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WO2016092773A1 - Dispositif de commande de conduite autonome, dispositif de sortie d'information de conduite, repose-pieds, procédé de commande de conduite autonome, et procédé de sortie d'information de conduite - Google Patents

Dispositif de commande de conduite autonome, dispositif de sortie d'information de conduite, repose-pieds, procédé de commande de conduite autonome, et procédé de sortie d'information de conduite Download PDF

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Publication number
WO2016092773A1
WO2016092773A1 PCT/JP2015/005965 JP2015005965W WO2016092773A1 WO 2016092773 A1 WO2016092773 A1 WO 2016092773A1 JP 2015005965 W JP2015005965 W JP 2015005965W WO 2016092773 A1 WO2016092773 A1 WO 2016092773A1
Authority
WO
WIPO (PCT)
Prior art keywords
driving
control device
automatic
footrest
host vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/005965
Other languages
English (en)
Japanese (ja)
Inventor
三摩　紀雄
泉樹 立入
俊輔 柴田
岡田　明
浩章 竹田
整 伊口
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Soken Inc
Original Assignee
Denso Corp
Nippon Soken Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from JP2015171403A external-priority patent/JP6521803B2/ja
Application filed by Denso Corp, Nippon Soken Inc filed Critical Denso Corp
Priority to DE112015005515.0T priority Critical patent/DE112015005515T5/de
Priority to US15/534,456 priority patent/US20170341648A1/en
Publication of WO2016092773A1 publication Critical patent/WO2016092773A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention

Definitions

  • the present disclosure relates to a technology for automatically driving a vehicle based on a situation around the vehicle.
  • a technology has been developed that realizes automatic driving of a vehicle by keeping track of the surrounding lane and avoiding obstacles while grasping surrounding conditions.
  • a computer hereinafter referred to as a driving control device mounted on the vehicle drives the vehicle on behalf of the driver, so driving methods by the driving control device (for example, when driving on a curve or avoiding obstacles)
  • the driver often feels uncomfortable with the timing and degree of acceleration / deceleration.
  • This disclosure is intended to provide a technology that enables automatic driving of a vehicle without causing the driver to feel uncomfortable.
  • an automatic driving control device that realizes automatic driving by controlling a driving action of the own vehicle based on a surrounding situation of the own vehicle is based on the surrounding situation of the own vehicle.
  • a driving operation determining unit that determines the content of the driving operation of the vehicle
  • a driving operation control unit that controls the driving operation of the host vehicle according to the determined content of the driving operation
  • a footrest on the driver's seat side of the host vehicle.
  • a driving information output unit that outputs the content of the determined driving operation as driving information by driving the driving unit to move the footrest part of the footrest.
  • Driving which is mounted on a host vehicle that can be automatically driven based on surrounding conditions, and that outputs driving information regarding the content of the driving operation during the automatic driving to the passenger of the host vehicle
  • the information output device includes a driving information acquisition unit that acquires driving information from an automatic driving control unit that controls driving operation of the host vehicle during automatic driving, and a driving unit provided on the footrest on the driver's seat side of the host vehicle.
  • a driving information output unit that outputs the content of the determined driving operation as driving information by driving and moving the footrest part of the footrest.
  • a footrest for an occupant sitting on a seat of the own vehicle to place his / her foot includes a footrest portion on which the occupant's foot is placed, and a drive for moving the footrest portion according to control from the own vehicle A section.
  • an automatic driving control method for realizing automatic driving by controlling a driving operation of the vehicle based on a situation around the host vehicle is based on the situation around the host vehicle.
  • a driving operation determination step for determining the content of the driving operation of the host vehicle and the footrest part of the footrest provided on the driver's seat side of the host vehicle are moved to output the determined driving operation content as driving information.
  • Driving according to another example of the present disclosure that is applied to a host vehicle that can be automatically driven based on surrounding conditions, and that outputs driving information related to the content of the driving operation during the automatic driving to a passenger of the host vehicle
  • the information output method outputs the content of the determined driving operation as driving information by moving the driving information acquisition step of acquiring driving information and the footrest part of the footrest provided on the driver's seat side of the host vehicle.
  • An operation information output method comprising: an operation information output step.
  • the automatic driving control device, the driving information output device, the automatic driving control method, and the driving information output method are configured such that a footrest provided on the driver's seat side of the vehicle determines the content of the driving operation of the vehicle based on the situation around the vehicle.
  • the content of the determined driving operation is output as driving information by moving the footrest part.
  • the driver can recognize the content of the automatic driving operation in advance. For this reason, even if the way of driving at the time of automatic driving is different from the way of driving by the driver, it becomes possible to drive the vehicle automatically without giving the driver a sense of incongruity.
  • the footrest on which the passenger's feet are placed can be moved according to control from the vehicle side. For this reason, if the footrest is moved according to the content of the automatic driving operation, the content of the automatic driving operation can be recognized in advance by the driver, so that the vehicle is automatically operated without giving the driver a sense of incongruity. It becomes possible to drive.
  • FIG. 1 is an explanatory diagram of a host vehicle equipped with the automatic driving control device of this embodiment.
  • FIG. 2 is a block diagram showing the internal configuration of the automatic operation control device of this embodiment.
  • FIG. 3A is an explanatory diagram of a footrest mounted on the host vehicle of the present embodiment
  • FIG. 3B is an explanatory diagram of a footrest mounted on the host vehicle of the present embodiment.
  • FIG. 4 is a flowchart of the first half of the automatic driving control process executed by the automatic driving control device of this embodiment.
  • FIG. 5 is a flowchart of the latter half of the automatic driving control process.
  • FIG. 1 is an explanatory diagram of a host vehicle equipped with the automatic driving control device of this embodiment.
  • FIG. 2 is a block diagram showing the internal configuration of the automatic operation control device of this embodiment.
  • FIG. 3A is an explanatory diagram of a footrest mounted on the host vehicle of the present embodiment
  • FIG. 3B is an explanatory diagram of a footrest mounted on the host
  • FIG. 6A is an explanatory view exemplifying a state in which the automatic driving control device of the present embodiment determines the time for notifying the content of the automatic driving operation and the start time of the automatic driving operation based on the collision time.
  • FIG. 6B is an explanatory diagram illustrating the start of deceleration
  • FIG. 6C is an explanatory diagram illustrating deceleration notice
  • FIG. 7A is a diagram illustrating a state in which the automatic driving control device according to the present embodiment determines the time for notifying the content of the automatic driving operation and the start time of the automatic driving operation based on the distance to the object on the map.
  • FIG. 7B illustrates the state in which the automatic driving control device according to the present embodiment determines the time for notifying the content of the automatic driving operation and the start time of the automatic driving operation based on the distance to the object on the map.
  • FIG. 8A is an explanatory diagram illustrating a state in which the automatic driving control device of the present embodiment notifies the content of the automatic driving operation by driving the footrest
  • FIG. 8B is an explanatory diagram illustrating deceleration notice
  • FIG. 8C is an explanatory diagram illustrating a left steering notice.
  • FIG. 8D is an explanatory diagram illustrating a right steering notice.
  • FIG. 8A is an explanatory diagram illustrating a state in which the automatic driving control device of the present embodiment notifies the content of the automatic driving operation by driving the footrest
  • FIG. 8B is an explanatory diagram illustrating deceleration notice
  • FIG. 8C is an explanatory diagram illustrating a left steering notice
  • FIG. 8D is an explanatory diagram illustrating a right steering
  • FIG. 9A is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the forward tilt angle ⁇ of the footrest portion of the footrest according to the acceleration of the host vehicle.
  • FIG. 9B is an explanatory diagram illustrating the forward tilt angle ⁇ .
  • FIG. 9C is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified by changing the forward inclination angle ⁇ of the footrest portion of the footrest according to the acceleration of the host vehicle.
  • FIG. 10A is an explanatory view illustrating another aspect in which the forward tilt angle ⁇ of the footrest portion of the footrest is changed according to the acceleration of the host vehicle.
  • FIG. 10B is an explanatory view illustrating another aspect of changing the forward tilt angle ⁇ of the footrest portion of the footrest according to the acceleration of the host vehicle.
  • FIG. 11A is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the acceleration of the host vehicle.
  • FIG. 11B is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the acceleration of the host vehicle.
  • FIG. 11C is an explanatory diagram illustrating a state in which the forward inclination angle ⁇ of the footrest portion of the footrest is vibrated according to the acceleration of the host vehicle.
  • FIG. 11A is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the acceleration of the host vehicle.
  • FIG. 11B is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the foot
  • FIG. 12A is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified by changing the forward inclination angle ⁇ of the footrest portion of the footrest according to the vehicle speed of the host vehicle
  • FIG. 12B is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified by changing the forward inclination angle ⁇ of the footrest portion of the footrest according to the vehicle speed of the host vehicle
  • FIG. 12C is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the forward inclination angle ⁇ of the footrest portion of the footrest according to the vehicle speed of the host vehicle.
  • FIG. 12A is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified by changing the forward inclination angle ⁇ of the footrest portion of the footrest according to the vehicle speed of the host vehicle
  • FIG. 12B is an explanatory diagram illustrating a state in which the content of the automatic driving
  • FIG. 12D is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified by changing the forward tilt angle ⁇ of the footrest portion of the footrest according to the vehicle speed of the host vehicle
  • FIG. 13A is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the vehicle speed of the host vehicle.
  • FIG. 13B is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the vehicle speed of the host vehicle.
  • FIG. 13C is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the vehicle speed of the host vehicle.
  • FIG. 13A is an explanatory diagram illustrating a state in which the forward tilt angle ⁇ of the footrest portion of the footrest is vibrated according to the vehicle speed of the host vehicle.
  • FIG. 13B is an explanatory diagram
  • FIG. 14A is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the lateral inclination angle ⁇ of the footrest portion of the footrest according to the steering information of the host vehicle.
  • FIG. 14B is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the lateral inclination angle ⁇ of the footrest portion of the footrest according to the steering information of the host vehicle.
  • FIG. 14C is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the lateral inclination angle ⁇ of the footrest portion of the footrest according to the steering information of the host vehicle.
  • FIG. 14D is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the lateral inclination angle ⁇ of the footrest portion of the footrest according to the steering information of the host vehicle.
  • FIG. 14E is an explanatory diagram illustrating a state in which the content of the automatic driving operation is notified in advance by changing the lateral inclination angle ⁇ of the footrest portion of the footrest according to the steering information of the host vehicle.
  • FIG. 15A is an explanatory diagram illustrating a state in which the lateral inclination angle ⁇ of the footrest portion of the footrest is vibrated according to the steering information of the host vehicle, FIG.
  • FIG. 15B is an explanatory diagram illustrating a state in which the lateral inclination angle ⁇ of the footrest portion of the footrest is vibrated according to the steering information of the host vehicle.
  • FIG. 15C is an explanatory diagram illustrating a state in which the lateral inclination angle ⁇ of the footrest portion of the footrest is vibrated according to the steering information of the host vehicle.
  • FIG. 16A is an explanatory view illustrating another aspect in which the footrest is driven to notify the content of the automatic driving operation
  • FIG. 16B is an explanatory diagram illustrating another aspect in which the footrest is driven to notify the content of the automatic driving operation
  • FIG. 16C is an explanatory diagram illustrating another mode in which the footrest is driven to notify the content of the automatic driving operation;
  • FIG. 16A is an explanatory view illustrating another aspect in which the footrest is driven to notify the content of the automatic driving operation
  • FIG. 16B is an explanatory diagram illustrating another aspect in which the footrest is driven to notify the content
  • FIG. 17A is an explanatory diagram illustrating still another aspect in which the footrest is driven to notify the content of the automatic driving operation
  • FIG. 17B is an explanatory view illustrating still another aspect in which the content of the automatic driving operation is notified by driving the footrest
  • FIG. 18A is an explanatory diagram illustrating a state in which the seat is driven to notify the content of the automatic driving operation
  • FIG. 18B is an explanatory diagram illustrating a state in which the seat is driven to notify the content of the automatic driving operation
  • FIG. 19 is an explanatory view exemplifying a state in which the driver is requested to override by vibrating the forward tilt angle ⁇ or the lateral tilt angle ⁇ of the footrest portion of the footrest.
  • FIG. 1 shows a configuration of a host vehicle 1 equipped with an automatic driving control device 100 of the present embodiment.
  • the host vehicle 1 according to the present embodiment includes a vehicle-mounted camera 2 that captures an image in the traveling direction, a radar 3 that detects other vehicles and obstacles existing in front, and a vehicle speed that detects the vehicle speed based on the rotation of the wheels 1w.
  • a sensor 8 a sunshine sensor 9 that is mounted on the dashboard 1 d of the host vehicle 1 and detects the amount of sunlight by the sun, a wireless communication device 10 that communicates with the outside wirelessly, and a route to a preset destination
  • a navigation system shown below hereinafter referred to as a navigation system 40
  • a steering handle actuator 6m for driving the steering handle 6, and the like are mounted. ing.
  • the navigation system generally includes a function for detecting the position of the host vehicle 1, a function for storing map information, a function for setting a destination, a function for searching for a route to the destination, and a search. It is a system with the function of presenting the route and guiding the route.
  • the automatic driving control device 100 detects the position of the host vehicle 1 using the navigation system 40 and grasps the situation ahead of the host vehicle 1 using the map information stored in the navigation system 40.
  • a function for searching and presenting a route to a set destination may not necessarily be installed.
  • the navigation system 40 of the present embodiment is a system that omits a function for setting a destination, a function for searching a route to the destination, and a function for presenting the searched route from a general navigation system. You can also
  • the automatic driving control device 100 detects the situation around the host vehicle 1 based on the captured image obtained by the in-vehicle camera 2 and the output of the radar 3, and the accelerator pedal actuator 4 m according to the route indicated by the navigation system 40. Alternatively, automatic driving is executed by driving the brake pedal actuator 5m and the steering handle actuator 6m. In this embodiment, for the purpose of avoiding complicated description, the automatic driving control apparatus 100 detects the surrounding situation exclusively using the image taken by the in-vehicle camera 2 or uses the output of the radar 3. Although described as detecting the surrounding situation, the surrounding situation may be detected using a sonar (not shown).
  • a footrest 30 on which a passenger sitting on the seat 7 puts his / her foot is disposed at the foot of the seat 7 on the driver's seat side where the steering handle 6 is provided.
  • the footrest 30 according to the present embodiment has a movable part where the occupant puts his / her foot, and the movement is controlled by the automatic operation control device 100.
  • FIG. 2 shows a rough internal configuration of the automatic operation control apparatus 100 of the present embodiment.
  • the automatic driving control device 100 includes a driving environment acquisition module 110 that acquires various information related to the driving environment of the host vehicle 1, an automatic driving execution module 120 that executes automatic driving, and the contents of the automatic driving operation.
  • the driving operation notice module 130 is provided with three main modules.
  • the automatic driving execution module 120 corresponds to the “automatic driving control unit” of the present disclosure
  • the driving operation notice module 130 corresponds to the “driving information output device” of the present disclosure.
  • the driving environment acquisition module 110 is provided with an ambient environment acquisition unit 111, a collision time calculation unit 112, a host vehicle position acquisition unit 113, and a map information acquisition unit 114. Furthermore, the automatic operation execution module 120 is provided with a driving operation determination unit 121 and a driving operation control unit 122, and the driving operation notice module 130 is provided with a driving information acquisition unit 131 and a driving information output unit 132. It has been.
  • modules or “parts” refer to the functions that the automatic driving control device 100 has in order to notify the driver of the details of the driving operation during the automatic driving. It is an abstract concept that is classified for convenience. Therefore, it does not indicate that the automatic operation control apparatus 100 is physically divided into these “modules” or “parts”.
  • modules or “units” can be realized as a computer program executed by the CPU, or can be realized as an electronic circuit including an LSI or a memory, and further, by combining them. It can also be realized.
  • the ambient environment acquisition unit 111 of the travel environment acquisition module 110 is connected to the in-vehicle camera 2, the radar 3, the vehicle speed sensor 8, the sunshine sensor 9, and the wireless communication device 10. Among these, by acquiring a captured image from the in-vehicle camera 2 and analyzing the acquired captured image, other vehicles existing in front of the host vehicle 1, obstacles, pedestrians, and the like are detected. In addition, the radar 3 detects the presence of other vehicles, obstacles, pedestrians, and the like that are present ahead, and the distance from the host vehicle 1. The speed of the host vehicle 1 is acquired from the vehicle speed sensor 8, and the intensity of sunlight (that is, the amount of sunlight) is acquired from the sunshine sensor 9. Furthermore, the ambient environment acquisition unit 111 communicates with other vehicles, traffic lights, roadside devices, etc. that exist in the surroundings using the wireless communication device 10, so that information such as the vehicle speed of other vehicles, information regarding display of traffic lights, Information on traffic conditions can also be acquired.
  • the collision time calculation unit 112 calculates the collision time for other vehicles, pedestrians, obstacles, and the like existing ahead.
  • the collision time is an expected time until the vehicle collides with another vehicle, a pedestrian, an obstacle, or the like (hereinafter referred to as a “front object”) existing ahead when the current vehicle speed is continued.
  • the collision time can be obtained by dividing the distance from the host vehicle 1 to the front object by the relative speed between the host vehicle 1 and the front object.
  • the ambient environment acquisition unit 111 can detect the presence / absence of the front object and the distance to the front object based on the captured image from the in-vehicle camera 2 and the output of the radar 3. Therefore, when the front environment object is detected by the surrounding environment acquisition unit 111, the collision time calculation unit 112 acquires the distance to the front object. Further, each time a certain time elapses, the relative speed between the front object, the host vehicle 1 and the front object is calculated by acquiring the distance to the front object. Then, the collision time for the front object is calculated by dividing the distance to the front object by the relative speed thus obtained.
  • the difference between the vehicle speed of the other vehicle acquired by performing inter-vehicle communication using the wireless communication device 10 and the vehicle speed of the host vehicle 1 obtained from the vehicle speed sensor 8 is calculated. It is also possible to calculate the relative speed by obtaining.
  • the own vehicle position acquisition unit 113 acquires the current position of the own vehicle 1 from the own vehicle position detection unit 41 built in the navigation system 40.
  • the own vehicle position detection unit 41 can detect the current position of the own vehicle 1 by receiving a signal from a positioning satellite.
  • the map information acquisition unit 114 acquires map information of the surrounding area including the current position of the host vehicle 1 from the map information storage unit 42 built in the navigation system 40.
  • the collision time calculation unit 112 may acquire these pieces of information to calculate the collision time for a curve or intersection existing ahead.
  • the driving operation determination unit 121 of the automatic driving execution module 120 includes the above-described various types of information from the surrounding environment acquisition unit 111, the collision time calculation unit 112, the host vehicle position acquisition unit 113, and the map information acquisition unit 114 of the traveling environment acquisition module 110. Information is acquired and the driving
  • the driving operation of the host vehicle 1 means the types of driving operations such as acceleration and deceleration, left steering and right steering of the host vehicle 1, and the operation amounts of these driving operations. Further, an operation amount 0 for acceleration or deceleration represents a driving operation for maintaining the current speed, and an operation amount 0 for left steering or right steering represents a driving operation for going straight.
  • the subsequent behavior of the host vehicle 1 (for example, vehicle speed, acceleration, lateral acceleration, and lateral speed component) can be predicted. Therefore, when the driving operation of the host vehicle 1 is determined, it may be determined as the driving operation including these behaviors.
  • the driving operation control unit 122 controls the accelerator pedal actuator 4m, the brake pedal actuator 5m, and the steering handle actuator 6m according to the driving operation determined by the driving operation determination unit 121.
  • the driving operation determination unit 121 outputs driving information regarding the content of the driving operation to the driving information acquisition unit 131 of the driving operation notice module 130. Yes. Then, the driving information acquisition unit 131 outputs the received driving information to the driving information output unit 132. Then, the driving information output unit 132 drives an actuator, which will be described later, built in the footrest 30, thereby driving the occupant (driver during non-automatic driving) sitting on the seat 7 on the driver's seat side. Present information.
  • the footrest 30 of this embodiment includes a main body 31 that is placed on the floor surface in front of the seat 7 on the driver's seat side, and a footrest that is movably provided with respect to the main body 31. Part 32. The occupant sitting on the driver's seat 7 is naturally placed on the footrest 32.
  • FIG. 3B shows an exploded view of the footrest 30 of this embodiment.
  • the main body portion 31 is formed with a large recess 31a in which the footrest portion 32 is accommodated, and the footrest portion 32 is recessed along with a drive mechanism 30m for moving the footrest portion 32. It is stored in 31a.
  • the drive mechanism 30m of the footrest 30 has a first servo motor 34m attached to a substrate 34 attached to the bottom of the recess 31a, a relay plate 33 attached to the output shaft of the first servo motor 34m,
  • the second servo motor 33m is attached to the structure.
  • a fitting portion 33a protrudes from the bottom surface of the relay plate 33.
  • the fitting portion 33a is fitted to the output shaft of the first servo motor 34m, so that the relay plate 33 outputs the first servo motor 34m. Fixed relative to the shaft.
  • a fitting portion 32a is projected from the bottom surface of the footrest portion 32.
  • the fitting portion 32a is fitted to the output shaft of the second servomotor 33m, so that the footrest portion 32 becomes the second servo. Fixed to the output shaft of the motor 33m.
  • the substrate 34 is attached to the bottom of the recess 31a provided in the main body 31.
  • the footrest 30 is assembled.
  • the footrest portion 32 can be tilted forward or backward in the front-rear direction of the host vehicle 1, and the second servo motor 33m can be driven according to the drive amount of the second servo motor 33m.
  • the amount of forward tilt or the amount of backward tilt can be changed.
  • the footrest portion 32 can be tilted leftward or rightward in the left-right direction of the host vehicle 1, and can be tilted to the left according to the drive amount of the first servomotor 34m.
  • the amount or the amount of right tilt can be changed.
  • the first servo motor 34m and the second servo motor 33m of the present embodiment correspond to the “drive unit” in the present disclosure.
  • the automatic driving control device 100 of the present embodiment can drive the first servo motor 34m and the second servo motor 33m to control the inclination of the footrest portion 32.
  • the host vehicle 1 is automatically driven without giving a sense of incongruity to the passenger sitting on the seat 7.
  • (Automatic operation control processing) 4 and 5 show a flowchart of the automatic driving control process executed by the automatic driving control device 100 of this embodiment.
  • the situation around the host vehicle 1 is acquired (S100).
  • the traveling environment acquisition module 110 is connected to the in-vehicle camera 2, the radar 3, the vehicle speed sensor 8, the sunshine sensor 9, and the wireless communication device 10. Based on these outputs, the surrounding situation is acquired.
  • sonar etc. may be mounted on the host vehicle 1 and the surrounding situation may be acquired using these.
  • the current position of the host vehicle 1 (hereinafter also referred to as the host vehicle position) and surrounding map information including the host vehicle position are acquired from the navigation system 40 (S101).
  • the travel environment acquisition module 110 is also connected to the navigation system 40, acquires the vehicle position from the vehicle position detection unit 41 of the navigation system 40, and the map information storage unit 42. Map information can be obtained from.
  • Whether there is a front object can be determined by analyzing a captured image obtained from the in-vehicle camera 2 or analyzing the output of the radar 3.
  • the collision time for the forward object is calculated (S103).
  • the collision time can be calculated by dividing the distance from the host vehicle 1 to the front object by the relative speed between the host vehicle 1 and the front object.
  • the distance from the own vehicle 1 to the front object can be obtained based on the output of the radar 3, and the relative speed between the own vehicle 1 and the front object is based on the time change of the distance to the front object. Can be sought.
  • a curve exists ahead of the host vehicle 1 without calculating the collision time S104. Whether or not a curve exists can be determined by acquiring the shape of the road included in the map information. Alternatively, the road shape may be acquired by analyzing an image captured by the in-vehicle camera 2 and detecting a lane (or a white line).
  • the start position of the curve and the curvature radius of the curve are acquired (S105).
  • the start position of the curve and the radius of curvature can also be obtained from the map information. Or based on the road shape acquired from the image
  • the points requiring attention are points that require attention when the driver manually operates, such as intersections, tunnel entrances, tunnel exits, and climbing slope end points. That is, since it is known that accidents are likely to occur at intersections, attention must be paid to driving. Also, since the brightness changes suddenly at the tunnel entrance and tunnel exit and visibility is easily lost, attention is required for driving. Furthermore, at the end point of the uphill, the sight is worsened because the uphill is switched to the downhill, so attention must be paid to driving.
  • the reason for considering the point of caution that requires attention when the driver performs manual driving is to perform automatic driving without giving the driver a sense of incongruity. That is, a driver who is driving manually tends to decelerate in a semi-reflective manner or travel at a lower vehicle speed at these points requiring attention. This is because, even during automatic driving, in order to perform automatic driving without giving the driver a sense of incongruity, it is necessary to grasp a point requiring attention existing ahead of the host vehicle 1.
  • the automatic driving control device 100 can easily determine whether or not there is a point of interest in front of the host vehicle 1. .
  • the presence / absence of a point requiring attention may be determined based on information acquired from the outside using the wireless communication device 10.
  • the driver tends to decelerate halfway or travel at a lower vehicle speed. Therefore, by analyzing the image taken by the in-vehicle camera 2, the degree of visibility in the forward direction of the host vehicle 1 is detected, and when the degree of visibility falls below a predetermined value, it approaches a point requiring attention. You may judge it.
  • the wireless communication device 10 by communicating with the outside via the wireless communication device 10, whether or not there is a point with a low visibility in front of the host vehicle 1, and if there is a point with a low visibility, the distance to that point is acquired. May be. If such a point exists within a certain distance from the host vehicle 1, it may be determined that a point requiring attention exists.
  • S106 If there is no point of interest in front of the host vehicle 1 (S106: NO), it is determined whether or not a warning is required for the passenger of the host vehicle 1 without acquiring the distance to the point of concern (S106: NO). S108). For example, when the collision time calculated in S103 is shorter than the predetermined time, the distance to the start position of the curve acquired in S107, or the distance to the point of interest acquired in S109 is smaller than the predetermined distance. In this case, it is determined that a warning is required (S108: YES).
  • a warning is issued by vibrating the footrest portion 32 of the footrest 30 (S109).
  • the footrest portion 32 is vibrated by driving the first servo motor 34m or the second servo motor 33m.
  • a vibrator may be mounted on the footrest 30 and the footrest portion 32 may be vibrated by driving the vibrator.
  • the content of the automatic driving operation and the execution timing of the automatic driving operation are determined (S110). For example, when the destination is set for the navigation system 40, the accelerator pedal 4 and the brake pedal 5 are based on the route information indicated by the navigation system 40 and the situation around the host vehicle 1. Then, whether or not to operate the steering handle 6 and the operation amount are determined.
  • the host vehicle 1 including the position of the preceding vehicle based on the captured image obtained by the in-vehicle camera 2 or based on the output of the radar 3.
  • the accelerator pedal 4 By detecting the surrounding situation, whether or not to operate the accelerator pedal 4, the brake pedal 5 and the steering handle 6 and the operation amount are determined.
  • the start position of the curve and the curvature radius of the curve are acquired in S105 of FIG. Since an appropriate vehicle speed (hereinafter referred to as an approach speed) when entering the curve is determined according to the curvature radius of the curve, the approach speed according to the curvature radius is determined and compared with the vehicle speed of the host vehicle 1.
  • an appropriate vehicle speed hereinafter referred to as an approach speed
  • the vehicle decelerates at a speed corresponding to the vehicle speed of the host vehicle 1 at a point in front of the distance L3 from the position of the intersection. Decide to stop. In addition, it is determined that the vehicle will be notified of deceleration at a point that is further in front of the distance L4 than the point at which deceleration is started.
  • the contents of the automatic driving operation, the execution time of the automatic driving operation, and the notice time are determined in this way.
  • the content of the automatic driving operation determined in this way corresponds to “driving information” of the present disclosure.
  • FIG. 8A illustrates a state in which the footrest portion 32 of the footrest 30 is tilted forward to notify the acceleration. Moreover, the aspect which inclines the footrest part 32 forward according to the degree of acceleration is demonstrated in detail later.
  • FIG. 8B illustrates a state in which the footrest portion 32 of the footrest 30 is tilted backward to notify the deceleration. Moreover, the aspect which tilts the footrest part 32 according to the grade of deceleration is demonstrated in detail later.
  • FIG. 8D illustrates a state in which the footrest portion 32 of the footrest 30 is tilted to the right to notify the right steering. Moreover, the aspect which inclines the footrest part 32 right according to the grade of right steering is demonstrated later.
  • the content of the automatic driving operation is not right steering (S116: NO)
  • “inclined to the left” refers to an operation of inclining to the left as viewed from the occupant sitting on the seat 7 on the driver's seat (driver during non-automatic driving).
  • FIG. 8C illustrates a state in which the footrest portion 32 of the footrest 30 is tilted to the left to notify the left steering. Moreover, the aspect which inclines the footrest part 32 to the left according to the grade of left steering is demonstrated later.
  • the first servo motor 34m is not driven. As a result, the footrest portion 32 of the footrest 30 is maintained in a state in which it is not tilted in either the left or right direction.
  • the seat 7 on the driver's seat side can also be switched during automatic driving so that the driving can be changed whenever the automatic driving control device 100 cannot cope. Is required to have a passenger sitting. Therefore, when the footrest portion 32 of the footrest 30 is moved as described above, the movement is recognized by the occupant sitting on the seat 7 on the driver's seat side, and the content is transmitted to the occupant before the automatic driving operation is performed. be able to.
  • the passenger sitting on the seat 7 on the driver's seat side can recognize in advance the content of the automatic driving operation to be performed in the future, and can avoid feeling uncomfortable with the automatic driving.
  • the movement of the footrest portion 32 of the footrest 30 is used to convey the contents of the automatic driving operation to the occupant, the occupant may feel bothersome or uncomfortable, unlike when appealing to the sight or hearing. Absent. For this reason, even when telling the contents of the driving operation one by one during the automatic driving, it is possible to transmit it without giving a burden to the occupant.
  • the movement of the footrest portion 32 of the footrest 30 is set in the following manner according to the content of the automatic driving operation.
  • FIG. 9A to 9C illustrate a mode in which the footrest portion 32 of the footrest 30 is tilted forward or backward depending on the degree of acceleration or deceleration.
  • the footrest 32 is tilted forward at a large forward tilt angle ⁇ as the acceleration increases.
  • a positive acceleration indicates that the host vehicle 1 is accelerated
  • a negative acceleration indicates that the host vehicle 1 is decelerated.
  • the forward tilt angle ⁇ is an angle for tilting the footrest portion 32 of the footrest 30 forward as shown in FIG. 9B.
  • the forward tilt angle ⁇ becomes a negative value, the footrest portion 32 tilts backward.
  • the driver can recognize from the movement that the footrest portion 32 tilts forward, that the host vehicle 1 is about to accelerate, and the driver can recognize from the movement that the footrest portion 32 tilts backward. It can be recognized that 1 is about to decelerate. Furthermore, the degree of acceleration or deceleration can be recognized from the magnitude of the forward or backward tilt angle. Then, after notifying acceleration or deceleration in this way, the inclination of the footrest portion 32 is returned in preparation for the next notification of acceleration or deceleration. At this time, it is desirable that the speed at which the footrest part 32 is returned is as small as not noticed by the driver.
  • the inclination of the forward inclination angle ⁇ with respect to the acceleration is made different between the case where the absolute value of the acceleration is equal to or smaller than the predetermined value tha and the case where the absolute value of the acceleration is equal to or larger than the predetermined value tha.
  • the inclination may be made smaller than that in the case where the value is equal to or greater than the predetermined value tha.
  • the forward tilt angle ⁇ is tilted forward to a certain angle, and when the acceleration is smaller than that, the footrest portion 32 is moved. It is good not to tilt forward.
  • the footrest portion 32 is tilted backward at a constant angle, and when the absolute value of acceleration in the deceleration direction is smaller than a3, The placing portion 32 may not be tilted backward.
  • the footrest portion 32 does not move, so the driver does not feel bothersome.
  • the footrest portion 32 moves greatly at a certain angle, so that the driver can clearly recognize that the host vehicle 1 is about to accelerate or decelerate. it can.
  • the footrest portion 32 may be tilted forward or backward in a plurality of stages. For example, the case where the host vehicle 1 is about to be accelerated will be described. When the acceleration is larger than a4, the footrest portion 32 is tilted forward by a certain angle, but when the acceleration is larger than a6, The footrest 32 may be tilted forward at a large angle.
  • the driver can roughly recognize the degree of acceleration / deceleration from the rough movement of the footrest portion 32, so that the content of the automatic driving can be appropriately recognized to a necessary and sufficient extent.
  • the degree of acceleration / deceleration may be transmitted to the driver by vibrating the inclination of the footrest portion 32 of the footrest 30 in the front-rear direction.
  • the footrest portion 32 is vibrated from the driver's seat to the other side, and when the host vehicle 1 is decelerated, the driver's seat is closer to the front. The footrest portion 32 is vibrated toward the side. In this way, the driver can recognize whether the host vehicle 1 is about to accelerate or decelerate according to the direction in which the footrest portion 32 vibrates.
  • the amplitude A for vibrating the footrest 32, the frequency f for vibrating, and the duration T of vibration may be changed according to the degree of acceleration or the degree of deceleration.
  • the footrest 32 is vibrated in such a manner that the amplitude A, the frequency f, and the duration T increase as the absolute value of acceleration or deceleration increases. Also good. In this way, the driver can recognize the degree of acceleration or deceleration from the aspect in which the footrest portion 32 vibrates.
  • the change amount of the amplitude A when the acceleration or deceleration changes by a unit amount, the change amount of the frequency f, or the change amount of the duration T is set to a range in which the absolute value of the acceleration or deceleration is smaller than the threshold value tha.
  • the range may be different from the range greater than the threshold value tha. That is, as illustrated in FIG. 11C, in the range where the absolute value of the acceleration or deceleration is smaller than the threshold value tha, the amplitude A with respect to the change in the unit amount of acceleration or deceleration, the frequency f, The amount of change in the duration time T may be reduced.
  • the footrest portion 32 may be tilted forward so that the forward tilt angle ⁇ corresponds to the control target value (that is, the target vehicle speed) of the host vehicle 1. . Even in this way, the driver can recognize the target vehicle speed from the forward inclination angle ⁇ of the footrest portion 32.
  • the forward tilt angle ⁇ is changed in accordance with the target vehicle speed, as shown in FIG. 12B, when the absolute value of the target vehicle speed is smaller than the threshold vehicle speed thv, it is larger than the threshold vehicle speed thv.
  • the change amount of the forward tilt angle ⁇ with respect to the change amount of the target vehicle speed may be reduced.
  • the inclination of the forward inclination angle ⁇ may be varied stepwise with respect to the target vehicle speed.
  • the change of the target vehicle speed may be transmitted to the driver by vibrating the forward inclination angle ⁇ of the footrest portion 32.
  • the footrest portion 32 is vibrated from the driver seat to the other side, and when the target vehicle speed is decreased, the footrest portion 32 is moved from the driver seat toward the front side. Vibrate. Even in this case, the driver can recognize whether the target vehicle speed has been increased or decreased depending on the direction in which the footrest portion 32 vibrates.
  • the amplitude A for vibrating the footrest portion 32, the frequency f for vibrating, and the duration T of vibration may be changed according to the target vehicle speed.
  • the footrest portion 32 is vibrated in such a manner that the amplitude A, the frequency f, and the duration T increase as the absolute value of the target vehicle speed increases. May be.
  • the amount of change in time T may be varied.
  • the footrest portion 32 of the footrest 30 is tilted in the left-right direction in accordance with the steering angle of left steering or right steering.
  • the footrest portion 32 may be tilted in the left-right direction in accordance with a lateral acceleration (hereinafter referred to as lateral acceleration) or a lateral velocity component (hereinafter referred to as lateral velocity) generated with steering.
  • lateral acceleration hereinafter referred to as lateral acceleration
  • lateral velocity component hereinafter referred to as lateral velocity
  • the steering angle, lateral acceleration and lateral speed associated with steering may be collectively referred to as “steering information”.
  • steering information an angle at which the footrest portion 32 is inclined in the left-right direction is referred to as “lateral inclination angle ⁇ ”.
  • lateral inclination angle ⁇ an angle at which the footrest portion 32 is inclined in the left-right direction.
  • the lateral inclination angle ⁇ assumes a “positive” value when the footrest portion 32 is inclined leftward.
  • the footrest 32 is tilted to the left at a larger lateral tilt angle ⁇ as the steering information in the left-handed direction increases.
  • a positive acceleration indicates that the host vehicle 1 is steered to the left
  • a negative acceleration indicates that the host vehicle 1 is steered to the right.
  • the lateral tilt angle ⁇ is an angle at which the footrest portion 32 of the footrest 30 is tilted to the left.
  • the lateral tilt angle ⁇ becomes a negative value, so that the footrest portion 32 tilts to the right.
  • the driver can recognize from the movement that the footrest portion 32 tilts to the left, that the host vehicle 1 is about to steer to the left, and from the motion that the footrest portion 32 tilts to the right, Can recognize that he is about to steer right.
  • the magnitude of the steering information can be recognized from the magnitude of the angle tilted to the left or right. Then, after notifying the left steering or the right steering in this way, the inclination of the footrest portion 32 is returned in preparation for the case of notifying the next steering. At this time, it is desirable that the speed at which the footrest part 32 is returned is as small as not noticed by the driver.
  • the inclination of the lateral inclination angle ⁇ with respect to the steering information is different and is smaller than the predetermined value. May have a smaller slope than when it is greater than or equal to a predetermined value. In this way, with small steering, the driver does not know the movement of the footrest portion 32 (or does not care), so there is no possibility that the driver feels annoying the movement of the footrest portion 32.
  • the inclination of the lateral inclination angle ⁇ may be changed stepwise with respect to the steering information.
  • the footrest portion 32 does not move, so that the driver does not feel bothersome.
  • the side tilt angle ⁇ of the footrest portion 32 may be vibrated according to the steering information to notify the driver that the host vehicle 1 is about to steer.
  • the footrest portion 32 is vibrated so as to incline to the left side. 32 is vibrated so as to incline to the right. Even in this way, it is possible to make the driver recognize whether to perform left steering or right steering depending on the direction in which the footrest portion 32 vibrates.
  • the amplitude A for vibrating the footrest 32, the frequency f for vibrating, and the duration T of vibration may be changed according to the size of the steering information.
  • the footrest portion 32 may be vibrated in such a manner that at least one of the amplitude A, the frequency f, and the duration T increases as the steering information increases. .
  • the amount of change in the amplitude A or the amount of change in the frequency f when the steering information changes by a unit amount, or the duration T The amount of change may be different.
  • the automatic driving control device 100 executes the automatic driving operation by driving the accelerator pedal actuator 4m, the brake pedal actuator 5m, and the steering handle actuator 6m according to the content determined in S110 (S121).
  • the automatic driving control device 100 determines whether or not to end the automatic driving (S122), and if not (S122: NO), the process returns to the top of the process and acquires the situation around the host vehicle 1. After that (S100 in FIG. 4), the above-described series of processing (S101 to S122) is executed. If it is determined that the automatic driving is to be ended while repeating such an operation (S122: YES), the automatic driving control process of FIGS. 4 and 5 is ended. (Modification) In the embodiment described above, it has been described that the occupant sitting on the seat 7 on the driver's seat side recognizes the content of the automatic driving operation by tilting the footrest portion 32 of the footrest 30 back and forth or left and right. However, the movement of the footrest portion 32 is not limited to the tilting motion, and for example, the footrest portion 32 may be translated.
  • FIG. 16A to FIG. 16C illustrate a state in which the footrest portion 32 of the footrest 30 is translated in accordance with the content of the automatic driving operation.
  • the footrest 30 is provided so as to be movable in the front-rear direction on the base 35, and the footrest portion 32 can be translated together with the footrest 30 by driving an actuator (not shown). It has become.
  • the footrest portion 32 may be provided so that it can be raised and lowered with respect to the main body portion 31, and the footrest portion 32 may be raised or lowered by driving an actuator (not shown). .
  • the occupant can recognize whether the vehicle 1 is about to steer in the left or right direction by moving the footrest portion 32 in translation.
  • the footrest 30 is provided on the base 35 so as to be movable in the left-right direction, and the footrest portion 32 can be translated together with the footrest 30 by driving an actuator (not shown).
  • the footrest portion 32 is turned rightward (hereinafter referred to as “rightward turn”), or leftward (hereinafter referred to as “leftward turn”).
  • rightward turn the rightward turn
  • leftward turn the leftward
  • the occupant may recognize right steering or left steering.
  • the footrest portion 32 of the footrest 30 has been described as being moved. It can be considered that the occupant sitting on the seat 7 on the driver's seat is placing his / her foot on the footrest 30 even during automatic driving. For this reason, if the footrest part 32 of the footrest 30 is moved, the content of the automatic driving operation can be recognized by the occupant sitting on the seat 7 on the driver's seat side.
  • the object to be moved in accordance with the content of the automatic driving operation is the footrest 30 foot, as long as the passenger sitting on the driver's seat 7 can be surely noticed even during automatic driving.
  • the placement unit 32 is not limited. For example, various adjustment mechanisms are mounted on the seat 7 on the driver's seat side. Therefore, by moving at least a part of the seat 7 using this adjustment mechanism, it is possible to make the occupant sitting on the seat 7 recognize the content of the automatic driving operation.
  • 18A and 18B illustrate a state in which at least a part of the seat 7 on the driver's seat side is moved according to the content of the automatic driving operation.
  • the electric actuator 7mF and the electric actuator 7mT described above correspond to the “adjustment unit” in the present disclosure.
  • the lumbar support portions 7R, 7L of the seat 7 have the electric actuators 7mR, 7mL built therein, and the lumbar support portions 7R, 7L can be tilted left and right
  • the occupant can recognize whether 1 is about to steer right or left. That is, when the host vehicle 1 is about to steer right, the lumbar support portions 7R and 7L are tilted to the right, and when the host vehicle 1 is about to steer left, the lumbar support portions 7R and 7L are tilted to the left.
  • the electric actuator 7mR and the electric actuator 7mL described above correspond to the “adjustment unit” in the present disclosure.
  • the driver when a situation that is difficult for the automatic operation control device 100 to occur during automatic operation occurs, the driver must be asked to replace the operation. In such a case, the driver can override the driver by vibrating the footrest portion 32 of the footrest 30 (that is, the driver performs a driving operation during the automatic driving and intervenes in the driving to thereby perform the automatic driving). Switching the state to the manual operation state) may be requested.
  • the forward and backward tilts of the footrest portion 32 are repeated at a constant cycle, or the leftward and rightward tilts of the footrest portion 32 are repeated at a constant cycle. Since such a movement is clearly different from a normal automatic driving content notice, the driver can easily recognize that an override is required.
  • each step is expressed as S100, for example. Further, each step can be divided into a plurality of sub-steps, while a plurality of steps can be combined into one step.
  • the embodiments, configurations, and aspects of the automatic driving control device, the driving information output device, the footrest, the automatic driving control method, and the driving information output method according to the present disclosure have been exemplified, but the embodiments, configurations, and modes according to the present disclosure have been illustrated. Is not limited to the above-described embodiments, configurations, and aspects. For example, embodiments, configurations, and aspects obtained by appropriately combining technical sections disclosed in different embodiments, configurations, and aspects are also included in the scope of the embodiments, configurations, and aspects according to the present disclosure.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'invention concerne un dispositif de commande de conduite autonome, lequel dispositif commande l'opération de conduite d'un véhicule sur la base de l'environnement du véhicule, et lequel permet ainsi de réaliser une conduite autonome. Le dispositif de commande de conduite autonome comporte : une unité de détermination d'opération de conduite (121), qui détermine le contenu de l'opération de conduite du véhicule sur la base de l'environnement du véhicule ; une unité de commande d'opération de conduite (122), qui commande l'opération de conduite du véhicule en fonction du contenu déterminé de l'opération de conduite ; et une unité de sortie d'information de conduite (132), qui délivre en sortie le contenu déterminé de l'opération de conduite à titre d'information de conduite par la commande d'une unité de conduite disposée sur un repose-pieds côté conducteur (30) du véhicule, et qui déplace la partie de repose-pieds du repose-pieds.
PCT/JP2015/005965 2014-12-09 2015-12-01 Dispositif de commande de conduite autonome, dispositif de sortie d'information de conduite, repose-pieds, procédé de commande de conduite autonome, et procédé de sortie d'information de conduite Ceased WO2016092773A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
DE112015005515.0T DE112015005515T5 (de) 2014-12-09 2015-12-01 Steuervorrichtung für autonomes fahren, fahrinformationsausgabevorrichtung, fussraste, steuerverfahren für autonomes fahren und fahrinformationsausgabeverfahren
US15/534,456 US20170341648A1 (en) 2014-12-09 2015-12-01 Autonomous driving control apparatus, driving information output apparatus, footrest, autonomous driving control method, and driving information output method

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JP2014248891 2014-12-09
JP2014-248891 2014-12-09
JP2015171403A JP6521803B2 (ja) 2014-12-09 2015-08-31 自動運転制御装置、フットレスト、自動運転制御方法、および運転情報出力方法
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JP2018118675A (ja) * 2017-01-26 2018-08-02 株式会社Ｓｏｋｅｎ 運転情報提示装置
WO2018168038A1 (fr) * 2017-03-14 2018-09-20 オムロン株式会社 Dispositif de détermination de siège de conducteur
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