JP2010173342A - Information providing device and information providing method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To make a user precisely understand contents of information when the information is transmitted by the action of a robot. <P>SOLUTION: This information providing device comprises: the robot 100 for providing information to an occupant of a vehicle; a sensor 300 for detecting a change of a status around a display body vehicle; an information creation function which creates notification information for notifying a user of a change of the status when the change of the status of the sensor 300 is detected; and a control device 200 for executing the information creation function for controlling the function of the action of the robot 100 which provides the occupant of the vehicle with the created notification information. When the control device makes the robot 100 provide the notification information, the control device 200 specifies a sensor which detects the status change causing the creation of the notification information as an objective sensor so as to make the robot 100 execute action for indicating a predetermined direction according to a detection range of the specified objective sensor. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an information providing apparatus and an information providing method for providing information to a vehicle occupant using a display body such as a robot.

There is known a system in which a notification three-dimensional object is arranged in a vehicle and information is notified to an occupant by an operation such as gesture (see Patent Document 1).

JP 2002-104103 A

  However, when information is transmitted by the operation of the notification three-dimensional object, there is a problem that the content of the information may not be accurately transmitted to the user.

The present invention solves the above problem by causing a display mounted on a vehicle to execute an operation indicating a predetermined direction according to a detection range of a target sensor in which a change in the situation around the vehicle is detected.

According to the present invention, it is possible to increase the amount of movement of the display body rather than executing the movement indicating the location direction of the object related to the change in the situation around the vehicle, so that the content of information is accurately transmitted to the user. be able to.

It is a figure which shows the outline | summary of a structure of the information provision apparatus of this embodiment. It is a figure which shows the example of installation of the information provision apparatus of this embodiment. It is another figure which shows the example of installation of the information provision apparatus of this embodiment. 4A and 4B are diagrams illustrating an example of the robot 100 mounted on the vehicle. It is a figure which shows the example of arrangement | positioning of the sensor mounted in a vehicle. It is a figure which shows the positional relationship of the robot 100 mounted in the vehicle, and the sonars 1-7, and the detection range of the sonars 1-7. It is the 1st figure for explaining operation which robot 100 performs, and points out the predetermined direction according to the detection range of a target sensor. It is the 2nd figure for explaining operation which robot 100 performs, and points out a predetermined direction according to the detection range of an object sensor. FIG. 11 is a third diagram for explaining an operation performed by the robot 100 and indicating a predetermined direction according to a detection range of the target sensor. It is a figure which shows an example of the sensor information with which the identification information of a sensor, the direction according to the detection range of a sensor, and the installation position of a sensor were matched. It is a figure for demonstrating operation | movement of the robot 100 at the time of detecting an overtaking vehicle. It is a figure for demonstrating operation | movement of the robot 100 at the time of detecting the obstruction of a vehicle back at the time of parking reverse. It is a flowchart figure for demonstrating the process of the information provision apparatus 1000 of this embodiment. 14A is a schematic diagram of a configuration of the stereoscopic display 3100, and FIG. 14B is a plan view of the stereoscopic display 3100. It is a block diagram for demonstrating the structure outline | summary of a holographic display device.

  An information providing system 1000 according to the present embodiment will be described with reference to the drawings.

The information providing system 1000 according to the present embodiment is a device that provides notification information that informs the presence and location of an obstacle around a vehicle by the action of a three-dimensional object such as a robot.

  FIG. 1 is a diagram illustrating an outline of a configuration of an information providing system 1000 according to the present embodiment.

As shown in FIG. 1, the information providing system 1000 according to the present embodiment includes a sensor 300 that detects a change in the situation around the vehicle, a display unit Q that provides notification information that notifies the change in the situation around the vehicle, And a control device 200 that controls the operation of the display unit Q.

The display unit Q of the present embodiment includes the robot 100 that expresses the notification information by its own operation and the second output device 101, and provides the vehicle occupant with the notification information that notifies the change of the situation around the vehicle.

The robot 100 is a three-dimensional object imitating an animal, a three-dimensional object imitating a human or anthropomorphic body, a three-dimensional object imitating a body part such as a hand or a finger, or an arrow-shaped three-dimensional object. Is provided to the user by performing actions similar to human movements such as turning around, staring, talking, and nodding. That is, the robot 100 can notify the position or direction where an obstacle or other notification target exists by gesture (operation) of the robot 100 itself.

For example, the robot 100 can point in an arbitrary direction by its rotational movement. Specifically, the robot 100 can indicate a direction in which a target to be notified exists by turning its front side (face) in an arbitrary direction by rotation. Also, the robot 100 can indicate the direction in which the target to be notified exists by directing its limbs, fingers, tail, etc. in an arbitrary direction.

2 and 3 are diagrams illustrating an example in which the robot 100 is mounted on a vehicle. As shown in FIGS. 2 and 3, the robot 100 of the present embodiment is installed on the upper surface of the dashboard of the vehicle. A control device 200 that controls the operation of the robot 100 is housed inside the dashboard.

The robot 100 shown in FIGS. 2 and 3 rotates around the rotation axis G and can indicate a predetermined direction by directing its front side f in a predetermined direction. Note that the installation position of the robot 100 may be in the occupant's field of view, and may be a front pillar, for example.

Here, a specific configuration of the robot 100 will be described.

As shown in FIG. 1, the robot 100 of this embodiment includes an operation control device 110, a robot rotation drive mechanism 120, a first speaker 130, and a first lamp 140.

The operation control device 110 of the robot 100 controls the robot rotation drive mechanism 120, the first speaker 130, and the first lamp 140 in accordance with the control command of the control device 200.

The robot rotation drive mechanism 120 follows the command acquired from the control device 200, and controls the robot 100 so that the front of the robot 100, the limbs, fingers, tails, etc. of the robot 100 are directed in a predetermined direction under the control of the motion control device 110. Rotate 100.

4A and 4B are diagrams illustrating an example of the robot 100 mounted on the vehicle. As shown in FIG. 4, the robot 100 according to the present embodiment is a three-dimensional object having a face like an animal or a human, and the face surface with the eye members e1 and e2 that resemble human eyes is the front side f. is there.

The robot rotation drive mechanism 120 includes a base portion 121 that fixes or engages the robot 100, a rotation axis G of the robot 100, and a motor mechanism 122 that rotates the robot body 101 around the rotation G at any direction or at any rotation speed. And have. Driving the motor mechanism 122 causes the robot 100 to rotate around the rotation axis G as shown in FIG. The robot rotation drive mechanism 120 can turn the front side f of the robot 100 in an arbitrary direction by rotating the robot 100 about the rotation axis G by a predetermined angle. Further, the robot rotation driving mechanism 120 can rotate the robot 100 around the rotation axis G at a predetermined angular velocity.

Further, a configuration in which the robot 100 is rotated around a rotation axis orthogonal to the rotation axis G may be further provided. According to this mechanism, it is possible to cause the robot 100 to perform an operation that makes a person whisper.

  Further, as shown in FIG. 4 (A), the robot 100 is made to have hand members H1, H2 resembling human hands and the tips of these hand members H1, H2 based on display commands from the control device 200. A hand drive mechanism HK1 that moves up and down and left and right may be provided. A corner portion may be provided on the head of the robot 100 together with or instead of the hand members H1 and H2, or a tail portion may be provided on the back surface of the robot 100.

Note that the configuration of the robot rotation drive mechanism 120 of the robot 100 is not limited, and any known means can be used.

  Furthermore, in this embodiment, the robot 100 is provided with a first speaker 130 for outputting information by voice. The first speaker 130 included in the robot 100 provides (outputs) notification information under the control of the operation control device 110 based on the command of the control device 200. The speaker 130 of this embodiment includes a text reading function (TTS (Text To Speech) function) 1301 and reads text information included in the notification information. Here, the notification information includes information that informs the existence, position, and direction of other vehicles, pedestrians, and other obstacles around the vehicle. Note that the speaker 130 may reproduce the sound information of the notification information stored in advance according to the change of the situation by a reproduction function provided therein. As described above, by providing the robot 100 with the first speaker, it is possible to execute an operation of talking to the robot 100.

Furthermore, in the present embodiment, the robot 100 is provided with a first lamp 140 that blinks irradiation light. In the present embodiment, the first lamp 140 is embedded in the face eye members e1 and e2 of the robot 100. The first lamp 140 provided in the robot 100 provides (outputs) notification information under the control of the motion control device 110 based on the command of the control device 200.

The operation control device 110 causes the first lamp 140 to turn on and off based on a command from the control device 200. For example, the motion control device 110 rotates the robot 100 and lights the first lamps 140 of the eye members e1 and e2 at the timing when the front side (face) is directed in a predetermined direction. Thereby, the 1st lamp | ramp 140 can point the direction which the robot 100 faces with irradiation light.

In addition, the display unit Q includes a second output device 101 that is physically separated from the robot 100. The second output device 101 includes a buzzer 131n as a second speaker 131 and a second lamp 141n. The buzzer 131n and the second lamp 141n are installed in the vicinity of each sensor 300 described later. The vicinity means a positional relationship in which the distance between the buzzer 131n and / or the second lamp 141n and the sensor 300 is less than a predetermined value. In addition, the sensor 300 and the buzzer 131n and / or the second lamp 141n that are in the shortest positional relationship between the one sensor 300 and the one buzzer 131n and / or the second lamp 141n are in the vicinity.

The buzzer 131n and the second lamp 141n are not physically integrated with the robot 100, but operate according to instructions from the control device 200, as with the robot 100. That is, the control device 200 causes the robot 100 and the second output device 101 to operate in cooperation according to a command from the control device 200. For example, the control device 200 operates the buzzer 131n or the second lamp 141n as the second speaker 131 in response to the operation of the robot 100.

In addition, the robot 100 may be provided with an input device that mainly acquires user input information, such as a microphone, a camera, and a contact sensor.

Next, the sensor 300 will be described.

The sensor 300 of the present embodiment has a function of detecting a change in the situation around the vehicle. This sensor 300 is a change in the situation around the vehicle, such as a change in which an obstacle that does not exist around the vehicle (predetermined distance range) when the vehicle moves, other vehicles, pedestrians, etc. A change in which an obstacle that did not exist around the vehicle (predetermined distance range) due to the movement of another object is detected, and a change in other situations is detected.

For example, the sensor 300 changes the situation when another vehicle (passing vehicle) that accelerates in an adjacent lane approaches the own vehicle and the other vehicle enters the surroundings (predetermined distance range) of the own vehicle. Detect as. Further, the sensor 300 detects this change as a situation change when the host vehicle approaches an obstacle when the vehicle is parked backward and an obstacle exists around the host vehicle (predetermined distance range).

When the sensor 300 detects a change in the situation around the host vehicle, the sensor 300 associates the detection result with identification information for identifying the sensor 300 and sends it to the control device 200.

In addition, the surroundings of the own vehicle, that is, the predetermined distance range of the own vehicle can be appropriately defined according to the speed of the detection target and the detection scene.

The sensor 300 of the present embodiment includes a camera 310 and an ultrasonic sensor 320 as shown in FIG.

The camera 310 detects the presence / absence and / or distance of an object based on a semiconductor image sensor such as a CCD image sensor (Charge Coupled Device Image Sensor), an infrared image sensor, or other images. A sensor can be used.

The ultrasonic sensor 320 is a sensor having a function of detecting an object using an ultrasonic signal and measuring the distance. Specifically, an ultrasonic wave is transmitted from the sensor head, the ultrasonic wave reflected by the target object is received again by the sensor head, and the position of the target object is detected by measuring the time from the transmission of the sound wave to the reception. To do. In this embodiment, a sonar 321 that also functions as a sensor of a sonar system (an alarm system for preventing an approach when the vehicle is moving backward or when turning left or right) is used as the sensor 300.

The number of sonar 321 (sensor 300) provided in the vehicle can be arbitrarily set. FIG. 5 is a diagram illustrating an installation example of sonar 1 to sonar 7 as the sensor 300 mounted on the vehicle. As shown in FIG. 5, the sonars 1 to 7 are provided at positions on the front right side, the front left side, the front center, the driver's seat door, the passenger seat door, the rear right side, and the rear left side, respectively.

Further, as shown in FIG. 5, buzzers 1 to 7 (131n) and / or second lamps 1 to 7) 141n as the second output device 101 are provided in the vicinity of the sonars 1 to 7. The identification information of the sonar 1 to the sonar 7 as the sensor 300 and the identification information of the buzzers 1 to 7 (131n) and / or the second lamps 1 to 7 141n provided in the vicinity of the sonar 1 to the sonar 7 are preliminarily described. Corresponding and stored in the ROM 201.

Any one or more of sonar 1 to sonar 7 may be replaced with cameras 1 to 7.

FIG. 6 is a diagram illustrating a positional relationship between the robot 100 mounted on the vehicle and the sonars 1 to 7 and a simulated detection range of the sonars 1 to 7. As shown in FIG. 6, sonars 1 to 7 each have a unique detection range.

Next, the control device 200 will be described. The control device 200 controls notification information providing processing performed by the display unit Q. That is, the operation of the robot 100 and the operation of the buzzer n (second speaker) and the second lamp 141 provided in the vicinity of the sensor 300 are controlled.

As shown in FIG. 1, the control device 200 executes a ROM 201 that stores a program for controlling the operation of the display unit Q and a program stored in the ROM (Read Only Memory) 201. A CPU (Central Processing Unit) 202 as an operation circuit that functions as a robot control device and a RAM (Random Access Memory) 203 that functions as an accessible storage device are provided. As an operation circuit, instead of or in addition to a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. The operation circuit can be used.

  Further, as shown in FIG. 1, the control device 200 is connected to a navigation device 400, a vehicle controller 500 and other in-vehicle devices mounted on the host vehicle by a CAN (Controller Area Network) and other in-vehicle LANs, and mutually transmits information. Give and receive.

  Next, processing functions provided in the control device 200 will be described. The control device 200 includes an information generation function for generating notification information and an operation control function for controlling the operation of the robot 100. The control device 10 executes each function by cooperation of software for realizing each function and the hardware described above.

  Hereinafter, functions realized by the control device 200 of the information providing system 1000 will be described.

  First, the information generation function of the control device 200 will be described. When a change in the situation around the vehicle is detected by the sensor 300, the control device 200 generates notification information that notifies the user of the change in the situation. Specifically, the control device 200 generates notification information including transmission contents such as “approach of obstacle” and “position of obstacle” in order to notify the user of a change in the situation.

The notification information of this embodiment includes the presence of an obstacle (another vehicle, a road structure, a pedestrian, or other object) and information on the direction in which the obstacle exists. For example, when the sensor 300 detects that another vehicle (passing vehicle) that accelerates in an adjacent lane has entered the predetermined distance range of the own vehicle, the control device 200 detects that the other vehicle Informing information for informing that the vehicle is approaching from behind is generated. In addition, when the sensor 300 detects that there is an obstacle within a predetermined distance range of the host vehicle when the vehicle is parked backward, the control device 200 informs that there is an obstacle at the right rear, left rear, or rear center. Is generated. The control device 200 stores the generated notification information in the RAM 203.

The notification information may be processed (generated) into specifications provided by the display unit Q using information generated by the sensor 300 or a driving support device that performs driving support processing based on the detection result of the sensor 300. .

Next, the operation control function of the control device 200 will be described. The control device 200 controls the operation of the display unit Q including the robot 100 and the second output device 101 in order to provide the generated notification information to the vehicle occupant.

When the control device 200 causes the display unit Q to provide the notification information, as a method of providing information, the control device 200 identifies the sensor 300 in which the change in the situation that causes the generation of the notification information is detected as the target sensor 300n, and the robot 100 is caused to execute an operation indicating a predetermined direction according to the detection range of the target sensor 300n.

Based on the identification information of the sensor 300 acquired from the sensor 300 together with the detection result, the control device 200 identifies the sensor 300 that has detected a change in the situation as the target sensor 300n. Based on the identification information of the target sensor 300, the control device 200 can acquire the type, installation position, detection range (the direction of the central axis of the detection range, the angle corresponding to the detection range), and the like. it can.

Then, the control device 200 causes the robot 100 to perform an operation indicating a predetermined direction according to the detection range of the target sensor.

Here, the “predetermined direction according to the detection range of the target sensor 300n” will be described with reference to FIGS. 7 to 9 are diagrams for explaining an operation in which the robot 100 indicates a predetermined direction according to the detection range of the target sensor. The operation pointing in a predetermined direction is an operation in which the front side of the robot 100 is directed in the predetermined direction, an operation in which the hand members H1 and H2 (see FIG. 4) of the robot 100 are directed in the predetermined direction, and the first speaker 130 of the robot 100. This includes an operation of speaking in a predetermined direction (back, front, right, left), an operation of irradiating the first lamp 140 of the robot 100 in a predetermined direction, and the like. Below, the control method of the control apparatus 200 is demonstrated to the operation | movement which orient | assigns the front side of the robot 100 to the predetermined direction as an example.

As shown in FIG. 7, when it is detected that an obstacle exists in the detection range, the control device 200 rotates the robot 100 with its front side facing a predetermined rotation reference direction, and causes the robot 100 to An operation is performed in which the front side faces a predetermined direction according to the detection range.

For example, the control device 200 rotates the robot 100 with its front side facing a predetermined rotation reference direction, and causes the robot 100 to have its front side on the center axis of the detection range of the target sensor 300n. An operation of facing the reference point A located at a predetermined distance K from 300n is executed. That is, the control device 200 causes the robot 100 to perform a rotation operation for an angle b ° shown in FIG. Further, the control device 200 may cause the robot 100 to perform an operation of rotating from the rotation reference direction 0 ° to b ° shown in FIG. 7 or between the rotation reference direction 0 ° to b ° shown in FIG. You may perform the operation | movement which reciprocates.

In addition, the control device 200 rotates the robot 100 with its front side directed in a predetermined rotation reference direction, and performs an operation of directing the front side of the robot 100 toward the reference point B of the installation position of the target sensor 300n. Let That is, the control device 200 causes the robot 100 to perform a rotation operation for the angle c ° shown in FIG. Further, the control device 200 may cause the robot 100 to perform an operation of rotating from the rotation reference direction 0 ° to c ° shown in FIG. 7 or between the rotation reference direction 0 ° to c ° shown in FIG. You may perform the operation | movement which reciprocates.

Note that the distance K preferably corresponds to the detectable distance of the sensor 300.

Incidentally, in the example shown in FIG. 7, the control device 200 rotates the robot 100 with its front side directed in a predetermined rotation reference direction, and sets the robot 100 to a point Q where an obstacle exists on the front side. When the facing operation is executed, the operation angle is a °. The magnitude relationship between the rotation angles b ° and c ° described above and the rotation angle a is a <b <c. That is, in this embodiment, when an obstacle is detected, the robot 100 is caused to perform an operation in which the front side is directed in a predetermined direction corresponding to the detection range. The amount of movement of the robot 100 can be made larger than the amount of movement of the movement directed to the direction of movement. As a result, since the robot 100 can be operated with a large rotation angle, that is, with a large amount of movement, it is possible to accurately inform the driver of the direction in which the obstacle exists.

Further, as shown in FIG. 8, the control device 200 causes the robot 100 to set the reference of the installation position of the target sensor 300n from the reference point A on the center axis of the detection range and at a predetermined distance K from the target sensor 300n. The operation facing the point B is executed. Further, the control device 200 may cause the robot 100 to perform an operation of reciprocating between b ° and c ° (S1) shown in FIG.

Also, as shown in FIG. 9, the control device 200 causes the robot 100 to move from the reference point C on the one side boundary of the detection range and at a predetermined distance K from the target sensor 300n to the other of the detection ranges. An operation of reciprocating between the target sensor 300n and the reference point D located at a predetermined distance K (S2) on the side boundary may be executed.

In the present embodiment, “sensor information” in which identification information of the sensor 300 is associated with a predetermined direction corresponding to a detection range of the sensor 300 with respect to the robot 100 in a coordinate system including a vehicle interior space in which the robot 100 is disposed. ”Is previously defined and stored in the ROM 201.

FIG. 10 is a diagram illustrating an example of sensor information.

As shown in FIG. 10, the sensor information is defined by associating the identification information of the sensor 300 with the direction according to the detection range. Moreover, you may define the rotation angle of the robot 100 corresponding to the direction according to a detection range. In the present embodiment, the sensor information includes the installation position of the sensor 300 with respect to the robot 100, that is, the installation direction of the sensor 300 viewed from the robot 100, as the predetermined direction corresponding to the detection range.

The control device 200 can obtain a predetermined direction corresponding to the detection range, that is, an angle for rotating the robot 100 based on the identification information of the target sensor 300n with reference to the sensor information.

And the control apparatus 200 makes the robot 100 perform the operation | movement which points out the location according to the detection range of the calculated | required target sensor 300n.

Furthermore, as shown in FIG. 10, the sensor information includes viewing approval / disapproval information indicating whether each sensor 300 or the detection range of the sensor 300 is visible from the position of the robot 100. This information is used for controlling the second speaker 131 and the second lamp 141, which will be described later.

Subsequently, control of the second speaker 131 and the second lamp 141 will be described.

When the robot 100 is operated so that the front side of the robot 100 faces a location corresponding to the detection range of the target sensor 300n, the control device 200 may include a second speaker 131 provided in the vicinity of each sensor 300 and / or The second lamp 141 is caused to output notification information. That is, the control device 200 rotates the robot 100 so that the front side of the robot 100 faces the direction corresponding to the detection range of the target sensor 300n, and the buzzer of the second speaker 131 provided in the vicinity of each sensor 300. A buzzer sound is output from 131n and / or the second lamp 141 is irradiated with irradiation light. Thus, when notifying the presence of an obstacle, the control device 200 turns the front of the robot 100 toward the target sensor where the obstacle is detected, sounds a buzzer in that direction, and turns on the lamp. The user can accurately grasp the position of the sensor 300 that is the basis of the operation of the robot 100.

In addition, the control device 200 refers to the “visual approval / denial information on whether or not each sensor 300 or the detection range of the sensor 300 is visible from the position of the robot 100” included in the sensor information, and the target sensor 300n or the When the detection range of the target sensor 300n is not visible, when the robot 100 is operated, the notification information is output to the second speaker 131 and / or the second lamp 141 provided in the vicinity of each sensor 300.

By the way, when the robot 100 notifies the user of the direction in which the obstacle exists by pointing in a predetermined direction according to the detection range, it is assumed that the detection range is visible from the robot 100. That is, it is assumed that the detection range is included in the pseudo field of view based on the eye members e1 and e2 of the robot 100. For detection areas that are not clearly included in the pseudo field of view of the eye members e1 and e2 of the robot 100, and detection areas where the pseudo field of view of the eye members e1 and e2 of the robot 100 is blocked by a sheet or the like, the direction is determined only by the rotation of the robot 100. Informing the user gives a sense of incongruity. That is, even when the user recognizes the robot 100 as an anthropomorphic presence and is instructed to detect a detection area that should not be seen by the robot 100, the user is not sure what the robot 100 is trying to report. Cannot be understood accurately.

For this reason, in the present embodiment, the sensor information includes visual approval rejection information indicating whether each sensor 300 or the detection range of the sensor 300 is visible from the position of the robot 100, and the target sensor 300n or the target sensor is determined from the position of the robot 100. When the 300n detection range is not visible, the buzzer 131 near the target sensor is sounded and the second lamp 141 is turned on. The viewing approval / disapproval information can be defined in advance according to the installation position of the robot 100 and the setting in the passenger compartment.

Next, specific examples of the two processes of the control device 200 will be described with reference to FIGS.

FIG. 11 is a diagram for explaining the operation of the robot 100 when an overtaking vehicle is detected. The sonar 4 is provided on the left side of the vehicle and detects the presence of the overtaking vehicle on the left side. The sonar 5 is provided on the right side of the vehicle and detects the presence of the overtaking vehicle on the right side.

Here, a case will be described as an example in which notification information for alerting the driver of the host vehicle is provided for other vehicles traveling in adjacent lanes. When the sonar 4 or the sonar 5 detects the overtaking vehicle, the control device 200 identifies the sonar 4 or the sonar 5 as a target sensor, and sets the front side of the robot 100 according to the detection range of the sonar 4 or the sonar 5. An operation of moving in a predetermined direction is executed.

In this example, when the sonar 5 detects a passing vehicle, the control device 200 acquires the information detected by the sonar 5 and the identification information of the sonar 5, and the sensor 300 that detects the change in the situation is the sonar 5 (target sensor). To be identified.

Then, the control device 200 causes the robot 100 to perform an operation indicating a predetermined direction according to the detection range of the sonar 5. Specifically, the control device 200 directs the front side of the robot 100 toward a reference point on the central axis of the detection area of the sonar 5 and at a predetermined distance from the installation position of the sonar 5, and then the front of the robot 100 The robot 100 is rotated so that the side faces the sonar installation position. That is, the robot 100 rotates from a posture facing the reference direction, temporarily stops or changes the rotation speed in the direction of the arrow M1, and continuously performs the operation in the direction of the arrow V1. Of course, the control device 200 may rotate the robot 100 so that the front side of the robot 100 is directed to the installation position of the sonar.

At this time, the control device 200 causes the first speaker 130 to utter and output the text voice data “careful of the overtaking vehicle” included in the notification information.

In such a scene, as the distance between the own vehicle and the overtaking other vehicle increases, the difference in angle between the own vehicle and the other vehicle is less likely to occur, and even if the robot 100 is overtaking and faces the other vehicle. Since the amount of movement (the amount of rotation) is small, it is difficult for the user to understand the movement. On the other hand, in this embodiment, the amount of movement (the amount of rotation) can be increased by directing the front of the robot 100 to the direction of the target sensor 300n that has detected another vehicle, not an actual obstacle. Therefore, it is possible to accurately transmit in which direction the other vehicle (obstacle) exists.

Here, the sonar 4 or the detection range of the sonar 4 is included in the pseudo view of the robot 100, but the detection range of the sonar 5 or the sonar 5 is not included (see FIG. 10). That is, the robot 100 cannot see (pseudo-see) the overtaking vehicle detected by the sonar 5. For this reason, the driver cannot accurately understand the meaning of the operation only by the operation in which the robot 100 faces the sonar 5 or the detection range of the sonar 5.

For this reason, the control device 200 sounds the buzzer 5 installed in the vicinity of the sonar 5 and / or turns on the lamp 5 at the timing when the front side of the robot 100 is directed in the direction of the arrow M1. In this way, the operation of the robot 100 and the buzzer 5 and / or the lamp are activated by sounding the buzzer 5 near the sonar 5 and / or turning on the lamp 5 at the timing when the robot 100 views the sonar 5 or the detection region of the sonar 5. 5 can be linked to each other, and the content of the information (passing vehicle from the right rear side is approaching) can be accurately transmitted to the driver.

Next, based on FIG. 12, the operation of the robot 100 when an obstacle behind the vehicle is detected during parking reversal will be described. The sonar 6 is provided on the left rear side of the vehicle and detects an obstacle on the left rear side of the vehicle. The sonar 7 is provided on the right rear side of the vehicle and detects an obstacle on the right rear side of the vehicle.

Here, a case where notification information for alerting the driver of the host vehicle is provided for an obstacle behind the vehicle will be described as an example. When the sonar 6 or the sonar 7 detects the passing vehicle, the control device 200 identifies the sonar 6 or the sonar 7 as a target sensor, and the front side of the robot 100 is set according to the detection range of the sonar 6 or the sonar 7. An operation of moving in a predetermined direction is executed.

In this example, when the sonar 7 detects a rear obstacle, the control device 200 acquires the information detected by the sonar 7 and the identification information of the sonar 7, and the sensor 300 that detects the change in the situation detects the sonar 7 (target Sensor).

Then, the control device 200 causes the robot 100 to perform an operation indicating a predetermined direction according to the detection range of the sonar 7. Specifically, the control device 200 directs the front side of the robot 100 toward a reference point on the center axis of the detection area of the sonar 7 and at a predetermined distance from the installation position of the sonar 7, and then the front of the robot 100 The robot 100 is rotated so that the side faces the sonar installation position. That is, the robot 100 rotates from a posture facing the reference direction, temporarily stops or changes the rotation speed in the direction of the arrow M2, and continuously performs the operation in the direction of the arrow V2. Of course, the control device 200 may rotate the robot 100 so that the front side of the robot 100 is directed to the installation position of the sonar.

At this time, the control device 200 causes the first speaker 130 to utter and output the text voice data “Caution behind” included in the notification information.

  If there is an obstacle behind the vehicle, even if the obstacle is slightly on the right or left side, the angle with respect to the robot 100 is relatively small, so the amount of movement (rotation amount) of the robot 100 is small. Operation is difficult to understand. On the other hand, in the present embodiment, the movement amount (rotation amount) is increased by directing the front of the robot 100 toward the target sensor 300n that detects the rear obstacle instead of the actual obstacle. Therefore, it is possible to accurately communicate in which direction the rear obstacle exists.

Here, the sonar 6 or the detection range of the sonar 6 is included in the pseudo view of the robot 100, but the detection range of the sonar 7 or the sonar 7 is not included (see FIG. 10). That is, the robot 100 cannot see (pseudo-view) the overtaking vehicle detected by the sonar 7. Therefore, the driver cannot accurately understand the meaning of the operation only by the operation in which the robot 100 faces the sonar 7 or the detection range of the sonar 7. For this reason, the control device 200 sounds the buzzer 7 installed in the vicinity of the sonar 7 and / or turns on the lamp 7 at the timing when the front side of the robot 100 is directed in the direction of the arrow M2. In this way, the operation of the robot 100 and the buzzer 7 and / or lamp are activated by sounding the buzzer 7 near the sonar 7 and / or turning on the lamp 7 at the timing when the robot 100 views the sonar 7 or the detection region of the sonar 7. 7 can be linked with each other, and the content of the notification information (there is an obstacle behind the vehicle) can be accurately transmitted to the driver.

Subsequently, a control procedure of the information providing system 1000 according to the present embodiment will be described. FIG. 13 is a flowchart for explaining processing of the information providing apparatus 1000 according to the present embodiment.

The control device 200 starts the process when the vehicle engine is started and the in-vehicle device and the robot 100 can operate.

In step S101, the control device 200 monitors whether the sensor 300 detects a change in the situation around the vehicle. When no detection information is input, a loop (standby) is performed. In step S101, when detection information and identification information of sensor 300 are input from sensor 300, the process proceeds to step S102. At this time, the target sensor 300n that has detected the change in the situation is specified by the identification information.

In step S <b> 102, the control device 200 determines whether to operate the robot 100 based on the detected information. In this embodiment, detection information for operating the robot 100 is defined in advance. That is, detection information that is preferably provided not by causing the robot 100 to provide all detection information but by the operation of the robot 100 is defined in advance. If it is not necessary to operate the robot 100, it waits again to acquire the next detection information. In step S102, when there is input of detection information for operating the robot 100, the process proceeds to step S103.

  In step S103, the control device 200 refers to the sensor information illustrated in FIG. 10, and based on the identification information of the sensor 300 acquired in step S101, a predetermined direction according to the detection range of the target sensor 300n, and / or The installation position of the target sensor 300n is acquired. At this time, an angle in a predetermined direction corresponding to the detection range of the target sensor 300n with respect to the reference direction of the robot 100, that is, the rotation angle of the robot 100 is acquired based on the target sensor 300n defined in advance.

  In subsequent step S104, the control device 200 refers to the viewing approval / denial information of the sensor information illustrated in FIG. 10 and determines whether or not the target of the change in the situation around the vehicle detected by the target sensor 300n is visible from the robot 100. . When the robot 100 determines that the subject of the change in the situation is visible, the process proceeds to step S106, and when it is determined that the robot 100 cannot visually recognize, the process proceeds to step S105.

In step S106, the control device 200 operates the robot 100 so that the front side of the robot 100 faces a predetermined direction according to the detection range of the target sensor 300n. The robot 100 turns its face in the direction corresponding to the detection range of the target sensor 300n or the direction of the installation position of the target sensor 300n.

In parallel with step S106, in step S105, the control device 200 generates an operation command for the buzzer 131 and / or the second lamp 141 installed in the vicinity of the target sensor 300n, and the buzzer 131 and / or the second lamp. 141.

As a result, the buzzer 131 installed in the vicinity of the sensor 300 sounds at the same time or immediately after the robot 100 turns its face in the direction corresponding to the detection range of the target sensor 300n or the direction of the installation position of the target sensor 300n. / Or the second lamp 141 is turned on. The driver can accurately transmit the content of the notification information (where an obstacle has been detected) by the operation of the robot 100 and the operation of the buzzer 131 and / or the second lamp 141.

Next, three modifications according to this embodiment will be described. These modified examples are examples in which other devices are used instead of the robot 100 as the display body described above. That is, the only difference is that an operation object that performs an operation pointing in a predetermined direction is indicated by an image or the like.

The following description will focus on the different points.

<First Modification>
The information providing system according to the first modification includes a three-dimensional display 3100 that presents a predetermined direction according to the detection range of the target sensor, and a three-dimensional display control device 3200 that controls the three-dimensional display 3100.

  The three-dimensional display 3100 displays information indicating a predetermined direction depending on the orientation of the operating body displayed on the three-dimensional display screen.

  FIG. 14 is a diagram illustrating an example of the three-dimensional display 3100. 14A is a schematic diagram of a configuration of the stereoscopic display 3100, and FIG. 14B is a plan view of the stereoscopic display 3100.

  As shown in FIG. 14A, the three-dimensional display 3100 rotates a hollow hemispherical projection surface 3102, a playback device 3103 that plays back an image of an operating body, a light source 3104 for projection, and a playback device 3103. A rotation drive unit 3105. The base unit 3106 supports them, and houses a speaker, a CPU that functions as the stereoscopic display control device 3200, and a memory.

  The projection surface 3102 has light transmittance, and an image of the operating body projected by the playback device 3103 can be viewed from the outside of the projection surface 3102.

  The playback device 3103 rotates around a rotation axis G along a substantially vertical direction with respect to the installation surface of the 3D display 3100 by driving the rotation driving unit 3105. When the playback device 3103 rotates, the image of the operating body projected on the projection surface 3120 also rotates.

  By the rotation of the playback device 3103, an action body such as an animal facing in an arbitrary direction can be displayed on the projection surface 3120. Further, the playback device 3103 has a video switching function for switching the video to be projected. The playback device 3103 plays back the video of the operating body in a different mode in accordance with the control command of the stereoscopic display control device 3200.

  Although the mode of the moving body image is not particularly limited, as shown in FIG. 14B, eye members e1 and e2 resembling human eyes can be included. By providing the eye members e1 and e2, the front side of the operating body can be defined, and by directing the front side in the direction of the target sensor 300n, the direction corresponding to the detection range of the target sensor 300 can be indicated. it can.

When the stereoscopic display control device 3200 provides the notification information, the stereoscopic display control device 3200 determines the direction according to the detection range of the target sensor 300n that detects the change in the situation that causes the generation of the notification information based on the predefined sensor information. An image of the moving body to be shown, for example, an image in which the front side thereof is directed in a direction corresponding to the detection range of the target sensor 300n can be displayed on the projection surface 3102.

The stereoscopic display control device 3200 of the present example has the same functions as the control device 200 described above, and performs the same processing, and thus has the same effect.

<Second Modification>
The information providing system according to the second modification includes a holographic display device 4100 that presents information indicating a predetermined direction according to the detection range of the target sensor as a three-dimensional virtual image, and a holographic display control device 4200 that controls the holographic display device 4200. Is provided.

  The holographic display device 4100 displays information indicating a predetermined direction according to the direction of the operating body displayed by the three-dimensional stereoscopic virtual image.

  FIG. 15 is a block diagram of an information providing system according to this modification. As illustrated in FIG. 15, the information providing system according to the present modification includes a holographic display device 4100 and a holographic display control device 4200.

  Furthermore, the holographic display device 4100 includes a reproduction light irradiation device 4110, a hologram setting device 4120, and a master hologram 4130.

  Explaining each configuration, the reproduction light irradiation device 4110 irradiates the master hologram 4130 prepared in advance with reproduction light for reproducing the master hologram 4130 based on a control command of the holographic display control device 4200. As a light source for reproducing light, a lamp such as a halogen lamp or a xenon lamp, a light emitting diode, a semiconductor laser, or the like can be used.

  Further, the master hologram 4130 is one or a plurality of holograms in which a process in which an operating body serving as a transmission medium for transmitting information operates is recorded at predetermined intervals. The operating body may be the robot 100 described in the present embodiment, and the holographic display device 4100 may display the appearance of the operating robot 100 as a three-dimensional virtual image. The master hologram includes one or a plurality of holograms in which an operation process in which the robot 100 directs its front side in a predetermined direction is recorded at predetermined intervals.

  Note that a method for creating a hologram is not particularly limited, and a known method can be used. For example, the laser light is divided into two by a beam splitter, and one of the laser beams is irradiated to the operating body that is operating, and object light reflected by the operating body that is operating is obtained. The other laser light is directly guided to the recording material as reference light. The interference fringes between the object light and the reference light are recorded on the recording material.

  The master hologram 4130 of this example divides a series of operation processes of the operating body at predetermined time intervals, and records the stationary state of the operating body at each timing as the master hologram 4130. When the master hologram 4130 is sequentially reproduced as time passes, the motion of the moving object can be expressed like an animation. The greater the number of master holograms 4130 that record the operation process, that is, the shorter the time interval between the master holograms, the more smooth operation can be expressed.

  Note that the recording material of the master hologram 4130 can be a photosensitive material such as polyvinyl carbazole, an acrylic photopolymer, gelatin dichromate, or a photoresist material.

  The hologram setting device 4120 sequentially sets one or a plurality of prepared master holograms 4130 at the reproduction position where the reproduction light is irradiated according to the time axis of the operation during recording. By sequentially irradiating the reproduction light to the master holograms 4130 set sequentially by the hologram setting device 4120, the motion of the operating body is reproduced, and a three-dimensional virtual image of the operating body performing a predetermined operation can be displayed. The three-dimensional virtual image can be displayed on the windshield part. Also, a dedicated holographic display unit can be provided in the vicinity of the dashboard.

In addition, the display method of a three-dimensional virtual image is not specifically limited, A well-known technique can be used. For example, a three-dimensional virtual image of an operating body showing a predetermined direction can be displayed using a three-dimensional image display device disclosed in JP-A-9-11845.

When the holographic display control device 4200 presents the notification information, the direction according to the detection range of the target sensor 300n that detects the change in the situation that causes the generation of the notification information based on the predefined sensor information. Is reproduced, and a three-dimensional virtual image of the moving object facing the direction in which the target sensor exists is displayed on the holographic display device 4100.

The holographic display control device 4200 of the present example has the same function as the control device 200 described above and performs the same processing, and thus has the same effect.

<Third Modification>
The information providing system according to the third modification includes a two-dimensional display as a display unit Q that presents information indicating the direction in which the target exists as a two-dimensional image, and an image display control device as the control device 200. This two-dimensional display displays information indicating a predetermined direction depending on the orientation of the operating body displayed by the two-dimensional image. In this example, the display 410 of the navigation device 400 is used as a two-dimensional display.

  The image display control apparatus stores video data of an operating body indicating a predetermined direction, and displays an operating object indicating the predetermined direction based on a display command. The output control method of the two-dimensional image is not particularly limited, and a normal method can be used.

The display 410, when presenting the notification information, based on the sensor information defined in advance, the moving body that faces the direction according to the detection range of the target sensor 300n that detects the change in the situation that causes the generation of the notification information Is displayed on the screen.

  Although an example in which a two-dimensional image of the moving object is displayed on the display 410 of the navigation device 400 is shown here, the present invention is not limited to this. For example, a two-dimensional image of the operating body may be projected on a head-up display device provided on the windshield.

The image display control device of the present example has the same functions as the control device 200 described above and performs the same processing, and thus has the same effects.

  Since the information providing system 1000 according to the present embodiment is configured and functions as described above, the following effects can be obtained.

According to the information providing apparatus 1000 of the present embodiment, the direction of the detection range of the sensor 300 that detects the change in the situation can be indicated by the operation of the robot 100 (display body), so that the information content can be accurately transmitted to the user. can do.

That is, the information providing apparatus 1000 according to the present embodiment causes the robot 100 mounted on the vehicle to execute an operation indicating a predetermined direction according to the detection range of the target sensor 300n in which a change in the situation around the vehicle is detected. The amount of movement of the robot 100 can be made larger than when the robot 100 is directed toward the obstacle, and the contents of information can be accurately transmitted to the user.

That is, the information providing apparatus 1000 according to the present embodiment causes the robot 100 to instruct the position of the obstacle detected by the sensor 300 by instructing the direction corresponding to the detection range of the sensor 300 that detected the obstacle. In addition, the direction of the obstacle can be easily shown to the user.

In addition, the information providing apparatus 1000 according to the present embodiment operates the robot 100 so that the front side of the robot 100 faces a predetermined direction corresponding to the detection range of the target sensor 300n. A predetermined direction corresponding to the detection range of the sensor 300n can be indicated, and the contents of information can be accurately transmitted to the user.

Further, the information providing apparatus 1000 according to the present embodiment refers to sensor information in which identification information of the sensor 300 and a predetermined direction corresponding to the detection range of the sensor 300 with respect to the robot 100 in a predetermined coordinate system are associated in advance. Based on the identified identification information of the target sensor 300n, a predetermined direction corresponding to the detection range of the target sensor 300n based on the position of the robot 100 is obtained, and the location corresponding to the obtained detection range of the target sensor Since the operation indicating the direction is executed, the above-described action is obtained and the same effect is obtained.

The information providing apparatus 1000 according to the present embodiment further includes a buzzer 131 and / or a second lamp 141 provided in the vicinity of each sensor 300, and the front side of the robot 100 is located according to the detection range of the target sensor 300n. The robot 100 is operated so as to be directed in the direction, and the buzzer 131 and / or the second lamp 141 provided in the vicinity of the target sensor 300n is output. Thereby, by cooperating the operation of the robot 100 and the operation of the buzzer 131 and / or the second lamp 141, a predetermined direction corresponding to the detection range of the target sensor 300n can be more accurately transmitted to the user. .

In particular, there is an object that shields the field of view, such as a sheet, between the robot 100 and the detection area, and the user feels uncomfortable when the detection area that is not clearly included in the pseudo field of view of the robot 100 is notified only by the rotation of the robot 100 However, by cooperating with the operation of the robot 100 and the operation of the buzzer 131 and / or the second lamp 141, a predetermined direction corresponding to the detection range of the target sensor 300n can be more accurately transmitted to the user. it can.

In the information providing apparatus 1000 according to the present embodiment, the predetermined direction according to the detection range of the specified target sensor 300n includes a predetermined direction according to the installation position of the specified target sensor 300n. Produces the above-described action and produces the same effect.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in this specification, the information providing system 1000 is described as an example of the information providing system according to the present invention, but the present invention is not limited to this.

  In this specification, an information providing system 1000 including the control device 200 including the CPU 202, the ROM 201, and the RAM 203 is described as an example of the information providing apparatus according to the present invention. However, the present invention is not limited to this. .

In this specification, an example of an apparatus including the display unit Q, the control device 200, and the sensor 300 will be described as an aspect of the information providing system according to the present invention. However, the present invention is not limited to this. Absent.

  In this specification, the robot 100, the three-dimensional display 3100, the holographic display device 4100, and the two-dimensional display will be described as an example of the display body. However, the display body of the present invention is limited to these. is not.

In this specification, a camera 310 or an ultrasonic sensor 320 (including a sonar 321) is provided as an embodiment of an information providing apparatus including a sensor according to the present invention, an information generation unit, a display body, and an operation control unit. The information providing system 1000 including the robot 100 and the control device 200 having an information generation function and an operation control function will be described as an example. However, the present invention is not limited to this.

Q ... Display unit 100 ... Robot, three-dimensional object 110 ... Motion control device 120 ... Robot rotation drive mechanism 130 ... First speaker 140 ... First lamp 200 ... Control device 300 ... Sensor 310 ... Camera 320 ... Ultrasonic sensor 321 ... Sonar 400 ... Navigation device 500 ... Vehicle controller 501 ... Vehicle speed sensor 502 ... Timer 3100 ... 3D display 3200 ... 3D display display control device 4100 ... Holographic display device 4200 ... Holographic display control device

Claims (6)

An information providing device mounted on a vehicle,
A sensor for detecting a change in the situation around the vehicle;
When a change in the situation is detected by the sensor, information generating means for generating notification information that notifies the user of the change in the situation;
A display body for providing the generated notification information to an occupant of the vehicle;
Operation control means for controlling the operation of the display body,
The operation control means specifies, as a target sensor, a sensor in which a change in a situation that causes generation of the notification information is detected when the display body provides the notification information, and The information provision apparatus which performs the operation | movement which points out the predetermined direction according to the detection range of the made target sensor. The information providing device according to claim 1,
The information providing apparatus that operates the display body so that the front side of the display body faces a predetermined direction according to a detection range of the target sensor. In the information provision apparatus of Claim 2,
In the operation control means, identification information of the sensor is associated in advance with a predetermined direction corresponding to a detection range of the sensor with respect to the display body in a coordinate system including a cabin space in which the display body is arranged. Refer to the sensor information,
Obtaining a predetermined direction according to a detection range of the specified target sensor with respect to the display body based on identification information of the specified target sensor;
An information providing apparatus for causing the display to execute an operation indicating a direction of a location corresponding to the obtained detection range of the target sensor. The information providing device according to any one of claims 1 to 3,
A second output means provided in the vicinity of each of the sensors;
The operation control means operates the display body so that a front side of the display body faces a direction corresponding to a detection range of the target sensor, and a second output means provided in the vicinity of the target sensor. An information providing apparatus for outputting the notification information. The information providing device according to any one of claims 1 to 4,
The information providing apparatus including a predetermined direction according to a detection range of the specified target sensor including a predetermined direction according to an installation position of the specified target sensor. When a change in the situation around the vehicle is detected by a sensor mounted on the vehicle,
An information providing method for causing a display mounted on the vehicle to perform an operation indicating a predetermined direction according to a detection range of a target sensor in which a change in the situation is detected.

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