S103, when the system condition is normal, and proceeds to step S102, when the system condition is not normal.
    [026] In step S102, the information presentation controller 16 presents, on the display 17, information indicating that the condition of the autonomous driving system is abnormal, and thus ends the processing.
    [027] When processing proceeds to step S103, the alert level determiner 14 calculates an amount of consciousness level decrease R1 (%). The amount of consciousness level decrease R1 is an index of how much the driver's alertness level is decreased. Consciousness Level Determining Factor 14 determines that the driver has a lower alertness level when the amount of consciousness level decrease R1 shows a higher number. The amount of consciousness level decrease R1 is expressed as follows using alert level decrease coefficients R11, R12, and R13:R1 = R11 x R12 X R13 X 100. The alert level decrease coefficients R11, R12, and R13 are described with reference to Fig. 5. As with the amount of consciousness level decrease R1, the alertness level decrease coefficients R11, R12, and R13 are indices of how much the driver's alertness level is decreased.
    [028] FIG. 5(a) is a graph showing the relationship between the consciousness level decrease coefficient R11 and the diameter of a conductor's pupil. The consciousness level reduction coefficient R11 is 1 when the pupil diameter is up to 2 mm, and decreases as the pupil diameter increases from 2 mm.
    [029] FIG. 5(b) is a graph showing the relationship between the coefficient of decrease in the level of consciousness R12 and a driver's heart rate. The coefficient of decrease in the level of consciousness R12 is 1 when the heart rate is up to 50 bpm, and decreases as the heart rate increases from 50 bpm.
    [030] FIG. 5(c) is a graph showing the relationship between the alert level R13 reduction coefficient and a driver's yawning frequency. The decrease in the level of consciousness coefficient R13 approaches 1 as the number of yawns for a predetermined period of time increases.
    [031] Consciousness Level Determining Factor 14 thus calculates the amount of Consciousness Level Decrease R1 using the Alert Level Decrease coefficients R11 to R13. While the amount of consciousness level decrease R1 is calculated using the alertness level decrease coefficients R11 to R13 in the present embodiment, the amount of alertness level decrease R1 can be calculated using only one or two of the decrease coefficients. from alert level R11 to R13. A driver's alert level indices are not limited to those shown above. For example, the length of a conductor's blink, the frequency of a conductor's eye-friction, or a period of time when the eyeballs are inert can be used to calculate the amount of decrease in R1's level of consciousness.
    [032] Then, in step S104, the determining conversation 13 calculates a driving inattention level R2 (%). The driving inattention level R2 is an index of how much the driver is not paying attention to driving. The conversation determiner 13 determines that the driver is paying less attention to driving when the driving inattention level R2 shows a higher number. The conduction inattention level R2 is expressed as follows using the conduction inattention coefficients R21, R22 and R23:R2 = R21 R22 × × R23 × 100. The conduction inattention coefficients R21 to R23 are described with reference to Fig. 6, As with the driving inattention level R2, the driving inattention coefficients R21 to R23 are indices of how much the driver is not paying attention to driving.
    [033] FIG. 6(a) is a graph showing the relationship between the driving inattention coefficient R21 and a response time. Response time is the amount of time that elapses before the controller responds to a conversation with another occupant or the vehicle. The shorter the response time, the closer the conduction inattention coefficient R21 approaches 1, because a shorter response time indicates that the controller is more focused on the conversation.
    [034] FIG. 6(b) is a graph showing the relationship between the R22 inattention driving coefficient and speech rate. Speech rate is the speed at which the driver speaks. The higher the speech rate, the higher the R22 driving inattention coefficient approaches 1, because a higher speech rate indicates that the driver is more focused on the conversation.
    [035] FIG. 6(c) is a graph showing the relationship between the conduction inattention coefficient R23 and field fluctuation. Field fluctuation is the frequency of a conductor's voice. The smaller the field fluctuation, the more the conduction inattention coefficient R23 approaches 1, because the smaller the field fluctuation indicates that the conductor is more focused on the conversation.
    [036] As described, the conversation determiner 13 calculates the conduction inattention level R2 using the conduction inattention coefficient R21 to R23. While the conduction inattention level R2 is calculated using the conduction inattention coefficients R21 to R23 in the present embodiment, the conduction inattention level R2 can be calculated using only one or two of the conduction inattention coefficients R21 to R23 .
    [037] Then, in step S105, the driving attention level estimator 15 calculates a driving attention level R (%). The driving attention level R is an index of how much the driver is paying attention to driving. The driving attention level estimator 15 determines that the driver is paying more attention to driving when the driving attention level R shows a higher number. The conduction attention level R is expressed as follows using the amount of consciousness level decrease R1 and the conduction inattention level R2:R = (100-R1) x (100-R2) / 100.The attention level of conduction R can also be calculated using just one of the decrease amount of the level of consciousness R1 and the level of conduction inattention R2. In this case, zero is entered for the unused index value.
    [038] Then, in step S106, the information display controller 16 determines whether the driving attention level R is greater than thresholdR (a predetermined value). Processing proceeds to step S107 when the driving attention level R is greater than thresholdR, and proceeds to step S108 when the driving attention level R is equal to or less than thresholdR.
    [039] In step S107, the information display controller 16 presents the driving assistance information on the display 17, and finishes processing.
    [040] In Step S108, on the other hand, the determining system condition 9 calculates a confidence level of the S1 system (%). The S1 system confidence level is an index of how favorable the condition of the autonomous driving system is. The system condition determining factor 9 determines that the system condition is more favorable when the system confidence level S1 shows a higher value. The confidence level of system S1 is expressed as follows using system confidence coefficients S11, S12 and S13:S1 = S11x S12 X S13 X 100. The system confidence coefficients S11 to S13 are described with reference to Fig. 7 As with the S1 system confidence level, the S11 to S13 system confidence coefficients are indices of how favorable or unfavorable the system condition is.
    [041] FIG. 7(a) is a graph showing the relationship between the S11 system confidence coefficient and a sensor detection rate. The sensor detection rate is a value obtained by dividing the capacity of, for example, a laser sensor, under current displacement conditions, by the maximum capacity of the laser sensor. More specifically, in the case of a laser sensor capable of detecting an obstacle up to 200 meters ahead, the laser sensor has a sensor detection rate of 0.5 if the laser sensor can only detect an obstacle 100 meters ahead. due to a bad environment such as rain or fog. The higher the sensor detection rate, the higher the S11 system confidence coefficient approaches 1, because a higher sensor detection rate indicates that the system state is more favorable.
    [042] FIG. 7(b) is a graph indicating the relationship between the system confidence coefficient S12 and a CPU occupancy rate. CPU load factor is the CPU load factor for autonomous driving control under current driving conditions. The lower the CPU occupancy rate, the higher the system confidence coefficient S12 approaches 1, because a lower CPU occupancy rate indicates that the system condition is more favorable.
    [043] FIG. 7(c) is a graph showing the relationship between the system confidence coefficient S13 and the fidelity of computed path results and target values. The fidelity of the computed path results and target values is a numerical index that indicates whether the autonomously driven vehicle is traveling on a set of a travel route. A higher loyalty number indicates that the autonomously driven vehicle is traveling on a set of a travel route, and a lower loyalty number indicates that the autonomously driven vehicle is traveling on a different route than the set of travel route. For example, the fidelity of computerized path results and target values show a low value when the autonomous driving system cannot recognize the set travel path due to worn lane lines or road works and drive the vehicle on a different route. . Thus, a lower fidelity value indicates that the condition of the autonomous driving system is more unfavorable. In other words, the higher the fidelity value, the higher the system confidence coefficient S13 approaches 1, because a higher value indicates that the system state is more favorable.
    [044] As described, the system condition determiner 9 calculates the system confidence level of S1 using the system confidence coefficients from S11 to S13. Although the system confidence level S1 is calculated based on the system confidence coefficients S11 to S13 in the present embodiment, the system confidence level of S1 can be calculated using only one or two of the system confidence for the coefficients. S11 and S13.
    [045] Then, in step S109, the information display controller 16 determines whether the system confidence level S1 is higher than threshold S (a predetermined value). Processing proceeds to step S111, when system confidence level S1 is higher than threshold S, and proceeds to step S110, when system confidence level S1 is equal to or lower than threshold S.
    [046] In step S110, the information from the presentation controller 16 presents, on the display 17, information indicating that the condition of the autonomous driving system is unfavorable, and ends the processing.
    [047] In Step S111, on the other hand, the information about the presentation controller 16 presents, on the display 17, the information that indicates that the condition of the autonomous driving system is favorable, and ends the processing.
    [048] As described above, the vehicle information presenting apparatus of the present application calculates the driving attention level R of a controller, switches and information to present on the display 17, according to the estimated driving attention level R of the driver . The information from the vehicle's display device can give the driver adequate information by switching information to present on the display 17 between information that gives the driver assurance about autonomous driving and information that draws the driver's attention.
    [049] The vehicle information display apparatus of the present embodiment determines the status of the autonomous driving system, and displays the condition of the system on the display 17, when the driver's driving attention level R is equal to or less than the what limit R. A driver may be annoyed if driver assistance information is presented to the driver when the driver is paying a low level of attention to driving. For this reason, when the driver is paying a low level of attention while driving, the vehicle information display apparatus of the present embodiment avoids bothering the driver by presenting the condition of the system to the driver using a simple image. In addition, the driver can monitor autonomous driving with less effort because the driver can see the condition of the system at a glance.
    [050] The vehicle information display apparatus of the present embodiment calculates the confidence level of system S1 indicating whether the condition of the autonomous driving system is favorable or unfavorable, and displays, on the display 17, information indicating that the condition of the system is unfavorable when the confidence level of the system S1 is equal to or less than the threshold S. As this information, the vehicle information display apparatus displays the red image 22 which is easy to draw the driver's attention, and can thus draw the attention of the driver who is paying a low level of attention to driving. This raises the driver's driving attention level, avoiding a situation where the driver is disturbed when the driving mode suddenly changes from autonomous driving to manual driving.
    [051] When the confidence level of the system S1 is higher than the threshold S, the vehicle information showing the apparatus of the present embodiment, on the display 17, indicates that the system status information is favorable. As this information, the information from the vehicle display device of the green image 21. The driver can thus see at a single glance that the condition of the system is favorable, feeling secure regarding autonomous driving.
    [052] The vehicle information display apparatus of the present embodiment detects the driver's condition and thus estimates the driver's attention level R. The vehicle information display apparatus can thus accurately estimate the level of driver's R driving attention.
    [053] The vehicle information display apparatus of the present embodiment detects the driver's voice from a conversation held in the vehicle compartment, and estimates the driver's driving attention level R based on which voice is detected. The displaying vehicle information apparatus can thus accurately estimate the driver's level of driving attention R.
    [054] The vehicle information display apparatus of the present embodiment detects at least one of a response time, speech rate, and driver fluctuation, in a conversation carried out in the vehicle compartment. The vehicle information display device can thus accurately estimate the driver's level of driving attention R.
    [055] In addition, the vehicle information display apparatus of the present embodiment calculates the driver's driving attention level R using the driver's facial image and heart rate. The displaying vehicle information apparatus can thus accurately estimate the driver's level of driving attention R.
    [056] From the images of the driver's face, the vehicle information apparatus of the present embodiment detects at least one of the pupil diameter, the yawn frequency, the blink length, and the eye frequency. -friction. The vehicle information display device can thus accurately estimate the driver's level of driving attention R.
    [057] The vehicle information display apparatus of the present embodiment, on the display 17, the driving assistance information when the driving attention level R is greater than thresholdR. By checking the driving assistance information, which contains information such as obstacles on a travel path and a travel direction, the driver can easily transition from autonomous driving to manual driving. In other words, the driver can take on the driving without haste, feeling secure in relation to autonomous driving.
    [058] Upon determining that the system conditions are abnormal, the vehicle information display apparatus of the present embodiment displays the information indicative of the abnormality system condition on the display 17 emphatically. Thus, the vehicle information display device can draw the driver's attention strongly.
    [059] In the present embodiment, the system status information contains less information than the driving assistance information, as shown in Figs. 2 and 3. The vehicle information display apparatus in the present embodiment displays such system condition information when the driver is paying a low level of attention to driving. Thus, vehicle information display devices present less information to a driver who is paying a low level of attention to driving. By reducing the amount of information to be displayed, the vehicle information display device can provide adequate information to the driver while paying a low level of attention to driving.
    [060] [Second Embodiment] Next, a second embodiment of the present invention is described. The second embodiment differs from the first embodiment in that a posture is used instead of a voice to estimate the driving attention level. The same parts, while those in the first embodiment are indicated by the same reference numerals as those used in the first embodiment, and will not be described in detail again.
    [061] As shown in Fig. 8, a vehicle information display apparatus of the second embodiment is different from the vehicle information display apparatus of the first embodiment in that it includes a pressure sensor 23 and a posture determiner. 24 in place of microphone 10 and conversational determiner 13.
    [062] Pressure sensor 23 is a pressure sensitive sensor that detects an occupant's posture, and is incorporated into the seat back.
    [063] The posture determiner 24 is a device that determines the posture of the occupant based on a pressure applied to the seat back, which is detected by the pressure sensor 23. The posture determiner 24 is configured as a computer integrally including a CPU and recording medium such as RAM, ROM, and hard disk. In the present embodiment, the pressure sensor 23, the camera 11, and the heart rate measurement unit 12 are placed in the vehicle compartment to be able to acquire not only data on the data driver, but also on other occupants. .
    [064] Next, with reference to the flowchart in Fig. 9, a description of information is made showing processing performed by the vehicle information display device. This flowchart starts when autonomous driving is selected with the switch.
    [065] First, in Step S301, the condition of the determining system 9 determines whether the condition of the autonomous driving system is normal. Processing proceeds to step S303, when the system condition is normal, and proceeds to step S302, when the system condition is not normal.
    [066] In step S302, the information presentation controller 16 presents, on the display 17, information indicating that the condition of the autonomous driving system is abnormal, and thus ends the processing.
    [067] When processing proceeds to step S303, the alert level determiner 14 calculates the amount of decreased consciousness level R1.
    [068] Then, in step S304, the posture determiner 24 calculates a driving inattention level R2' (%). The driving inattention level R2' is an index of how much an occupant is not paying attention to driving. Conversation determiner 13 determines that the occupant is paying less attention to driving when the driving inattention level R2' shows a higher number. The conduction inattention level R2' is expressed as follows using a conduction inattention coefficient R24:R2' = R24 x 100. The conduction inattention coefficient R24 is described with reference to Fig. 10. As with the driving inattention level R2', the driving inattention coefficient R24 is an index of how much the occupant is not paying attention to driving.
    [069] FIG. 10 is a graph showing the relationship between the driving inattention coefficient R24 and a seat pressure. Seat pressure is pressure applied to the seat back. As an occupant reclines the seatback relative to the seat by adjusting the angle of the seatback, the pressure on the seat increases, and the driving inattention coefficient R24 approaches 1. In other words, the more relaxed posture the occupant makes for seatback recline, the more the driving inattention coefficient R24 approaches 1. The driving inattention level R2' may alternatively be calculated using an output of a recline sensor provided in the seat to detect reclining.
    [070] Then, in step S305, the driving attention level estimator 15 calculates a driving attention level R' (%). The driving attention level R' is an index of how much an occupant is paying attention to driving. The driving attention level estimator 15 determines that the occupant is paying more attention to driving when the driving attention level R' shows a higher value. The conduction attention level R' is expressed as follows using the amount of decreased consciousness level R1 and the conduction inattention level R2':R' = (100-R1) x (100-R2') / 100. The driving attention level R' can also be calculated using just one of the amount of decrease in the level of consciousness R1 and the driving inattention level R2'. In this case, zero is entered for the unused index value.
    [071] Next, in step S306, the information display controller 16 determines whether the driving attention level R' is greater than thresholdR (a predetermined value). Processing proceeds to step S307 when the driving attention level R' is greater than thresholdR, and proceeds to step S308 when the driving attention level R' is equal to or less than thresholdR.
    [072] In step S307, the information display controller 16 presents the driving assistance information on the display 17, and finishes processing.
    [073] In Step S308, on the other hand, the system condition determiner 9 calculates the confidence level of system S1.
    [074] Then, in step S309, the information display controller 16 determines whether the confidence level of the system S1 is higher than the threshold S (a predetermined value). Processing proceeds to step S311, when system confidence level S1 is higher than threshold S, and proceeds to step S310, when system confidence level S1 is equal to or less than SLIMIT.
    [075] In step S310, the information from the presentation controller 16 presents, on the display 17, information indicating that the condition of the autonomous driving system is unfavorable, and ends the processing.
    [076] In Step S311, on the other hand, the information about the presentation controller 16 presents, on the display 17, the information that indicates that the condition of the autonomous driving system is favorable, and ends the processing.
    [077] As described above, the vehicle information display apparatus of the present embodiment detects an occupant's posture and calculates the occupant's driving attention level R' based on the occupant's detected posture. Then, the vehicle information display apparatus to display on the display 17, in accordance with the estimation of the occupant's driving attention level R'. The vehicle's information display apparatus can provide the occupant with appropriate information by switching information to be displayed on the display 17 between information that gives assurances about autonomous driving and information that draws the driver's attention. The displaying vehicle information apparatus monitors not only the driver but also an occupant other than the driver to be able to estimate the driving attention level R' of the occupants, including the driver. The vehicle's information display apparatus can therefore change the information according to the driving attention level R' of the occupants, including the driver, so that an occupant other than the driver can also be given a sense of confidence about autonomous driving.
    [078] The above embodiments are provided to present examples of application of the present invention, and are not intended to limit the technical scope of the present invention with what is disclosed as the embodiments. Thus, the technical scope of the present invention is not limited to the specific technical aspects disclosed in the above-referenced embodiments, and encompasses various modifications, alternative technical changes, and the like, which can be easily drawn from the description described herein.
    [079] For example, when a transition is to be made from autonomous driving to manual driving, as shown in Fig. 11(a), a vehicle information display apparatus of the present invention may present, on the display 17, an image 25, in the form of a steering wheel and a background 26 that makes an irregular movement behind the image 25. In this way, vehicle information display apparatus can catch the driver's attention, prompting the driver to take over and steer manually. By looking at image 25, the driver can know in a single glance that he or she has to control the steering wheel now. Image 25 may be in the form of a pedal instead of a steering wheel. The color of image 26 is not limited, and can be changed according to the degree of need to make the transition to manual driving. For example, image 26 can be green, when the degree of need to transition to manual driving is low, and it can be red, when the degree of need to transition to manual driving is high. Furthermore, as shown in Fig. 11(b), vehicle information display apparatus can display, as an image 27, the direction in which the driver turns the steering wheel for the transition to manual driving. This allows the driver to make a smooth transition to manual driving.REFERENCE SIGNAL LIST9 system condition determiner10 microphone (voice detector)11 camera (image capture unit)12 heart rate measurement unit13 heart rate determination unit Conversation (Occupant Condition Detector)14 Alert Level Determiner (Occupant Condition Detector)15 Driving Attention Level Estimator16 Information Presentation Controller23 Pressure Sensor (Posture Detector)24 Posture Determiner (Condition Detector) of the occupant).
    权利要求:
    Claims (13)
    [0001]
    1. Vehicle information display device for use in an autonomous vehicle that switches driving control between autonomous driving control, in which the vehicle is driven autonomously, and manual driving control, in which the vehicle is driven manually by a driver, the vehicle information display apparatus comprising: a driving attention level estimator (15) configured to estimate a driver's driving attention level; and an information display controller (16) configured to switch image information to present to the driver according to the driver's driving attention level estimated by the driving attention level estimator (15), CHARACTERIZED by the fact that the controller information display (16) switches between autonomous driving system condition information and driving assistance information for transitioning from autonomous driving to manual driving.
    [0002]
    2. Vehicle information display device, according to claim 1 CHARACTERIZED by the fact that it also comprises a system condition determiner (9) configured to determine an autonomous driving system condition, in which the presentation controller (16) displays the condition of the system to the driver when the driver's driving attention level is equal to or less than a first predetermined value.
    [0003]
    3. Vehicle information display device, according to claim 2, CHARACTERIZED by the fact that the system condition determiner (9) calculates a system confidence level for the system condition, and when the system confidence level system is equal to or less than a second predetermined value, the information display controller (16) presents to the driver information indicating that the condition of the system is unfavorable.
    [0004]
    4. Vehicle information display device, according to claim 2 or 3, CHARACTERIZED by the fact that the system condition determiner (9) calculates a system confidence level for the system condition, and when the system condition level system confidence is greater than a second predetermined value, the information display controller (16) presents information to the driver indicating that the system condition is favorable.
    [0005]
    5. Vehicle information display apparatus according to any one of claims 1 to 4, CHARACTERIZED in that it additionally comprises an occupant condition detector configured to detect a condition of an occupant, including the driver, and thereby estimate the driver's level of driving attention.
    [0006]
    6. Vehicle information display device, according to claim 5, CHARACTERIZED in that the occupant condition detector includes a voice detector (10) configured to detect voice in a vehicle compartment, and the driving attention level (15) estimates the driver's driving attention level based on the voice detected by the voice detector (10).
    [0007]
    7. Vehicle information display device, according to claim 6, CHARACTERIZED by the fact that the occupant condition detector detects the driver's voice and the voice different from that of the driver from the voice in the vehicle compartment, and it further detects at least one of a time period from the occupant's voice in addition to the driver's voice to the driver's voice, a driver's speech rate and driver's field fluctuation.
    [0008]
    8. Vehicle information display device, according to claim 6 or 7, CHARACTERIZED by the fact that the occupant condition detector further includes an image capture unit (11) configured to capture a facial image of the driver, and a heart rate measurement unit (12) configured to measure the driver's heart rate, and the driving attention level estimator (15) estimates the driver's driving attention level based on the facial image captured by the image capture unit (11), the heart rate measured by the heart rate measurement unit (12), and the voice in the vehicle compartment.
    [0009]
    9. Vehicle information display device, according to claim 8, CHARACTERIZED by the fact that from the facial image, the occupant condition detector detects at least one of a pupil diameter, a yawning frequency , a blink length, and an eye rubbing frequency.
    [0010]
    10. Vehicle information display device, according to claim 5, CHARACTERIZED by the fact that the occupant condition detector includes a posture detector (23) configured to detect an occupant posture, and the attention level estimator driving (15) estimates the occupant's driving attention level based on the posture detected by the posture detector (23).
    [0011]
    11. Vehicle information display device, according to any one of claims 1 to 10, CHARACTERIZED by the fact that the information display controller (16) displays driving assistance information to the driver when the attention level of Conductor conduction is greater than a first predetermined value.
    [0012]
    12. Vehicle information display device, according to claim 11, CHARACTERIZED by the fact that driving assistance information is information related to an operation to be performed by the driver when a transition is made from autonomous driving to manual driving.
    [0013]
    13. Vehicle information display device, according to any one of claims 2 to 4, CHARACTERIZED by the fact that when the system condition determiner (9) determines that the system condition is abnormal, the information (16) presents information to the driver indicating that the system condition is abnormal.
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    BR112016023042A2|2017-08-15|
    CN106163858A|2016-11-23|
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    法律状态:
    2020-03-31| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-08-03| B350| Update of information on the portal [chapter 15.35 patent gazette]|
    2021-11-23| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2022-01-11| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 02/04/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    PCT/JP2014/059732|WO2015151243A1|2014-04-02|2014-04-02|Vehicular information presentation device|
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