US-12623676-B2 - Presentation control device, autonomous driving control device, and storage medium thereof

US12623676B2US 12623676 B2US12623676 B2US 12623676B2US-12623676-B2

Abstract

A presentation control device, which controls presentation of information relating to autonomous driving function of a vehicle, is configured to: grasp whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; grasp whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation; and during a control period of lane change by the driving assist control, in response to the switch to the autonomous traveling control becomes possible, perform a switch possible notification indicating that the switch to the autonomous traveling control becomes possible during the control period.

Inventors

Takuya KUME
Kazuki Izumi

Assignees

DENSO CORPORATION

Dates

Publication Date: 20260512
Application Date: 20231220
Priority Date: 20210701

Claims (13)

1 . A presentation control device used in a vehicle capable of traveling with autonomous driving function, the presentation control device controlling presentation of information relating to the autonomous driving function, the presentation control device comprising: a traveling control grasping unit grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; and a notification control unit performing a switch possible notification indicating that the switch to the autonomous traveling control becomes possible, wherein the traveling control grasping unit further grasps whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation, and during a control period in which a lane change by the driving assist control being performed, in response that the switch to the autonomous traveling control becomes possible in a movement destination lane to which the vehicle plans to move by the lane change, the notification control unit performs the switch possible notification during the control period.
2 . The presentation control device according to claim 1 , wherein the notification control unit performs a switch start notification indicating a start of the autonomous traveling control in response to the driving assist control being switched to the autonomous traveling control during the control period or after end of the lane change by the driving assist control.
3 . The presentation control device according to claim 1 , wherein, when a state of the switch from the driving assist control to the autonomous traveling control being possible continues after end of the lane change by the driving assist control, the notification control unit performs the switch possible notification even after end of the control period.
4 . The presentation control device according to claim 3 , wherein the switch possible notification is performed during the control period in a first notification mode as a first switch possible notification, the switch possible notification is performed after the end of the control period in a second notification mode as a second switch possible notification, and the first notification mode is different from the second notification mode.
5 . The presentation control device according to claim 1 , further comprising a driver status grasping unit grasping a status of the periphery monitoring performed by the driver, wherein the notification control unit suspends performing of the switch possible notification during the control period while the driver is performing the periphery monitoring in association with the lane change.
6 . A non-transitory computer-readable storage medium storing a presentation control program, the presentation control program being used in a vehicle capable of traveling with autonomous driving function and controlling presentation of information relating to the autonomous driving function, the presentation control program comprising instructions to be executed by at least one processor and the instructions comprising: grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; grasping whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation; and during a control period in which a lane change by the driving assist control being performed, in response that the switch to the autonomous traveling control becomes possible in a movement destination lane to which the vehicle plans to move by the lane change, performing a switch possible notification indicating that the switch to the autonomous traveling control becomes possible during the control period.
7 . A presentation control device used in a vehicle capable of traveling with autonomous driving function, the presentation control device controlling presentation of information relating to the autonomous driving function, the presentation control device comprising: a traveling control grasping unit grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; and a notification control unit performing a switch possible notification indicating that the switch to the autonomous traveling control becomes possible, wherein the traveling control grasping unit further grasps whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation, and during a control period in which a lane change by the driving assist control being performed, even though the switch to the autonomous traveling control becomes possible in a movement destination lane to which the vehicle plans to move by the lane change, the notification control unit suspends performing of the switch possible notification during the control period and performs the switch possible notification after end of the control period.
8 . A non-transitory computer-readable storage medium storing a presentation control program, the presentation control program being used in a vehicle capable of traveling with autonomous driving function and controlling presentation of information relating to the autonomous driving function, the presentation control program comprising instructions to be executed by at least one processor and the instructions comprising: grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; grasping whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation; and during a control period in which a lane change by the driving assist control being performed, even though the switch to the autonomous traveling control becomes possible in a movement destination lane to which the vehicle plans to move by the lane change, suspending performing of a switch possible notification during the control period and performing the switch possible notification after end of the control period.
9 . A presentation control device used in a vehicle capable of traveling with autonomous driving function, the presentation control device controlling presentation of information relating to the autonomous driving function, the presentation control device comprising: a traveling control grasping unit grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; and a notification control unit performing a switch possible notification indicating that the switch to the autonomous traveling control becomes possible, wherein the traveling control grasping unit further grasps whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation, and when the lane change by the driving assist control is started after performing of the switch possible notification and before the switch to the autonomous traveling control, the notification control unit performs the switch possible notification again after end of the lane change under a condition that the switch to the autonomous traveling control is possible after the end of lane change.
10 . The presentation control device according to claim 9 , wherein, during a control period in which the lane change by the driving assist control is being performed, the traveling control grasping unit grasps whether the switch to the autonomous traveling control is possible after the end of lane change, and when the switch to the autonomous traveling control after the end of lane change is determined to be possible during the control period, the notification control unit performs the switch possible notification during the control period.
11 . A non-transitory computer-readable storage medium storing a presentation control program, the presentation control program being used in a vehicle capable of traveling with autonomous driving function and controlling presentation of information relating to the autonomous driving function, the presentation control program comprising instructions to be executed by at least one processor and the instructions comprising: grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; performing a switch possible notification indicating that the switch to the autonomous traveling control becomes possible; after performing the switch possible notification, grasping whether a lane change by the driving assist control is started before the switch to the autonomous traveling control; and when the lane change by the driving assist control is started before the switch to the autonomous traveling control, performing the switch possible notification again after end of the lane change under a condition that the switch to the autonomous traveling control is possible after the end of lane change.
12 . An autonomous driving control device that enables a vehicle to travel by an autonomous driving function, the autonomous driving control device comprising: a switch determination unit determining whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, is possible; and an assist control grasping unit grasping an execution state of a lane change by the driving assist control, wherein, during a control period in which the lane change by the driving assist control being executed, the switch determination unit switches from a first determination state to a second determination state, in the first determination state, the switch determination unit determines whether the switch from the driving assist control to the autonomous traveling control is possible with both of a traveling lane of the vehicle before the lane change is started and a movement destination lane to which the vehicle moves by the lane change as determination targets, and in the second determination state, the switch determination unit determines whether the switch to the autonomous traveling control is possible with the movement destination lane as the determination target.
13 . A non-transitory computer-readable storage medium storing an autonomous driving control program, the autonomous driving control program enabling a vehicle to travel by an autonomous driving function and comprising instructions to be executed by at least one processor, the instructions comprising: grasping an execution state of a lane change by a driving assist control which requires periphery monitoring by a driver of the vehicle as an obligation; determining whether a switch from the driving assist control to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, is possible; and during a control period in which the lane change by the driving assist control being executed, switching from a first determination state to a second determination state, wherein the first determination state determines whether the switch from the driving assist control to the autonomous traveling control is possible with both of a traveling lane of the vehicle before the lane change is started and a movement destination lane to which the vehicle moves by the lane change as determination targets, and the second determination state determines whether the switch to the autonomous traveling control is possible with the movement destination lane as the determination target.

Description

CROSS REFERENCE TO RELATED APPLICATIONS The present application is a continuation application of International Patent Application No. PCT/JP2022/021705 filed on May 27, 2022, which designated the U.S. and claims the benefit of priority from Japanese Patent Application No. 2021-110362 filed on Jul. 1, 2021. The entire disclosures of all of the above applications are incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to a technique for presenting information related to an autonomous driving function and a technique for enabling traveling using the autonomous driving function. BACKGROUND Conventionally, an autonomous driving device that starts autonomous driving of a host vehicle based on an instruction from a driver is widely known. When there are multiple lanes on a traveling road of the host vehicle, the autonomous driving device can perform a lane change control such that the host vehicle can change from a currently traveling lane to another lane. SUMMARY The present disclosure provides a presentation control device, which is used in a vehicle capable of traveling with autonomous driving function. The presentation control device controls presentation of information relating to the autonomous driving function. The presentation control device is configured to: grasp whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; grasp whether a lane change by the autonomous driving function is being performed in a state which requires the periphery monitoring by the driver as the obligation; and during a control period in which a lane change by the driving assist control being performed, in response to the switch to the autonomous traveling control becomes possible, perform a switch possible notification indicating that the switch to the autonomous traveling control becomes possible during the control period. BRIEF DESCRIPTION OF DRAWINGS Objects, features and advantages of the present disclosure will become apparent from the following detailed description made with reference to the accompanying drawings. In the drawings: FIG. 1 is a diagram illustrating an overall view of an in-vehicle network including an HCU according to a first embodiment of the present disclosure; FIG. 2 is a block diagram showing details of an autonomous driving ECU; FIG. 3 is a block diagram showing details of an HCU; FIG. 4 is a time chart showing a series of information presentations in a scene where autonomous driving without periphery monitor obligation becomes possible during execution of lane change with LCA; FIG. 5 is a time chart showing a series of information presentation in a scene where lane change with LCA is performed after autonomous driving without periphery monitoring obligation becomes possible; FIG. 6 is a diagram showing an example of a level 3 possible notification displayed on a meter display; FIG. 7 is a flowchart showing details of a determination target switching process; FIG. 8 is a flowchart showing details of level 3 switch guidance process together with FIG. 9; FIG. 9 is a flowchart showing details of level 3 switch guidance process together with FIG. 8; and FIG. 10 is a flowchart showing details of level 3 switch guidance process according to a second embodiment of the present disclosure together with FIG. 9. DETAILED DESCRIPTION In recent years, a technology that enables not only autonomous driving in which a driver is obligated to monitor periphery of vehicle but also autonomous driving in which the driver is not obligated to monitor periphery of vehicle has been provided. When the autonomous driving in which periphery monitoring is not obligated is possible, a control period of lane change under a state where periphery monitoring is obligated may overlap with a time at which the state where periphery monitoring is obligated switches to a state where periphery monitoring becomes not obligated. In such a scene, if information presentation or vehicle control, which is related to the switch to the state where periphery monitoring becomes not obligated, is not appropriately performed, there is a concern that convenience of autonomous driving may be impaired. According to an aspect of the present disclosure, a presentation control device is used in a vehicle capable of traveling with autonomous driving function. The presentation control device controls presentation of information relating to the autonomous driving function, and includes: a traveling control grasping unit grasping whether a switch from a driving assist control, which requires a periphery monitoring by a driver as an obligation, to an autonomous traveling control, which does not require the periphery monitoring by the driver as the obligation, becomes possible; and a notification control unit performing a switch possible notificat