• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    information display apparatus and information display method. The present invention relates to an information display apparatus (100) that includes a system confidence level calculator (13) configured to calculate a confidence level of the autonomous driving control system, an information display (15) ) configured to present, to a driver, information about the permission of an action other than driving, and an information presentation controller (14) configured to control the switching of information content presented in the information presenter according to the level confidence level calculated by the system confidence level calculator.
    公开号:BR112016024955B1
    申请号:R112016024955-0
    申请日:2014-04-25
    公开日:2022-01-04
    发明作者:Akihiko Ebina
    申请人:Nissan Motor Co. Ltd；
    IPC主号:
    专利说明:

    FIELD OF TECHNIQUE
    [001] The present invention relates to an information display apparatus and an information display method. FUNDAMENTALS OF THE INVENTION
    [002] An apparatus and method for preventing a driver from falling asleep by altering the sounding time of the alarm according to the driver's condition are conventionally known (see Patent Literature 1). When a driver's eyes are closed for a period equal to or greater than a first threshold, Patent Literature 1 sounds the alarm for detecting a collision hazard before the normal mode.
    [003] Citation List
    [004] Patent Literature
    [005]Patent Literature 1: Japanese Patent Application Publication No. 2008-181327 SUMMARY OF THE INVENTION
    [006]Patent Literature 1 is a technique referring to preventing a driver from falling asleep, and is not configured to sound the alarm according to an action other than driving that that driver may perform during autonomous driving control in which a vehicle is driven autonomously.
    [007] The present invention was made in consideration of the above problem, and aims to provide an information display apparatus and an information display method that can enhance the driver's feeling of tranquility and reliability with autonomous driving control. .
    [008] An information display apparatus according to an aspect of the present invention comprises a system confidence level calculator configured to calculate a confidence level of the autonomous driving control system, an information presenter configured to present, for a driver, information about the permission of an action other than driving, and an information display controller configured to control the switching of information content presented in the information presenter, according to the system confidence level calculated by the computer system confidence level. DESCRIPTION OF DRAWINGS
    [009] Figure 1 is a block diagram showing the configuration of an information display apparatus 100 according to one embodiment.
    [010]Figure 2(a) is a graph that shows an example of the relationship between the sensor detection rate and a system confidence coefficient Sa, Figure 2(b) is a graph that shows an example of the relationship between CPU load and a system confidence coefficient Sb, and Figure 2(c) is a graph showing an example of the relationship between the fidelity of a path for a computed result of a target value and a system confidence coefficient Sc.
    [011]Figure 3 shows an example of time to take control TT for each distinct driving action, which is stored in a time to take control database 17 in Figure 1, and shows the actions that a driver has permission to perform other than driving.
    [012]Figure 4 is a diagram illustrating the operation of an information presentation controller 14 that selects, according to an arrival time TR, a type of action that the driver is allowed to perform other than driving, and presents the type for the driver.
    [013]Figure 5 is a diagram showing an example display of an action that the driver is allowed to perform other than driving, the action being selected according to the arrival time TR shown in Figure 4, and Figure 5 (b) is a diagram showing an example display of an action that the driver is not allowed to perform other than driving, the action being selected according to the arrival time TR shown in Figure 9.
    [014]Figure 6 is an external view showing an example of an information presenter 15 installed in a vehicle compartment.
    [015]Figure 7 is a flowchart showing an example of an information presentation method using the information presentation apparatus 100 in Figure 1.
    [016]Figure 8 shows an example of the time to take control TT for each action other than driving in a second mode, and shows the actions that the driver is not allowed to perform other than driving.
    [017]Figure 9 is a diagram illustrating the operation of the information presentation controller 14 that selects, according to the arrival time TR, a type of action that the driver is not allowed to perform other than driving, and presents the type for the driver.
    [018]Figure 10 is a flowchart showing an example of an information presentation method according to the second modality. DETAILED DESCRIPTION
    [019] The embodiments of the present invention are described below with respect to the drawings. The same components are denoted by the same reference signs to avoid repetitive description.
    [020][First Type]
    [021] Information Presentation Device Configuration
    [022]With reference to Figure 1, the information presentation apparatus 100 according to a first embodiment is described. The information display apparatus 100 is applicable to an autonomous vehicle capable of switching between autonomous driving control, in which a vehicle is driven autonomously, and manual driving control, in which the vehicle is driven by a driver, switching being made based on vehicle travel conditions and vehicle external circumstances. The information display apparatus 100 presents information to the driver about allowing an action other than driving during autonomous driving control.
    [023]The information display apparatus 100 of the first embodiment presents, to the driver, information indicating an action that the driver is allowed to perform other than driving during autonomous driving control. Several types are predefined for actions other than driving. The information display apparatus 100 displays only one type that the driver is allowed to perform, which is determined in accordance with a control system used for the control of autonomous driving and the vehicle's surroundings.
    [024] For example, when switching from autonomous driving control to manual driving control is unnecessary, the information display apparatus 100 presents all kinds to the driver as the actions that the driver is allowed to perform other than driving. . When switching from autonomous driving control to manual driving control is required, on the other hand, the information display apparatus 100 presents only one type that the driver is allowed to perform, which is determined according to the urgency of the need. of switching.
    [025] Specifically, the information display apparatus 100 shown in Figure 1 includes a surrounding hazard detector 11, a microcontroller 12, and an information display 15.
    [026]The Surrounding Hazard Detector 11 detects a surrounding hazard, which is a factor existing in the vehicle's surroundings to make it difficult to control autonomous driving. Specifically, the surrounding hazard detector 11 detects a position on the map where it is anticipated that the autonomous driving control may be prevented from proceeding, or an obstacle which serves as a cause to prevent the autonomous driving control from proceeding. For example, using a vehicle-mounted camera, sensor information from a laser radar or an infrared sensor, or GPS information, the surrounding hazard detector 11 detects a surrounding hazard that is another vehicle parked in a lane. vehicle's current travel lane, a crowded section, or pedestrians entering or likely entering the vehicle's current travel lane.
    [027]The information presenter 15 presents information about the permission of an action other than driving to the driver. Specifically, as shown in Figure 6, the information display 15 is a screen (21a, 21b) provided on a control panel 32 and configured to display an icon image or icon images shown in Figure 3 described later, as information about the permission of an action other than driving. Needless to say, the information presenter 15 can display information indicating an action other than driving on part of a front windshield 33 or a rear view mirror 34.
    [028]The microcontroller 12 includes a CPU, a memory, and an input and output unit. The CPU executes pre-installed computer programs to implement various information processors in the information display apparatus 100. The information processors implemented by the microcontroller 12 include an arrival time calculator 18, a system confidence level calculator 13, and an information presentation controller 14. Part of the memory in the microcontroller 12 constitutes a time-to-take-control database 17 (a data store). The microcontroller 12 can also be used as an ECU used for other vehicle control (eg autonomous driving control).
    [029]Arrival time calculator 18 calculates arrival time TR which is a period of time required for the vehicle to arrive at a surrounding hazard detected by the surrounding hazard detector 11. Arrival time TR is the time required to the vehicle in its current position to arrive in a surrounding hazard. In this way, the arrival time calculator 18 receives input information about a surrounding hazard and information about the vehicle's current position, and calculates the arrival time TR based on these pieces of information. Information about a surrounding hazard is input by the surrounding hazard detector 11, and information about the vehicle's current position is input by a navigation system fitted to the vehicle. Surround hazard detector 11 and arrival time calculator 18 constitute an arrival estimator 16 configured to estimate the vehicle arrival time required to arrive at a surrounding hazard.
    [030] For example, arrival time calculator 18 calculates arrival time TR using Formula (1). In Formula (1), OBD represents the distance from the vehicle to an obstacle (e.g. another vehicle or a pedestrian), LDD represents the distance to a point where the vehicle deviates on the road, VLD represents the distance to an end point of a fast lane, VL represents vehicle speed, and TTC represents a time to collision with a previous vehicle. L1, L2 and L3 are coefficients that vary depending on vehicle travel conditions (vehicle speed and road surface friction coefficient) and vehicle type. The endpoint of an expressway is, when driving control is switched to manual driving mode at a highway toll booth, the toll position or a short toll position for a predetermined distance. Also, “Min” indicates the smallest of the values within the following parentheses.
    [031][Expression 1]

    [032]System confidence level calculator 13 calculates a system confidence level based on at least one of the sensor detection rate, CPU load, and the fidelity of a path to a calculated result of a value target. The system confidence level indicates the state of the control system used for autonomous driving control.
    [033]Sensor detection rate is the ratio of the current capacity of a sensor to the maximum capacity of the sensor. The sensor is a sensor used for autonomous driving control to measure targets inside and outside the vehicle. For example, for a sensor capable of detecting an obstacle up to 200 meters in front of the vehicle, the sensor detection rate is 0.5 if the laser sensor can only detect an obstacle 100 meters ahead. The system confidence level calculator 13 calculates a system confidence coefficient Sa based on the sensor detection rate against the data shown in Figure 2(a).
    [034]CPU load is the ratio of a CPU's current arithmetic processing power to the maximum arithmetic processing power of the CPU. The CPU is a central processing unit used for autonomous driving control. The system confidence level calculator 13 calculates a system confidence coefficient Sb based on CPU load against the data shown in Figure 2(b).
    [035]The fidelity of a path to a result calculated from a target value indicates how much a displacement path made by the vehicle under autonomous driving control coincides with a road (target value) indicated by the navigation system. For example, fidelity is low when a displacement path deviates greatly from a target value due to darkness at night or bad weather (such as rain or strong wind). Fidelity is high when a displacement path does not deviate much from a target day value. The system confidence level calculator 13 calculates a system confidence coefficient Sc based on the fidelity of a path with a result calculated from a target value with respect to the data shown in Figure 2(c).
    [036]Each of the system confidence coefficients (Sa, Sb, Sc) is variable from a predetermined positive number (lower limit value) to 1. The data shown in Figures 2(a) to 2(c) are stored in a memory accessible to the system confidence level calculator 13. The system confidence coefficients (Sa, Sc) increase as the sensor detection rate and the fidelity of a path to a calculated result of a target value increase, respectively, and the system confidence coefficient (Sb) decreases as the CPU load increases.
    [037]The system confidence level calculator 13 calculates a system confidence level (S) by multiplying the system confidence coefficients (Sa, Sb, Sc) as shown in Formula (2).
    [038]S = Sa x Sb x Sc x 100 (%) ••• (2)
    [039] The time to take control database 17 stores, for each action other than driving, the time to take control TT required for the driver to perform the action other than driving to be ready to take control and drive the vehicle. Specifically, the takeover time database 17 stores the takeover time TT for each of several predefined types (A1 to A5).
    [040] The time to take control TT is the time required between when a driver notices that he should stop an action other than driving and when the driver stops the action other than driving and becomes ready to drive the vehicle. For example, it takes about a second or so for a driver, whose hands are off the steering wheel, to hold the steering wheel. It takes about a second or so for a driver, whose eyes are fixed on a handheld device or similar, to turn his eyes towards the front of the vehicle. The time to take over database 17 stores take over time for each action other than driving from a physical point of view.
    [041]Type A1 in Figure 3 includes an action that uses sight and hearing but not the other senses: a hand (touch), smell and taste. An example of such an action is watching television installed in the vehicle compartment. Type A1 has the shortest time to take control of all types (A1 to A5), because an A1 type action doesn't involve a hand or speech. Type A2 includes an action of talking to another person using a headset hands-free, such as answering the phone, and an action of wearing a screen on the head, such as a wearable device. Type A2 has the shortest time to take over (TTa) then type A1, because an A2 type action does not involve a hand (touch) but involves speech. Type A3 includes an action of operating a communication device using vision and one hand (touch), for example browsing the Internet, texting and playing games. Type A3 has the shortest time to take control (TTb) after type A2, because an A3 type action involves a hand.
    [042]Type A4 includes an action of reading a book in hand. Type A4 has the shortest time to take over (TTc) followed by type A3 because reading a book requires a higher concentration than actions of other types (A1 to A3, A5). Type A5 includes an action that involves a hand (touch), taste and smell, ie eating. Type A5 has the longest time to take over (TTd) of all types (A1 to A5) because the driver has to place food and plate stably inside the vehicle for the transition from eating to driving. Note that the time to take over for type A1 is equal to the lower bound (TRLL) of the arrival time. The upper bound of the time of arrival TR is defined as being even longer than the time to take over (TTd). The relationships between types (A1 to A5) and the time to take over TT described above are just examples. Types can be defined based on criteria other than human senses, or the types (A1 to A5) in Figure 3 can be used as is, but arranged in a different order of time to take over TT.
    [043]The information display controller 14 controls the switching of the information content presented in the information display 15 according to the arrival time TR estimated by the arrival estimator 16 and the system confidence level S calculated by the level calculator system trust 13.
    [044]Specifically, when the confidence level of the S system is less than a predetermined threshold (Slimit), a transition is likely to be made from autonomous driving control to manual driving control. Thus, in order to notify the driver of the likely transition to manual driving, the information display controller 14 presents information to the driver indicating that there is no action the driver is permitted to perform other than driving. On the other hand, when the confidence level of the S system is equal to or greater than the predetermined threshold (Slimit), a transition is not likely to be made from autonomous driving control to manual driving control. Thus, the information presentation controller 14 selects an action (or actions) that the driver is allowed to perform other than driving according to the arrival time TR, and presents the action to the driver. For example, the information display controller 14 determines an action that the driver is allowed to perform other than driving by comparing the arrival time TR calculated by the arrival time calculator 18 with the time to take over control TT stored in the bank. weather data to take control 17.
    [045]As information indicating an action that the driver is allowed to perform other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action other than driving for which the time to take the control TT is equal to or less than arrival time TR. For example, when the arrival time TR is anywhere between the time to take control TTc and the time to take control TTd as shown in Figure 4, an action distinct from driving for which the time to take control TT is equal to or less than the arrival time TR is the actions belonging to types A1 to A4. Thus, as information indicating an action that the driver is allowed to perform other than driving, the information display controller 14 displays, in the information presenter 15, icon images for types A1 to A4 shown in Figure 4. For example , as shown in Figure 5(a), multiple icon images can be displayed together on the screen (21a, 21b), the front windshield 33, or the rear view mirror 34 in Figure 6. When looking at the icon images indicating the actions the driver is allowed to perform, the driver can understand the condition of the system used for autonomous driving control.
    [046] Information Presentation Device Operation 100
    [047] Next, with reference to Figure 7, an example of an information presentation method using the information presentation apparatus 100 in Figure 1 is described. The flowchart in Figure 7 is repeated with a period predetermined by the microcontroller.
    [048]In step S01, the system confidence level calculator 13 calculates the system confidence level S based on the sensor detection rate, CPU load, and fidelity of a path with a result calculated from a target value, using Formula (2). In step S03, the information presentation controller 14 determines whether the confidence level of the system S is greater than the predetermined threshold (Slimit).
    [049]When the system confidence level S is greater than the predetermined threshold (Slimit) (YES on S03), indicating that the system has no urgency in its condition, it is determined that a transition is not likely to be made to from autonomous driving control to manual driving control. Then, in step S05, the arrival time calculator 18 calculates the arrival time TR required for the vehicle to arrive at a surrounding hazard detected by the surrounding hazard detector 11. Then, in step S07, the display controller information 14 displays, on information display 15, an icon image indicating an action of the type (A1 to A5) for which the take-over time TT is equal to or less than the arrival time TR. When the surrounding hazard detector 11 detects no surrounding hazard, the information display controller 14 determines that there is no surrounding hazard, and sets the arrival time to its upper limit (TRLL). As a result, the information presenter 15 displays icon images for all types (A1 to A5).
    [050] However, when the confidence level of the system S is equal to or less than the predetermined threshold (Slimit) (NOT in S03), indicating that the system has an urgency in its condition, it is determined that a transition is likely to occur. be made from autonomous driving control to manual driving control. Then, in step S09, the information presentation controller 14 sets the arrival time TR to its lower limit (TRLL). Since neither type (A1 to A5) has the time to take control TT that is equal to or less than the time of arrival (TRLL), the information presenter 15 does not display any icon image indicating an action the driver has taken. permission to run other than driving (S11). In this way, the driver can be informed that there is no action that the driver is allowed to perform other than driving.
    [051]The first modality described above can achieve the following advantageous effects.
    [052]The information presentation controller 14 controls the switching of the information content presented in the information presenter 15 according to the system confidence level S calculated by the system confidence level calculator 13. The presentation of an action that the controller can perform distinct from driving allows the driver to understand the condition of the system used for autonomous driving control. This lessens the burden on the driver to monitor autonomous driving, and increases the driver's sense of peace of mind and reliability with autonomous driving control.
    [053]As the information about the permission of an action other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action that the driver is allowed to perform other than driving. Presenting the action the driver is allowed to perform other than driving allows the driver to understand the condition of the system used for autonomous driving control.
    [054]System confidence level calculator 13 calculates the confidence level of system S based on at least one of the detection rate of the sensor used for autonomous driving control, the load rate of the central processing unit used for autonomous driving control, and the fidelity of a path to a calculated result of a target value. In this way, the condition of the control system used for autonomous driving control can be accurately determined.
    [055]The information presentation controller 14 determines the information to present to the driver by comparing the arrival time TR estimated by the arrival estimator 16 with the takeover time TT stored in the takeover time database 17. The driver performing the action shown other than driving may take control and steer the vehicle before a transition is made from autonomous driving control to manual driving control. Thus, the driver's sense of tranquility and reliability with autonomous driving control is increased.
    [056]As information indicating an action that the driver is allowed to perform other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action other than driving for which the time to take the control TT is equal to or less than arrival time TR. The driver performing the action other than driving for which the time to take control TT is equal to or less than the arrival time TR can take control and drive the vehicle before a transition is made from autonomous driving control to manual driving control.
    [057][Second Mode]
    [058]Instead of presenting an action that the driver is allowed to perform other than driving, the information display apparatus 100 in Figure 1 may present an action that the driver is not allowed to perform other than driving, based on time arrival TR and the system confidence level S.
    [059] In a second embodiment, the information display controller 14 presents, on the information presenter 15, information indicating an action that the driver is not allowed to perform other than driving, such as information about the permission of a distinct action. of driving. Specifically, as information indicating an action that the driver is not permitted to perform other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action other than driving for which the time to assume the control TT is greater than arrival time TR.
    [060]As shown in Figure 8, an icon image displayed on the information presenter 15 is a prohibition symbol superimposed over the icon shown in Figure 3. More specifically, an icon indicating an action that the driver is not allowed to perform other than of driving is formed by superimposing a prohibition symbol on an icon indicating an action other than driving. However, the time to take control TT for each of the distinct driving actions stored in the time to take control database 17 can be the same as that shown in Figure 3. The distinct driving actions belonging to the types ( B1 to B5) may be the same as those belonging to types (A1 to A5) in Figure 3.
    [061] When the confidence level of the S system is lower than the predetermined threshold (Slimit), a transition is likely to be made from autonomous driving control to manual driving control. Thus, to notify the driver of the likely transition to manual driving, the information display controller 14 presents to the driver information indicating that the driver is not allowed to perform actions other than driving that pertain to all types (B1 to B5). When the S-system confidence level is equal to or greater than the predetermined threshold (Slimit), on the other hand, a transition is not likely to be made from autonomous driving control to manual driving control. Thus, the information presentation controller 14 selects an action that the driver is not allowed to perform other than driving according to the arrival time TR, and presents the action to the driver. For example, the information display controller 14 determines an action that the driver is not allowed to perform other than driving by comparing the arrival time TR calculated by the arrival time calculator 18 with the time to assume control TT stored in the time database to take control 17.
    [062]As information indicating an action that the driver is not allowed to perform other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action other than driving for which the time to take the TT control is longer than the arrival time TR. For example, when the arrival time TR is anywhere between the time to take control TTc and the time to take control TTd as shown in Figure 9, an action distinct from driving for which the time to take control TT is greater than the arrival time TR is the action belonging to type B5. Thus, as information indicating an action that the driver is not allowed to perform other than driving, the information display controller 14 displays, on the information display 15, an icon image for the type B5 shown in Figure 9. For example , as shown in Figure 5(b), the icon image of type B5 can be displayed on the screen (21a, 21b), on the front windshield 33, or on the rear view mirror 34 in Figure 6. When looking at the icon image which indicates an action that the driver is not allowed to perform, the driver can easily understand the condition of the system used for autonomous driving control.
    [063]With reference to Figure 10, the operation of the information presentation apparatus 100 according to the second embodiment is described. When the confidence level of the system S is greater than the predetermined threshold (Slimit) (YES in S03), in step S07 the information display controller 14 displays, in the information display 15, an icon image for the type ( B1 to B5) for which the takeover time TT is greater than the arrival time TR. When the surrounding hazard detector 11 detects no surrounding hazard, the information display controller 14 determines that there is no surrounding hazard, and sets the arrival time to its upper limit (TRLL). As a result, the information presenter 15 does not display any icon image indicating an action the driver is not allowed to perform other than driving.
    [064] However, when the confidence level of the system S is equal to or less than the predetermined threshold (Slimit) (NOT in S03), in step S09, the information presentation controller 14 sets the arrival time TR for the its lower bound (TRLL). As a result, the information presenter 15 displays icon images for all types (B1 to B5). In this way, the driver can be informed that none of the actions other than driving are allowed (S19).
    [065]Other settings and operations of information display apparatus 100 are the same as in the first embodiment, and therefore not described.
    [066]As the information about the permission of an action other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action that the driver is not allowed to perform other than driving. The presentation of the action that the driver is not allowed to perform other than driving allows the driver to understand the condition of the system used for autonomous driving control.
    [067]As information indicating an action that the driver is not allowed to perform other than driving, the information display controller 14 presents, on the information presenter 15, information indicating an action other than driving for which the time to take the TT control is longer than the arrival time TR. If an action other than the driving that the driver is performing is not displayed on the information presenter 15, the driver can take control and drive the vehicle before the switch is made from autonomous driving control to manual driving control.
    [068] While the present invention has been described herein using the embodiments, the present invention is not limited to what is described in those embodiments, and may be modified and improved in various ways, as is clear to those skilled in the art.
    [069] For example, the information presentation controller 14 can present, on the information presenter 15, both information indicating an action that the driver is allowed to perform other than driving and information indicating an action that the driver is not allowed to perform. to perform other than driving. In this case, the time to take control database 17 stores icon images indicating actions belonging to the types (A1 to A5) shown in Figure 3, as well as icon images indicating actions belonging to the types (B1 to B5) shown. in Figure 8. The information display controller 14 can display, as an action that the driver is allowed to perform other than driving, an icon image indicating an action other than driving belonging to any of the types (A1 to A5) for which the time to take control TT is equal to or less than the arrival time TR, and display, as an action that the driver is not allowed to perform other than driving, an icon image indicating an action other than the driving belonging to any of the types (B1 to B5) for which the takeover time TT is greater than the arrival time TR.
    [070]Reference numbers list13 - System confidence level calculator14 - Information presentation controller15 - Information presenter16 - Arrival estimator17 - Time to take over database (data storage unit)
    权利要求:
    Claims (5)
    [0001]
    1. Information display device for use in an autonomous vehicle capable of switching, based on a vehicle travel condition and an external circumstance of the vehicle, between the autonomous driving control in which the vehicle is autonomously driven and the manual driving control in which the vehicle is driven by a driver, the information display apparatus comprising: an information display (15) configured to present to the driver information indicating an action the driver is permitted to perform other than driving CHARACTERIZED in that it comprises: a system confidence level calculator (13) configured to calculate a system confidence level (S) that indicates a state of a control system when performing autonomous driving control; a information presentation (14) configured to control the switching of a content (A1 to A5, B1 to B5) of the information presented in the presented r of information according to a result of the comparison between the system confidence level (S) calculated by the system confidence level calculator (13) and a predetermined limit (Slimit); an arrival estimator (16) configured to estimate the arrival time, which is the time required for the vehicle to reach a surrounding hazard; a data store (17) configured to store the time to take over, which is the time required for the driver who is performing an action other than driving take control and drive the vehicle, the time to take control being stored for each action other than driving, where an information presenter (15) is configured to present information indicating an action the driver is allowed to perform other than driving and /or information indicating an action the driver is not allowed to perform other than driving, and when the system confidence level (S) is equal to or less than a predet threshold Once completed (Slimit), the information presentation controller (14) determines the information presented to the information presenter by comparing the arrival time estimated by the arrival estimator (16) and the time to take over control stored in the data store ( 17).
    [0002]
    2. Information presentation device, according to claim 1, CHARACTERIZED by the fact that the system confidence level calculator (13) calculates the system confidence level (S) based on at least a detection rate of a sensor used for autonomous driving control, a charge rate of a central processing unit used for autonomous driving control, and fidelity of a path to a calculated result of a target value.
    [0003]
    3. Information presentation device, according to claim 1, CHARACTERIZED by the fact that as the information indicating an action that the driver is allowed to perform other than driving, the information presentation controller (14) presents, in the information (15), information indicating an action other than driving for which the time to take control is equal to or less than the time of arrival.
    [0004]
    4. Information display device, according to claim 1 or 3, CHARACTERIZED in that as information indicating an action that the driver is not allowed to perform other than driving, the information display controller (14) displays, in the information presenter (15), information indicating an action other than driving for which the time to take control is greater than the arrival time.
    [0005]
    5. Information presentation method applied to an autonomous vehicle capable of switching, based on a vehicle travel condition and an external circumstance of the vehicle, between the autonomous driving control in which the vehicle is driven autonomously and the control of manual driving in which the vehicle is driven by a driver, the method of presenting information comprising: presenting to the driver information indicating an action that the driver is allowed to perform other than driving CHARACTERIZED in that it calculates a system confidence level (S) indicating a state of a control system when performing autonomous driving control; econtrol the switching of a content (A1 to A5, B1 to B5) of the information presented according to a result of the comparison between the confidence level of the calculated system and a predetermined threshold; to estimate the arrival time, which is the time required for the the vehicle arrives at a surrounding hazard; store time to take control which is the time required for the driver who is performing an action other than driving to take control and drive the vehicle, the time to take control being stored for each distinct action of driving; edetermine, when the confidence level of the system S is equal to or less than a predetermined threshold (Slimit), the information presented to the driver by comparing the estimated time of arrival and the time to take over stored control, in which the presentation includes displaying information indicating an action the driver is permitted to perform other than driving and/or information indicating an action the driver is not permitted to perform other than driving.
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    同族专利:
    公开号 | 公开日
    WO2015162784A1|2015-10-29|
    RU2669501C2|2018-10-11|
    CN106233356A|2016-12-14|
    US10001777B2|2018-06-19|
    CN106233356B|2018-11-13|
    JPWO2015162784A1|2017-04-13|
    RU2016145607A|2018-05-25|
    BR112016024955A2|2017-08-15|
    EP3136366A1|2017-03-01|
    MX367069B|2019-08-05|
    EP3136366B1|2019-03-13|
    RU2016145607A3|2018-05-25|
    US20170038774A1|2017-02-09|
    JP6330903B2|2018-05-30|
    MX2016013762A|2017-02-02|
    EP3136366A4|2017-05-17|
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    法律状态:
    2020-04-07| 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]|
    2021-11-16| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2022-01-04| 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 25/04/2014, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
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    PCT/JP2014/061732|WO2015162784A1|2014-04-25|2014-04-25|Information presentation device and information presentation method|
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