JP2017151547A - Drive support control notification system and notification device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive support control notification system capable of notifying a driver of a vehicle around an own vehicle of information about a content related to drive support control operated for the own vehicle.SOLUTION: A drive support control notification system comprises a plurality of notification devices 100 used for vehicles. Each notification device has: an operating control acquisition section 142 which acquires information indicating drive support control in operation for an own vehicle; a transmission section 111 which performs wireless transmission of operating control information defined in accordance with the information indicating the drive support control in operation acquired by the operating control acquisition section 142; a reception section 112 which receives the operating control information transmitted from the transmission section 111 mounted on another vehicle; a notification information determination section 148 which determines first vehicle drive support information about a content related to the drive support control in operation for the other vehicle on the basis of the operating control information received by the reception section 112; and a display section 120 and a speaker 130 which notify a driver of the own vehicle of the first drive support information determined by the notification information determination section 148.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a driving support control notification system and a notification device that notify the driver of a vehicle existing around a vehicle in which driving support control is operating, of the content of the driving support control.

  Various controls for supporting driving of a vehicle are known. For example, inter-vehicle distance control, automatic emergency brake control, lane departure prevention control, lane departure warning control, vehicle lane change control, platooning control, auto high beam control, and the like are known.

  In Patent Document 1, a vehicle traveling in a row turns on a lamp provided on a tire wheel or the like. As a result, it becomes easier for the driver of the surrounding vehicle to recognize that the vehicle is traveling in a row, so that other vehicles are prevented from being interrupted between the vehicles traveling in the row.

JP 2014-130409 A

  As described above, the driving support control includes various controls in addition to the platooning control, and one or more different driving support controls may be operating on a plurality of vehicles. The driving support control includes automatic control of the vehicle behavior, and the state where the automatic control of the vehicle behavior is activated includes a monitoring state for monitoring whether or not the vehicle behavior needs to be actually controlled.

  When these various driving support controls are performed, it may be considered that the behavior and the light state are different from those of the vehicle not performing the driving support control. For example, when the vehicle behavior is automatically controlled, the start timing of the vehicle behavior is often different from the case where the driver operates the steering wheel. Further, when the auto high beam control is in operation, the high beam is basically controlled so as not to be dazzled with respect to the oncoming vehicle. However, depending on the conditions, such as when there is a road gradient difference between the position where the vehicle on which auto high beam control is being performed and the position where the surrounding vehicle is traveling, the high beam May continue.

  Therefore, the driver of the surrounding vehicle that exists around the vehicle in which the driving support control is operating is, for example, a vehicle in which the automatic emergency brake control is operating or a vehicle that performs vehicle line change control. In many cases, it may be desirable to know information related to support control. If the information on the content related to the driving support control can be known, the driver of the surrounding vehicle can drive while making an assumption corresponding to the content.

  For example, it can be assumed that there is a possibility of sudden braking in a vehicle in which automatic emergency brake control is operating. Further, in the case of a vehicle that performs lane change control, it can be assumed that the lane change may not be started until a fairly safe timing after the direction indicator lamp blinks.

  The technique of Patent Document 1 only turns on the lamp. Therefore, as described above, in spite of various driving support controls being known, the technology of Patent Document 1 performs a predetermined type of driving support control called platooning control. Can only be communicated to the driver of the surrounding vehicle.

  Since various driving support controls are known, in order to inform surrounding drivers which driving support control is in operation, information on the contents related to the active driving support control is sent to the surrounding drivers. I need to tell.

  The present invention has been made based on this circumstance, and the object of the present invention is to inform the drivers of surrounding vehicles of information related to the driving support control of the vehicle in which the driving support control is operating. It is in providing the driving assistance control alerting | reporting system and alerting | reporting apparatus which can be transmitted.

  The above object is achieved by a combination of the features described in the independent claims, and the subclaims define further advantageous embodiments of the invention. Reference numerals in parentheses described in the claims indicate a correspondence relationship with specific means described in the embodiments described later as one aspect, and do not limit the technical scope of the present invention. .

The invention related to the driving support control system for achieving the above object is used in the first vehicle (1), and the operating control acquisition unit (142) that acquires information indicating the driving support control operating in the first vehicle. A transmission-side device (100) comprising: a transmission unit (111) that wirelessly transmits in-operation control information determined according to information indicating the in-operation driving support control acquired by the in-operation control acquisition unit;
A receiving unit (112) that is used in the second vehicle (2), which is a vehicle different from the first vehicle, receives the operating control information transmitted by the transmitting side device, and is based on the operating control information received by the receiving unit. Thus, a notification information determination unit (148) that determines first vehicle driving support information that is information related to driving support control that is operating in the first vehicle, and a first vehicle driving support that is determined by the notification information determination unit. A receiving-side device (100) including a notification unit (120, 130) that notifies information to the driver of the second vehicle.

  In the present invention, the transmission-side device transmits in-operation control information determined in accordance with information indicating driving support control in operation in the first vehicle to the second vehicle. Since a lot of information can be transmitted by using radio, unlike the case where the lamp is turned on as in Patent Document 1, the information to be transmitted is the operating control information determined according to the driving support control operating in the first vehicle. can do.

  The receiving-side device used in the second vehicle receives the in-operation control information and, based on the received in-operation control information, is information on content related to driving support control in operation in the first vehicle. The vehicle driving support information is determined and notified to the driver of the second vehicle. Therefore, in the present invention, it is possible to notify the driver of the second vehicle of information related to the driving support control that is operating in the first vehicle.

  The invention according to the notification device for achieving the above object has the same configuration as the receiving side device provided in the invention according to the driving support control system. That is, an invention according to a notification device for achieving the above object is a receiving unit that receives operating control information that is used in a vehicle, is transmitted from another vehicle, and is determined according to driving support control that is operating in the other vehicle ( 112), and a notification information determination unit (148) for determining other vehicle driving support information, which is information related to driving support control operating in the first vehicle, based on the operating control information received by the receiving unit. And a notification unit (120, 130) for notifying the other vehicle driving support information determined by the notification information determination unit to the driver of the vehicle.

It is a figure which illustrates the positional relationship of the surrounding vehicle 1, the own vehicle 2, and the non-mounted vehicle 3. FIG. 1 is a block diagram showing a configuration of a driving support device 10 mounted on a peripheral vehicle 1 and a host vehicle 2. FIG. It is a block diagram which shows the function with which the control part 140 of FIG. 2 is provided. It is a figure which shows the conditions of the operating control information used in order for the alerting | reporting information determination part 148 of FIG. 3 to determine alerting | reporting information. It is a flowchart which shows the process regarding transmission among the processes which the control part 140 of FIG. 2 performs. It is a flowchart which shows the process regarding reception among the processes which the control part 140 of FIG. 2 performs. 3 is a display example displayed on the display unit 120 by the notification control unit 149 of FIG. 3 is a display example displayed on the display unit 120 by the notification control unit 149 of FIG. 3, and is a different example from FIG. 7. 3 is a display example displayed on the display unit 120 by the notification control unit 149 of FIG. 3, which is an example different from FIGS. 7 and 8.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a host vehicle 2 and a surrounding vehicle 1 equipped with a driving support device 10. Although the own vehicle 2 and the surrounding vehicle 1 are equipped with the same driving support device 10, for convenience of explanation, one vehicle is the own vehicle 2, exists around the own vehicle 2, and the driving support device 10 is installed. The surrounding vehicle is the surrounding vehicle 1. The surrounding vehicle 1 corresponds to the first vehicle in the claims, and the host vehicle 2 corresponds to the second vehicle in the claims.

  FIG. 1 also shows a non-mounted vehicle 3 that is equipped with the vehicle position notification device 4 but not the driving support device 10. The vehicle position notification device 4 detects the current position of the non-mounted vehicle 3 and transmits the detected current position to the surroundings together with the vehicle ID by radio.

[Configuration of Driving Support Device 10]
As illustrated in FIG. 2, the driving support device 10 includes a position detector 20, a driving support control unit 30, and a notification device 100. These configurations will be described by taking a case where the driving support device 10 is mounted on the host vehicle 2 as an example.

  The position detector 20 includes a GNSS receiver that receives a navigation signal transmitted by a navigation satellite included in a GNSS (Global Navigation Satellite System). The current position is sequentially detected based on the navigation signal received by the GNSS receiver.

  The driving support control unit 30 performs support when the driver drives the host vehicle 2. The driving support control includes control for automatically performing various controls relating to vehicle travel temporarily or constantly. The driving support control unit 30 of this embodiment includes a vehicle behavior control unit 31 and an auto high beam control unit 32.

  The vehicle behavior control unit 31 is a control unit that performs driving support control related to the vehicle behavior of the host vehicle 2, control that automatically controls the behavior of the host vehicle 2, and control that prompts the driver to perform a driving operation. Do one or both of them. The vehicle behavior control unit 31 includes one or more control units that control specific vehicle behavior. Specific vehicle behavior control includes, for example, inter-vehicle distance control, automatic emergency brake control, lane departure prevention control, lane departure warning control, lane change control, platooning control, and the like.

  The inter-vehicle distance control is a control in which accelerator control and brake control are automatically performed in order to maintain the inter-vehicle distance with a vehicle traveling immediately in front of the own vehicle 2 at a set distance in the same lane as the own vehicle 2. The automatic emergency brake control is a control for automatically applying a brake when it is determined that the risk of the host vehicle 2 colliding with a front object is high.

  The lane departure prevention control is control that automatically corrects the traveling direction of the host vehicle 2 in the direction toward the center of the lane when it is determined that the host vehicle 2 is about to depart from the current lane. The lane departure warning control is a control for warning the driver when it is determined that the host vehicle 2 is about to depart from the current lane. If the driver performs a steering operation by performing this warning, the traveling direction of the host vehicle 2 is corrected so as not to deviate from the lane.

  The lane change control is a sufficient space in which the host vehicle 2 can move to the lane after the lane change after a predetermined lane change necessary condition such as a driver's turning operation of the direction indicator lamp or a traffic jam detection in front is established. If it is detected that there is a lane, the lane is automatically changed.

  In the formation running control, acceleration / deceleration control is automatically performed so that one or both of the front and rear vehicles of the own vehicle 2 form a formation and the acceleration / deceleration is the same as the other vehicles in the formation. Control. In some cases, a lane change is automatically performed while forming a formation.

  When the auto high beam control unit 32 detects an oncoming vehicle in front of the host vehicle 2 in a state where the headlamp is a high beam, the auto high beam control unit 32 prevents the oncoming vehicle from entering the irradiation range of the headlamp. This is a control for automatically changing the irradiation range.

  As shown in FIG. 2, the notification device 100 includes a communication unit 110, a display unit 120, a speaker 130, and a control unit 140. The notification device 100 has the functions of both the transmission-side device and the reception-side device in the claims. A driving support control notification system is configured by mounting the driving support device 10 including the notification device 100 on a plurality of vehicles.

  The communication unit 110 includes a transmission unit 111 and a reception unit 112. The transmission unit 111 and the reception unit 112 perform inter-vehicle communication. The communication distance is several hundred meters, for example.

  The display unit 120 and the speaker 130 correspond to a notification unit in claims. The display part 120 is arrange | positioned in the position which can be visually recognized from the driver who seated on the driver's seat of the own vehicle 2, and the alerting | reporting image which alert | reports the driving assistance control in operation | movement in the surrounding vehicle 1 is displayed. This notification image is illustrated in FIGS. 7 to 9 will be described later. From the speaker 130, a sound representing the content related to the driving support control operating in the surrounding vehicle 1 is output.

  The control unit 140 is a computer including a CPU, a ROM, a RAM, and the like. The CPU uses a temporary storage function of the RAM, and stores it in a non-transitory tangible storage medium such as a ROM. By executing the stored program, the control unit 140 functions as each unit shown in FIG. When these functions are executed, a method corresponding to the program is executed. Note that part or all of the functions executed by the control unit 140 may be configured by hardware using one or a plurality of ICs.

  As shown in FIG. 2, the control unit 140 is connected to the position detector 20, the driving support control unit 30, the communication unit 110, the display unit 120, and the speaker 130. Note that a signal conversion unit such as an AD conversion unit and an interface are appropriately provided between the control unit 140 and each unit connected to the control unit 140 in FIG. 2, but the illustration is omitted in FIG. Yes.

[Functions Provided by Control Unit 140]
As shown in FIG. 3, the control unit 140 includes a vehicle position acquisition unit 141, an in-operation control acquisition unit 142, an in-operation control information determination unit 143, a transmission control unit 144, another vehicle position acquisition unit 145, and a travel lane determination unit 146. , A latest vehicle determination unit 147, a notification information determination unit 148, and a notification control unit 149.

  The vehicle position acquisition unit 141 sequentially acquires the current position detected by the position detector 20 and sets the acquired current position as the current position of the host vehicle 2. This vehicle position acquisition part 141 is corresponded to the 2nd vehicle position acquisition part of a claim. However, as described above, the driving support device 10 including the notification device 100 is also mounted on the surrounding vehicle 1. When the vehicle on which the driving support device 10 is mounted is the surrounding vehicle 1, the vehicle position acquisition unit 141 corresponds to a first vehicle position acquisition unit in the claims.

  The operating control acquisition unit 142 sequentially acquires information indicating the driving support control operating in the host vehicle 2 from the driving support control unit 30. In the state where the control executed by the vehicle behavior control unit 31 is in operation, in addition to the state where the behavior of the host vehicle 2 is actually controlled by the control of the vehicle behavior control unit 31, the vehicle behavior is actually controlled. It also includes a monitoring state that monitors whether it is necessary to do so. The information acquired by the operating control acquisition unit 142 is, for example, information indicating that the lane departure prevention control is operating.

  The in-operation control information determination unit 143 determines the in-operation control information from the information acquired by the in-operation control acquisition unit 142 and indicating the driving support control in operation in the host vehicle 2. This operating control information is, for example, the name of the driving support control that is operating, and the number or symbol corresponding to the name. The numbers and symbols corresponding to the name of the driving support control in operation are information that can determine the name of the driving support control in operation.

  Further, the operating control information may be information that can determine the behavior of the vehicle that may be caused by the driving support control that is operating. For example, if the automatic emergency brake control is in operation, the behavior of the vehicle that may be caused by the control is a sudden stop. If the lane departure prevention control is in operation, the behavior of the vehicle that may be caused by the control is a behavior in which the vehicle returns to the lane center direction after approaching the vicinity of the lane marking such as the white line. Information that can determine these behaviors includes information that directly represents these behaviors. In addition, the name of the driving support control and the number or symbol corresponding to the name can be considered as information that can determine the behavior of the vehicle that may occur due to the driving support control in operation.

  Further, the automatic operation level may be determined from the information acquired by the operating control acquisition unit 142, and information indicating the automatic driving level may be used as the operating control information. The automatic driving level is generally classified into four levels. Level 1 is a state in which any one of acceleration, steering, and braking is automatically performed. Level 2 is a state in which a plurality of acceleration, steering, and braking are automatically performed. Level 3 is a state in which acceleration, steering, and braking are all automatically performed during normal times (that is, continuously), and the driver performs a driving operation only in an emergency. Level 4 is a state in which acceleration, steering, and braking are always performed automatically.

  Further, the operating control information may be information that can determine the vehicle behavior that is continuously automatically controlled among the acceleration, steering, and control in the surrounding vehicle 1. This information includes the above-described automatic driving level. In addition, information indicating a specific vehicle behavior corresponding to the automatic driving level may be determined as the operating control information. For example, during operation, a message indicating that acceleration, steering, and braking are all automatically performed may be used as the operating control information. This message is in-operation control information corresponding to level 3 of the automatic driving level described above.

  The transmission control unit 144 sends the operating control information determined by the operating control information determination unit 143 and the current position acquired by the vehicle position acquisition unit 141 together with the vehicle ID of the host vehicle 2 from the transmission unit 111 to the surroundings of the host vehicle 2. Periodically. The transmission cycle can be arbitrarily set, for example, every few seconds. The vehicle position acquisition unit 141, the in-operation control acquisition unit 142, and the in-operation control information determination unit 143 also perform processing at a cycle according to the transmission cycle.

  If the transmission control unit 144 of the control unit 140 of the notification device 100 mounted on the surrounding vehicle 1 executes this process and the surrounding vehicle 1 and the host vehicle 2 can communicate, the receiving unit 112 of the host vehicle 2 The operating control information and the current position of the surrounding vehicle 1 are received. Further, when the vehicle position notification device 4 mounted on the non-mounted vehicle 3 transmits information indicating the current position of the non-mounted vehicle 3, the receiving unit 112 receives the current position of the non-mounted vehicle 3. Sometimes.

  The other vehicle position acquisition unit 145 acquires the current position of the other vehicle received by the reception unit 112 from the reception unit 112. The other vehicles here include the surrounding vehicle 1 and the non-mounted vehicle 3. Therefore, the other vehicle position acquisition unit 145 corresponds to a non-mounted vehicle position acquisition unit in the claims.

  The traveling lane determining unit 146 determines whether the lane in which the surrounding vehicle 1 is traveling is based on the current position of the host vehicle 2 acquired by the vehicle position acquiring unit 141 and the position of the surrounding vehicle 1 acquired by the other vehicle position acquiring unit 145. It is determined whether the lane is the same as the lane in which the vehicle 2 travels, is an adjacent lane in the same traveling direction, or is another lane.

  In order to make this determination, a storage unit storing road map data is provided, road map data around the current position of the host vehicle 2 is acquired from the storage unit, and the current position of each vehicle is displayed on the road map. Apply. Alternatively, a travel locus may be created from the current position history of each vehicle without using the road map data, and the travel lane and the traveling direction may be determined from the travel locus. Further, the travel lane and the traveling direction may be determined using both the road map data and the travel locus.

  The nearest vehicle determination unit 147 determines the surrounding vehicle 1 from the determination result of the traveling lane determination unit 146, the current position of the host vehicle 2, the surrounding vehicle 1 acquired by the other vehicle position acquisition unit 145, and the current position of the non-mounted vehicle 3. It is determined whether the vehicle in the lane in which the surrounding vehicle 1 travels is the vehicle immediately ahead of the host vehicle 2. For example, in the example of FIG. 1, it is assumed that the current positions of the surrounding vehicles 1A, 1B, 1C, 1D, 1E, 1F, and the non-mounted vehicle 3 can be acquired. In the example of FIG. 1, the surrounding vehicles 1A, 1C, 1D, and 1F are the nearest vehicles ahead. On the other hand, the surrounding vehicle 1B does not become the vehicle closest to the front because the surrounding vehicle 1A exists in the same lane. Further, since the non-equipped vehicle 3 and the surrounding vehicle 1E are traveling behind the host vehicle 2, they are not the closest vehicles ahead.

  The notification information determination unit 148 determines notification information for notifying the content related to the driving support control operating in the surrounding vehicle 1 based on the operating control information received by the reception unit 112. This notification information corresponds to the first vehicle driving support information and the other vehicle driving support information in the claims.

  In the present embodiment, the notification information is not determined for all operating control information received by the receiving unit 112, but is determined using only the operating control information that satisfies the notification condition.

  The notification condition is a condition using the determination result of the traveling lane determination unit 146 and the determination result of the latest vehicle determination unit 147. FIG. 4 shows the notification conditions. As shown in FIG. 4, the notification condition is composed of two or three conditions by distinguishing whether the traveling direction based on the host vehicle 2 is the same direction or the opposite direction.

  Condition 1 is a condition of the position in the front-rear direction with respect to the own vehicle 2, and the traveling direction of the surrounding vehicle 1 is said to be the vehicle closest to the front regardless of whether the traveling direction is the same direction as the own vehicle 2 or the opposite direction. It is a condition. This is because when there is a vehicle closer to the host vehicle 2 than the surrounding vehicle 1, the driver of the host vehicle 2 does not need to pay much attention to the surrounding vehicle 1.

  Condition 2 is a condition of the travel lane with reference to the host vehicle 2. This condition 2 is not provided for the surrounding vehicle 1 that travels in the lane opposite to the lane in which the host vehicle 2 travels. The control that needs to be taken care of in the surrounding vehicle 1 traveling in the lane in the opposite direction is the automatic high beam control in this embodiment. If the surrounding vehicle 1 is traveling in the lane in the opposite direction, it is considered that attention should be paid to the automatic high beam control regardless of the lane in which the surrounding vehicle 1 is traveling. Therefore, the condition 2 is not provided for the surrounding vehicle 1 that travels in the lane opposite to the lane in which the host vehicle 2 travels.

  On the other hand, the surrounding vehicle 1 traveling in the same direction as the host vehicle 2 is required to travel in the same lane as the lane in which the host vehicle 2 travels or in an adjacent lane. This is because the peripheral vehicle 1 traveling in a lane other than these is not required to pay much attention even if it is closest to the host vehicle 2 in that lane.

  Condition 3 is a condition related to the type of driving support control executed by the surrounding vehicle 1. Condition 3 is that the lateral vehicle behavior control is operating as the driving support control if the vehicle is the vehicle closest to the front traveling in the lane adjacent to the lane in which the host vehicle 2 is traveling. The lateral vehicle behavior control is to automatically control the behavior in the vehicle lateral direction (that is, the vehicle width direction) in the vehicle behavior control. For example, lane departure prevention control, lane departure warning control, lane change control, and the like are lateral vehicle behavior control. For a vehicle traveling in an adjacent lane, it is less necessary for the driver of the host vehicle 2 to pay attention to the driving support control related to acceleration and deceleration. Therefore, the notification condition is that the lateral vehicle behavior control is in operation.

  On the other hand, the driver of the host vehicle 2 should be careful about the driving support control related to acceleration / deceleration if the vehicle is the nearest vehicle ahead traveling in the same lane as the host vehicle 2. Therefore, it is a condition 3 that the vehicle behavior control that is not limited to the lateral vehicle behavior control is in operation for the nearest vehicle ahead traveling in the same lane as the host vehicle 2.

  The notification information determined by the notification information determination unit 148 is determined based on the operating control information received by the reception unit 112. For example, if the operating control information is the name of the operating driving support control, the name of the operating driving support control may be used as the notification information as it is. Further, the abbreviation of the driving support control in operation may be used as the notification information. If the operating control information is a number or symbol corresponding to the name of the driving support control being operated, the name of the driving support control corresponding to the number or symbol can be used as the notification information.

  If the in-operation control information is information that can determine the behavior of the vehicle that may be caused by the driving support control in operation, information representing the behavior can be used as the notification information. Note that the information indicating the behavior is information including a word meaning the behavior. If the in-operation control information is information indicating an automatic driving level, the information indicating the automatic driving level can be used as notification information as it is.

  If the in-operation control information is information that can determine the vehicle behavior that is automatically controlled in the surrounding vehicle 1, information that represents the behavior content that is automatically controlled in the surrounding vehicle 1 can be used as the notification information. The behavior content includes, for example, automatic steering, automatic acceleration, automatic braking, and the like. Note that the notification information can be an image or a sound.

  In addition, when information indicating a plurality of types of driving support control is included in the operating control information, notification information for all of the plurality of types of driving support control can be determined. However, the notification information may be determined for one or more driving support controls having a relatively high priority set in advance from a plurality of types of driving support controls.

  The notification control unit 149 notifies the driver of the host vehicle 2 of the notification information determined by the notification information determination unit 148 from one or both of the display unit 120 and the speaker 130.

[Transmission process flow]
FIG. 5 shows a flow of processing until the control unit 140 transmits control information during operation. The control unit 140 periodically executes the process shown in FIG. The execution cycle is, for example, a cycle of 100 to 200 milliseconds.

  Step (hereinafter, step is omitted) S <b> 1 is a process performed by the operating control acquisition unit 142, and acquires information indicating the operating driving support control from the driving support control unit 30.

  S2 is a process performed by the in-operation control information determination unit 143, and determines the in-operation control information from the information indicating the in-operation driving support control acquired in S1. S <b> 3 is a process executed by the vehicle position acquisition unit 141, and acquires the current position of the host vehicle 2 from the position detector 20. S4 is a process executed by the transmission control unit 144. The operating control information determined in S2 and the current position acquired in S3 are transmitted from the transmission unit 111 together with the vehicle ID of the host vehicle 2.

[Receive process flow]
FIG. 6 shows processing of the control unit 140 when the receiving unit 112 receives the operating control information. The control unit 140 periodically executes the process shown in FIG. Other vehicle position acquisition part 145 performs S11-S14.

  In S11, it is determined whether the receiving unit 112 has received the operating control information, the current position, and the vehicle ID. If this determination is NO, the process proceeds to S13. The control unit 140 mounted on the peripheral vehicle 1 also executes the process shown in FIG. If S4 of FIG. 5 is performed in the surrounding vehicle 1 and the own vehicle 2 is located within the communication range of the surrounding vehicle 1, the determination in S11 is YES. If judgment of S11 is YES, it will progress to S12.

  In S12, the operating control information, the current position, and the vehicle ID are acquired from the receiving unit 112, and stored together with the storage time in a predetermined storage unit such as a RAM provided in the control unit 140. If the operating control information and the current position for the same vehicle ID have already been stored, the latest operating control information and the current position are updated.

  In S <b> 13, it is determined whether or not the receiving unit 112 has received the current position transmitted from the non-equipped vehicle 3. If the determination in S13 is YES, the process proceeds to S14, and if NO, the process proceeds to S15 without executing S14.

  In S14, the current position and vehicle ID of the non-mounted vehicle 3 are acquired from the receiving unit 112, and stored in a predetermined storage unit together with the storage time. If the current position for the same vehicle ID has already been stored, it is updated to the latest current position.

  S <b> 15 is a process executed by the vehicle position acquisition unit 141, and acquires the current position of the host vehicle 2 from the position detector 20.

  S16 is a process executed by the traveling lane determination unit 146, the latest vehicle determination unit 147, and the notification information determination unit 148. Among the information stored in the storage unit, information stored within a certain effective period is used. Then, it is determined whether there is operating control information that satisfies the notification condition. The valid period is several seconds, for example. If the determination in S16 is NO, the process in FIG. 6 is terminated, and if YES, the process proceeds to S17.

  S17 is a process executed by the notification information determination unit 148, and determines the notification information based on the operating control information for which the notification condition is satisfied in the determination of S16. 7 to 9, when the notification information is displayed on the display unit 120 as an image (hereinafter referred to as the notification information image 121), the vehicle relative position displayed on the display unit 120 together with the notification information image 121. An image 122 is also generated. The vehicle relative position image 122 is an image showing the relative position of the surrounding vehicle 1 with respect to the host vehicle 2. This vehicle relative position image 122 is generated by the notification information determination unit 148.

  S18 is a process executed by the notification control unit 149, and the notification information determined in S17 is notified from the side determined based on the determined notification information in the display unit 120 and the speaker 130.

[Display example]
7 to 9 are examples of notification information displayed on the display unit 120. The example of FIG. 7 is an example of an image displayed on the display unit 120 when the positions of the surrounding vehicle 1, the host vehicle 2, and the non-mounted vehicle 3 are at the positions shown in FIG.

  In FIG. 7, the notification information image 121 is an image in which the content of driving support control is displayed in a balloon. 7 is displayed on the display unit 120, the driver of the host vehicle 2 can operate the automatic emergency brake control for the surrounding vehicle 1C and the lane departure prevention control for the surrounding vehicle 1D. It can be seen that the driving assistance control corresponding to the automatic driving level 3 is operating in the vehicle 1A. Further, the vehicle relative position image 122 in FIG. 7 is different in color between the surrounding vehicle 1 on which the notification information image 121 is displayed and the surrounding vehicle 1 on which the notification information image 121 is not displayed. Thereby, the driver of the own vehicle 2 can easily recognize in which peripheral vehicle 1 the driving support control is operating.

  FIG. 8 shows a vehicle relative position image 122 and a notification information image 121 displayed on the display unit 120, and is a display example different from FIG. The difference from FIG. 7 is that the closest vehicle ahead that travels in the same lane as the host vehicle 2 is the non-mounted vehicle 3. For this reason, the surrounding vehicle 1C is not a vehicle that satisfies the notification condition. Therefore, as shown in FIG. 8, the notification information image 121 is not displayed on the surrounding vehicle 1C.

  FIG. 9 shows still another display example. In the display example of FIG. 9, the surrounding vehicles 1G, 1H, and 1I are running in a row. Both of the notification information image 123 and the linear notification information image 124 indicated by a rectangular broken line are notification information images indicating that the platooning is being performed. Since the notification information images 123 and 124 are displayed around the surrounding vehicles 1G, 1H, and 1I, the color of the road on which the surrounding vehicles 1G, 1H, and 1I are traveling is partially changed. Like these notification information images 123 and 124, the notification information image may be a figure.

[Summary of Embodiment]
As described above, according to the present embodiment described above, in the notification device 100 mounted on the peripheral vehicle 1, the operating control acquisition unit 142 acquires information indicating the driving support control operating on the peripheral vehicle 1, and the information Therefore, the operating control information determination unit 143 determines the operating control information. This operating control information is transmitted from the transmitter 111 to the surroundings.

  If the own vehicle 2 is located around the surrounding vehicle 1, the notification device 100 mounted on the own vehicle 2 receives the operating control information transmitted from the surrounding vehicle 1, and uses the received operating control information as the received operating control information. Based on this, notification information for notifying the content of the driving support control operating in the surrounding vehicle 1 is determined. Then, the notification information is notified to the driver of the host vehicle 2. Therefore, according to the present embodiment, it is possible to notify the driver of the host vehicle 2 of information related to the driving support control that is operating in the surrounding vehicle 1. As a result of this notification, the driver of the host vehicle 2 can perform specific driving support control in the surrounding vehicle 1 even if various driving support control may be performed in the surrounding vehicle 1. Can know if is in operation. Therefore, the driver of the host vehicle 2 can perform a driving operation while assuming the possibility that the surrounding vehicle 1 will behave in accordance with the driving support control.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following modification is also contained in the technical scope of this invention, Furthermore, the summary other than the following is also included. Various modifications can be made without departing from the scope. In the following description, elements having the same reference numerals as those used so far are the same as the elements having the same reference numerals in the previous embodiments unless otherwise specified. Further, when only a part of the configuration is described, the above-described embodiment can be applied to the other parts of the configuration.

<Modification 1>
For example, in the above-described embodiment, the current position of the non-mounted vehicle 3 is determined by receiving the current position wirelessly transmitted by the non-mounted vehicle 3. Instead of this, or in addition to this, the current position of the non-mounted vehicle 3 may be detected by a radar or a camera.

<Modification 2>
The notification device 100 has the functions of both the transmitting device and the receiving device in the claims. However, the transmitting device and the receiving device may be separate devices.

<Modification 3>
In the display example of FIG. 9, the row running is represented by the two notification information images 123 and 124, but only one of the two notification information images 123 and 124 may be displayed. Further, the number of vehicles constituting the platooning may be displayed as a notification information image. In addition, as in the notification information images 123 and 124, the color of the road around the surrounding vehicle 1 that is traveling in a row is not partially changed to a linear shape, but at least the surrounding vehicle 1 that is running in the row is located. For the portion that is, the color of the entire lane may be changed to a color different from that when there is no surrounding vehicle 1 running in a platoon.

1: peripheral vehicle 2: own vehicle 3: non-mounted vehicle 4: vehicle position notification device 10: driving support device 20: position detector 30: driving support control unit 31: vehicle behavior control unit 32: auto high beam control unit 100: notification Device 110: Communication unit 111: Transmission unit 112: Reception unit 120: Display unit 121: Notification information image 122: Vehicle relative position image 123: Notification information image 124: Notification information image 130: Speaker 140: Control unit 141: Vehicle position acquisition Unit 142: In-operation control acquisition unit 143: In-operation control information determination unit 144: Transmission control unit 145: Other vehicle position acquisition unit 146: Travel lane determination unit 147: Nearest vehicle determination unit 148: Notification information determination unit 149: Notification control Part

Claims (11)

Used in the first vehicle (1),
An operating control acquisition unit (142) for acquiring information indicating the driving support control operating in the first vehicle;
A transmission-side device (100) including a transmission unit (111) that wirelessly transmits in-operation control information determined according to information indicating the driving support control in operation acquired by the in-operation control acquisition unit;
Used in the second vehicle (2), which is a vehicle different from the first vehicle,
A receiving unit (112) for receiving the operating control information transmitted by the transmitting device;
Based on the operating control information received by the receiving unit, a notification information determining unit (148) that determines first vehicle driving support information, which is information related to the driving support control operating in the first vehicle. )When,
Driving support including a receiving side device (100) including a notification unit (120, 130) for notifying the first vehicle driving support information determined by the notification information determination unit to a driver of the second vehicle. Control notification system. In claim 1,
Information that can determine the name of the driving support control operating in the first vehicle is included in the operating control information transmitted by the transmission unit,
The driving support control notification system in which the first vehicle driving support information determined by the notification information determination unit includes the name of the driving support control that is operating in the first vehicle. In claim 1 or 2,
The in-operation control information transmitted by the transmission unit includes information that can determine the behavior of the first vehicle that may be caused by the driving support control in operation in the first vehicle,
The driving support control in which the first vehicle driving support information determined by the notification information determination unit includes information indicating the behavior of the first vehicle that may be generated by the driving support control operating in the first vehicle. Notification system. In any one of Claims 1-3,
The operating control information transmitted by the transmitting unit includes information representing an automatic driving level corresponding to the driving support control operating in the first vehicle,
The driving support control notification system in which the first vehicle driving support information determined by the notification information determination unit includes information indicating an automatic driving level corresponding to the driving support control operating in the first vehicle. In any one of Claims 1-4,
The operating control information transmitted by the transmission unit includes information that can determine vehicle behavior that is continuously and automatically controlled in the first vehicle among acceleration, steering, and braking,
The first vehicle driving support information determined by the notification information determination unit includes information representing the vehicle behavior that is continuously automatically controlled in the first vehicle among the acceleration, steering, and braking by the behavior content. Driving support control notification system. In any one of Claims 1-5,
The transmitting device is:
A first vehicle position acquisition unit (141) for acquiring a current position of the first vehicle;
The transmission unit transmits the current position of the first vehicle in addition to the operating control information,
The receiving side device
A display unit (120) is provided as the notification unit,
A second vehicle position acquisition unit (141) for acquiring a current position of the second vehicle;
Based on the current position of the second vehicle acquired by the second vehicle position acquisition unit and the current position of the first vehicle received by the reception unit, the relative position of the first vehicle with respect to the second vehicle is determined. A driving support control notification system comprising: a notification control unit (149) that determines and displays an image indicating the relative position on the display unit in association with the first vehicle driving support information. In claim 6,
When the operating control information received by the receiving unit is information representing platooning, the notification information determining unit includes an image representing the first vehicle and an image representing the road on which the first vehicle is traveling. The first vehicle driving support information indicating that the first vehicle is traveling in a row with an image in which at least a part of the color is different from that when the first vehicle is not traveling in the row As a driving assistance control notification system displayed on the display unit. In any one of Claims 1-5,
The transmitting device is:
A first vehicle position acquisition unit (141) for acquiring a current position of the first vehicle;
The transmission unit transmits the current position of the first vehicle in addition to the operating control information,
The receiving side device
A second vehicle position acquisition unit (141) for acquiring a current position of the second vehicle;
Based on the current position of the second vehicle acquired by the second vehicle position acquisition unit and the current position of the first vehicle received by the reception unit, the lane on which the first vehicle travels is the second lane. A traveling lane determining unit (146) for determining whether the vehicle is in the same lane as the lane in which the vehicle is traveling, an adjacent lane in the same traveling direction, or any other lane;
When the first vehicle driving support information is driving support control related to vehicle behavior, the traveling lane determining unit determines that the lane in which the first vehicle travels is the same lane as or the same as the lane in which the second vehicle is traveling. A driving support control notification system comprising: a notification control unit (149) that notifies the first vehicle driving support information from the notification unit on the condition that the adjacent lane in the traveling direction is determined. In claim 8,
A non-mounted vehicle position acquisition unit (145) for acquiring a current position of a non-mounted vehicle that is present around the second vehicle and is not mounted with the transmission side device;
The current position of the second vehicle acquired by the second vehicle position acquisition unit, the current position of the first vehicle received by the reception unit, and the current position of the non-mounted vehicle acquired by the non-mounted vehicle position acquisition unit. Based on this, the first vehicle determination unit (147) determines whether or not the first vehicle is the closest vehicle ahead that is the closest vehicle traveling in front of the second vehicle in the lane in which the first vehicle is traveling. )
When the first vehicle driving support information is driving support control related to vehicle behavior, the notification control unit is configured such that the travel lane determination unit determines that the lane in which the first vehicle travels is the lane in which the second vehicle travels. In addition to determining that the vehicle is the same lane or an adjacent lane in the same traveling direction, the first vehicle operation is performed on the condition that the closest vehicle determination unit determines that the first vehicle is the vehicle closest to the front. A driving support control notification system that notifies support information from the notification unit. In claim 8 or 9,
When the travel lane determination unit determines that the lane in which the first vehicle travels is an adjacent lane in the same traveling direction as the lane in which the second vehicle travels, the notification control unit performs the first vehicle operation. A driving support control notification system for notifying the first vehicle driving support information from the notification unit on condition that the supporting information includes information related to the driving support control for controlling the behavior of the first vehicle in the vehicle width direction. Used in vehicles,
A receiving unit (112) for receiving operating control information transmitted from another vehicle and determined according to the driving support control operating in the other vehicle;
A notification information determination unit (148) for determining other vehicle driving support information, which is information related to the driving support control operating in the other vehicle, based on the operating control information received by the receiving unit; ,
An informing device comprising an informing unit (120, 130) for informing the other vehicle driving support information determined by the informing information determining unit to a driver of the vehicle.

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