JP6439667B2 - In-vehicle warning system - Google Patents

Description

  The present invention relates to an in-vehicle warning system.

  2. Description of the Related Art Conventionally, there is known an in-vehicle warning system that monitors a driver's state in a traveling vehicle and issues a warning to the driver when it is determined that the driving is hindered. In the in-vehicle warning system, the necessity of warning is determined by monitoring the state of the driver using various sensors.

  On the other hand, in the case of a vehicle equipped with an automatic driving system, if the vehicle is traveling by automatic driving, the vehicle is in a state where a driving operation is performed (hereinafter, such a person is also referred to as a driver). Regardless, it is possible to appropriately control the traveling of the vehicle. For this reason, even if the driver is in a state where manual driving is in progress, the vehicle-mounted warning system does not need to determine whether or not a warning is required even if the driver is in trouble.

Japanese Patent Laid-Open No. 11-175895

  However, in the case of an automatic driving system, a case is assumed in which it is determined that the automatic driving cannot be continued due to a change in the surrounding situation (for example, traffic conditions) of the vehicle during traveling by automatic driving. In such a case, it is necessary for the in-vehicle warning system to issue a warning notifying the driver that automatic driving cannot be continued. At this time, it is not appropriate to give a warning by a uniform warning method regardless of the driver's condition, and it is desirable to change the warning method according to the driver's condition. This is because the ease of notifying the warning varies depending on the driver's condition.

  For example, when the driver is looking away from the front during driving by automatic driving and is in a state where it is difficult to notice the warning, not only a warning by display but also a warning by voice, vibration, etc. It is desirable. On the other hand, the driver's line of sight is facing forward (that is, it is in a state where the surrounding situation etc. can be grasped) and the driver is holding the steering wheel even while traveling by automatic driving. In some cases, warnings such as voice and vibration are rather troublesome for the driver.

  In view of this, the present disclosure provides an in-vehicle warning system capable of issuing a warning to notify that automatic driving cannot be continued in a vehicle equipped with an automatic driving system by a warning method according to the driver's condition. The purpose is to do.

According to one aspect of the present disclosure, the in-vehicle warning system has the following configuration. That is,
An in-vehicle warning system that warns a driver who is in a position to perform driving operation of a vehicle during traveling by automatic driving,
A driver sensor for detecting data for estimating the state of the driver;
Based on data detected by the driver sensor, the state of the driver is estimated, information indicating whether or not the driver is holding a steering wheel, and whether or not the driver's line of sight is facing forward. Driver state information acquisition means for acquiring information indicating
A surrounding sensor for detecting data for judging the situation around the vehicle;
A surrounding situation information obtaining unit for judging a situation around the vehicle based on data detected by the surrounding sensor and obtaining information on a traffic situation around the vehicle;
Automatic driving propriety judging means for judging whether or not the vehicle can be continuously driven on the basis of information on the traffic situation obtained by the surrounding situation information obtaining means;
In the case where it is determined by the automatic driving availability determination means that it is not possible to continue the automatic driving of the vehicle,
When information indicating that the driver is gripping a handle and information indicating that the driver's line of sight is facing forward is acquired by the driver state information acquisition unit, the head Use the up display to warn
Either or both of information indicating that the driver does not hold the steering wheel and information indicating that the driver's line of sight is not facing forward is acquired by the driver state information acquisition unit. In such a case, in addition to the head-up display, a warning control unit that controls to issue a warning using at least one of an audio output device and a vibration output device is provided.

  According to the on-vehicle warning system, the driver sensor detects data for estimating the driver's state, and the driver state information acquisition means determines the driver's state based on the data detected by the driver sensor. It estimates and acquires information indicating whether or not the driver is holding the steering wheel and information indicating whether or not the driver's line of sight is facing forward. In addition, the surrounding sensor detects data for judging the situation around the vehicle, and the surrounding situation information acquisition means judges the situation around the vehicle based on the data detected by the surrounding sensor, and Get information about traffic conditions. Further, the automatic driving availability determination means determines whether or not the automatic driving of the vehicle can be continued based on the information on the traffic situation.

  Thereby, in the said vehicle-mounted warning system, while driving | running | working by automatic driving | running | working, while being able to determine whether an automatic driving | operation can be continued, the driver | operator's state at the time of determination can be recognized.

  In addition, according to the in-vehicle warning system, when it is determined that the automatic driving of the vehicle cannot be continued, the information indicating that the driver is holding the steering wheel and the driver's line of sight are facing forward. When information indicating that the head is displayed is obtained, a warning is given using a head-up display.

  Thereby, when the driver is holding the steering wheel and the driver's line of sight is facing forward, it is possible to avoid warning the driver by a troublesome warning method.

  Further, according to the in-vehicle warning system, when it is determined that the automatic driving of the vehicle cannot be continued, the information indicating that the driver does not hold the steering wheel and the driver's line of sight are facing forward. When either or both of the information indicating that there is no information is acquired, a warning is given using at least one of an audio output device and a vibration output device in addition to the head-up display.

  As a result, when the driver does not hold the steering wheel or the driver's line of sight is not facing forward, it is possible to give a warning by a warning method using a plurality of output devices. The warning is more noticeable.

  According to the present disclosure, there is provided an in-vehicle warning system capable of performing a warning informing that the automatic driving cannot be continued in a vehicle equipped with the automatic driving system by a warning method according to the state of the driver. it can.

It is a figure which shows an example of the whole structure of a vehicle-mounted warning system. It is a figure for demonstrating the outline | summary of HMI allocation information. It is a figure which shows the specific example of HMI allocation information. It is a flowchart which shows the flow of a warning process.

  Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In addition, in this specification and drawing, about the component which has the substantially same function structure, the duplicate description is abbreviate | omitted by attaching | subjecting the same code | symbol.

<Overall configuration of in-vehicle warning system>
First, the overall configuration of the in-vehicle warning system in the present embodiment will be described. FIG. 1 is a diagram illustrating an example of the overall configuration of an in-vehicle warning system.

  As shown in FIG. 1, the in-vehicle warning system 100 includes an automatic driving system, a dynamic HMI (Human Machine Interface) control device 140, and an HMI system.

  The automatic driving system is a system for realizing automatic driving of a vehicle. The automatic driving system includes a sensor 111 (driver sensor) for estimating a driver state (in this embodiment, a state of a person at a position where a driving operation is performed) and a sensor 112 for determining a vehicle state. Have. In addition, the automatic driving system includes a sensor 113 (peripheral sensor) for determining the surrounding situation, a device 114 for determining the surrounding situation, an automatic driving ECU (Electronic Control Unit) 120, and a drive / control unit that controls driving. And a control device 130.

  The sensor 111 for estimating the driver state is a sensor that detects data for estimating the driver state. The sensor 111 includes a handle switch detection sensor, a handle grip sensor, a driver monitor camera, and the like. The handle switch detection sensor detects that a handle switch that can be operated while the driver is holding the handle is operated. The handle grip sensor detects that the driver is gripping the handle. The driver monitor camera photographs the driver.

  The sensor 112 for determining the vehicle state is a sensor that detects data for determining the vehicle state. The sensor 112 includes a vehicle speed sensor, a steering angle sensor, a torque sensor (steering), and the like. The vehicle speed sensor detects the vehicle speed of the vehicle on which the in-vehicle warning system 100 is mounted. The steering angle sensor detects the steering angle of the steering wheel of the vehicle. The torque sensor (steering) detects a steering force applied by the driver.

  The sensor 113 for judging the surrounding situation is a sensor that detects data for judging the surrounding situation. The sensor 113 includes a stereo camera, a millimeter wave radar, a laser device, and the like. The stereo camera mainly detects the front of the vehicle from a plurality of different directions at the same time, thereby detecting image data used for determining the presence or absence of an obstacle ahead of the vehicle and calculating the distance to the obstacle. Millimeter-wave radar transmits millimeter-wave radio waves and receives reflected waves from obstacles around the vehicle to determine the presence of obstacles around the vehicle and calculate the distance to the obstacle. Detect the data used. The laser device transmits laser light and receives reflected light from obstacles around the vehicle, thereby determining the presence of obstacles around the vehicle and calculating the distance to the obstacles. To detect.

  The device 114 for determining the surrounding situation is a device that acquires data for determining the surrounding situation. The device 114 includes a communication device. The communication device acquires data indicating various situations (traffic conditions such as traffic jam information) around the vehicle by communication with the outside.

  The automatic driving ECU 120 has an automatic driving function, and is a driving / control device that controls driving based on data detected by various sensors (111 to 113) and data acquired by various devices (114). 130 is controlled to realize automatic driving of the vehicle.

  The automatic operation ECU 120 has an information providing function, and based on the data detected by the various sensors (111 to 113) and the data acquired by the various devices (114), the dynamic HMI control device 140 is provided. Provides information to be processed in In addition, various output information transmitted to the driver through the HMI system is provided.

  Of the functions (automatic driving function, information providing function) realized by the automatic driving ECU 120, the information providing function will be described in detail below (particularly, information processed by the dynamic HMI control device 140 is provided). Details about the information provision function).

  The automatic driving ECU 120 includes a driver state information acquisition unit 121, a vehicle state information acquisition unit 122, a surrounding state information acquisition unit 123, and a system state determination unit 124 as information providing functions.

  The driver state information acquisition unit 121 estimates the driver state based on the data detected by the sensor 111 for estimating the driver state, and acquires the driver state information. For example, the data detected by the sensor 111 includes data for estimating the position of the driver's hand and data for estimating the direction of the driver's line of sight. For this reason, the driver state information acquisition unit 121 determines whether or not the driver is holding the steering wheel by estimating the position of the driver's hand, and acquires the determination result as the driver state information. Further, the driver state information acquisition unit 121 determines whether or not the driver's line of sight is facing forward by estimating the direction of the driver's line of sight, and acquires the determination result as the driver state information. The driver state information acquisition unit 121 moves the acquired driver state information (information indicating whether or not the driver is holding the steering wheel and information indicating whether or not the driver's line of sight is facing forward). To the active HMI controller 140.

  The vehicle state information acquisition unit 122 determines the state of the vehicle based on the data detected by the sensor 112 for determining the vehicle state, and acquires the vehicle state information. For example, the data detected by the sensor 112 includes data indicating the vehicle speed, data indicating the steering angle of the steering wheel, and data indicating the steering force of the driver. For this reason, the vehicle state information acquisition unit 122 determines the current vehicle state based on these data detected by the sensor 112 and acquires the determination result as vehicle state information. The vehicle state information acquisition unit 122 notifies the acquired vehicle state information to the system state determination unit 124.

  The surrounding situation information acquisition unit 123 is configured to detect the vehicle based on one or both of the data detected by the sensor 113 for judging the surrounding situation and the data obtained by the device 114 for judging the surrounding situation. The surrounding situation is judged, and the judgment result is acquired as surrounding situation information. For example, the data detected by the sensor 113 includes data used for determining the presence / absence of another vehicle, calculating the distance to the other vehicle, and the like. Further, the data acquired by the device 114 includes traffic jam information at the current position. For this reason, the surrounding situation information acquisition unit 123 determines the traffic volume around the vehicle based on one or both of the data detected by the sensor 113 and the data acquired by the device 114, The judgment result is acquired as the surrounding situation information. The peripheral state information acquisition unit 123 notifies the system state determination unit 124 of the acquired peripheral state information.

  The system state determination unit 124 determines the current state of automatic driving based on one or both of the vehicle state information notified from the vehicle state information acquisition unit 122 and the surrounding state information notified from the surrounding state information acquisition unit 123. Determines whether the risk is high.

  In the system state determination unit 124, for example, when the notified surrounding situation information is information indicating that there is a large amount of traffic around the vehicle, the current state of automatic driving is in a high risk state. Is determined. In this case, the system state determination unit 124 transmits information indicating that the reliability of the automatic driving system is low to the dynamic HMI control device 140 as the system state information. On the other hand, when the notified surrounding situation information is information indicating that the traffic volume around the vehicle is small, it is determined that the current state of automatic driving is in a low risk state. In this case, the system state determination unit 124 transmits information indicating that the reliability of the automatic driving system is high to the dynamic HMI control device 140 as the system state information.

  The dynamic HMI control device 140 is a device that switches a device to be operated in the HMI system based on driver state information and system state information transmitted from the automatic driving system. The dynamic HMI control device 140 includes an automatic driving availability determination unit 141, a switching unit 142, and a warning control unit 143.

  Based on the system state information transmitted from the system state determining unit 124, the automatic driving availability determining unit 141 determines whether or not the automatic driving can be continued. When information indicating that the reliability of the automatic driving system is high is transmitted as the system state information from the system state determination unit 124, the automatic driving availability determination unit 141 determines that the automatic driving can be continued, The determination result is notified to the switching unit 142. On the other hand, when information indicating that the reliability of the automatic driving system is low is transmitted as the system state information from the system state determining unit 124, the automatic driving availability determining unit 141 determines that the automatic driving cannot be continued. The determination result is notified to the warning control unit 143.

  When the switching unit 142 receives a determination result indicating that the automatic driving can be continued from the automatic driving propriety determining unit 141, the switching unit 142, based on the driver state information transmitted from the driver state information acquiring unit 121, Switch the device operating in the HMI system. It is assumed that the device to be operated in the HMI system is defined by the HMI allocation information stored in the HMI allocation information storage unit 144. For this reason, when the switching unit 142 receives the determination result from the automatic driving availability determination unit 141, the switching unit 142 refers to the HMI allocation information storage unit 144 based on the driver state information transmitted from the driver state information acquisition unit 121. . Based on the HMI allocation information, the device to be operated is identified and then switched. Thereby, in the switching unit 142, various output information transmitted from the automatic driving ECU 120 during traveling by automatic driving is transmitted to the driver via the output device after switching (output device according to the driver's state). can do. In addition, the switching unit 142 accepts various types of input information input by the driver to the automatic driving ECU 120 during traveling by automatic driving via the switching operation device (operation device corresponding to the driver's state). be able to.

  When the warning control unit 143 receives a determination result indicating that automatic driving cannot be continued from the automatic driving propriety determination unit 141, the warning control unit 143 sends a warning information to the HMI system to warn the driver. . When the warning control unit 143 receives the determination result indicating that the automatic driving cannot be continued, the warning control unit 143 sets an output device to be operated in the HMI system based on the driver state information transmitted from the driver state information acquisition unit 121. Switch.

  The warning control unit 143 also switches the output device after identifying the device to be operated with reference to the HMI allocation information storage unit 144 based on the driver state information transmitted from the driver state information acquisition unit 121. . Thus, in the warning control unit 143, when the automatic driving availability determination unit 141 determines that the automatic driving cannot be continued, the warning output unit 143 gives the driver an output device after switching (output corresponding to the driver's state). Can be alerted via the device).

  The HMI system includes a display output device 151, an audio output device 152, a vibration output device 153, and an operation device 154.

  The display output device 151 displays various output information transmitted from the automatic driving ECU 120 and warning information transmitted from the dynamic HMI control device 140. The display output device 151 includes a HUD (Head Up Display), a meter panel, a center display, and the like.

  The sound output device 152 refers to various output information transmitted from the automatic driving ECU 120 and warning information transmitted from the dynamic HMI control device 140 as sound or sound (hereinafter, “sound” for simplification of description). ). The audio output device 152 includes a speaker.

  The vibration output device 153 outputs various output information transmitted from the automatic operation ECU 120 and warning information transmitted from the dynamic HMI control device 140 by vibration. The vibration output device 153 includes a vibrator.

  The operation device 154 receives various input information input by the driver. The operation device 154 includes a meter operation device (handle switch), a center display operation device (touch panel, remote controller), a voice recognition device, and the like. Although not illustrated in FIG. 1, the operation device 154 may include a gesture recognition device or the like. This is because it is useful when the driver inputs various input information without holding the steering wheel.

<HMI allocation information>
Next, an outline of the HMI allocation information stored in the HMI allocation information storage unit 144 will be described. FIG. 2 is a diagram for explaining the outline of the HMI allocation information.

  As shown in FIG. 2, the HMI allocation information 200 includes “driver state” and “system state” as information items.

  Information indicating the state of the driver is stored in the “driver state”. The example of FIG. 2 indicates that the driver states “A”, “B”, “C”, “D”,... Are stored as information indicating the driver state.

  Information indicating the state of automatic driving is stored in the “system state”. The example of FIG. 2 indicates that the system states “a”, “b”,... Are stored as information indicating the state of automatic driving.

  As shown in FIG. 2, the HMI allocation information 200 stores definition information that defines devices to be operated in the HMI system for each combination of “driver state” and “system state”. .

  The example of FIG. 2 indicates that “HMI-Aa” is stored as definition information that defines a device to be operated when the driver state = “A” and the system state = “a”. Further, when the driver state = “A” and the system state = “b”, “HMI-Ab” is stored as definition information that defines a device to be operated. Hereinafter, the example of FIG. 2 indicates that the definition information defining the device to be operated when the driver state = “D” and the system state = “b” is stored in the HMI allocation information 200.

<Specific example of HMI allocation information>
Next, a specific example of HMI allocation information will be described. As described above, in the driver state information acquisition unit 121, information indicating whether or not the driver is holding the steering wheel and information indicating whether or not the driver's line of sight is facing forward are used as the driver state information. Transmit to the dynamic HMI control device 140. Therefore, in the case of this embodiment, four types of state information derived based on the combination of the driver state information transmitted from the driver state information acquisition unit 121 are stored in the “driver state” of the HMI allocation information. Will be.

  Further, as described above, the system state determination unit 124 transmits information indicating that the reliability of the automatic driving system is high and information indicating that the reliability is low to the dynamic HMI control device 140 as system state information. Therefore, in the present embodiment, two types of state information transmitted from the system state determination unit 124 are stored in the “system state” of the HMI allocation information.

  FIG. 3 is a diagram illustrating a specific example of HMI allocation information. In FIG. 3, the driver state = “A” is a “normal state”. The “normal state” refers to a state where the driver's hand holds the handle and the driver's line of sight is facing forward.

  Further, the driver state = “B” is a “hand-off operation” state. The “hand-on operation” state refers to a state where the driver's hand is in a position other than the handle (that is, the driver does not hold the handle) and the driver's line of sight is facing forward.

  The driver state = “C” is a state of “look away driving”. The “look away driving” state refers to a state where the driver's hand is gripping the steering wheel but the driver's line of sight is not facing forward.

  The driver state = “D” is a state of “second task”. The “second task” state refers to a state in which the driver's hand is in a position other than the handle (that is, the driver does not hold the handle) and the driver's line of sight is not facing forward. For example, this is the state where the driver is operating a smartphone or watching TV while traveling by automatic driving.

  Further, in FIG. 3, the system state = “a” is “a state in which the reliability of the automatic driving system is high”. Further, the system state = “b” is “a state where the reliability of the automatic driving system is low”.

  When the system state = “a”, the switching unit 142 defines the definition information of HMI-Aa to HMI-Da when transmitting various output information to the driver or receiving various input information from the driver. The output device and the operation device thus operated are operated. Further, when the system state = “b”, the warning control unit 143 operates the output device specified in each definition information of HMI-Ab to HMI-Db when warning the driver.

  In the case of the HMI allocation information 300, the definition information = “HMI-Aa” defines HUD as an output device. This is because when the driver's line of sight is facing forward, it is desirable that the movement of the line of sight is less. Further, in operating the HUD, it may be specified that light such as blue light is lit on the HUD. As a result, the driver can recognize by color that the reliability of the automatic driving system is high. It should be noted that the various output information output based on the definition information = “HMI-Aa” is only the minimum necessary information. Furthermore, in the definition information = “HMI-Aa”, a handle switch is defined as an operation device. This is so that the driver can operate while holding the steering wheel.

  In the case of the HMI allocation information 300, the definition information = “HMI-Ab” defines HUD as an output device. This is because when the driver's line of sight is facing forward, it is desirable that the movement of the line of sight is less. Further, when operating the HUD, it may be specified that light of yellow or the like is lit on the HUD. As a result, the driver can recognize by color that the reliability of the automatic driving system is low.

  In the case of the HMI allocation information 300, the definition information = “HMI-Ba” defines HUD as an output device. This is because when the driver's line of sight is facing forward, it is desirable that the movement of the line of sight is less. Furthermore, in the definition information = “HMI-Ba”, a voice recognition device is defined as an operation device. This is because when the position of the driver's hand is other than the steering wheel (when the driver is not gripping the steering wheel), it is desirable to be able to accept voice operations.

  In the case of the HMI allocation information 300, the definition information = “HMI-Bb” defines a speaker as an output device in addition to the HUD. This is because it is convenient when information other than the warning information needs to be further transmitted to the driver. The information other than the warning information includes, for example, surrounding situation information, information that prompts the driver to hold the steering wheel, and the like.

  In the case of the HMI allocation information 300, the definition information = “HMI-Ca” and “HMI-Cb” defines a speaker as an output device in addition to the HUD. This is because, when the driver's line of sight is not facing forward, the driver may not be aware that various output information or warning information has been output only by displaying on the HUD.

  In the case of the HMI allocation information 300, in the definition information = “HMI-Da” and “HMI-Db”, in addition to HUD, a speaker and a vibrator are defined as output devices. This is because in the state where the driver is performing the second task, it is highly possible that the driver does not notice that various output information or warning information has been output only by displaying on the HUD. Moreover, it is convenient when information other than warning information needs to be further transmitted to the driver. The information other than the warning information includes, for example, surrounding situation information, information that prompts the driver to look forward while holding the steering wheel, and the like.

  As described above, in the case of the HMI allocation information 300 shown in FIG. 3, the device that is operated when the warning information is output in the system state = “b” is the case where the driver state = “A” (normal state). It can be broadly divided into cases other than the person state = “A” (other than the normal state).

  That is, when the driver state = “A” (normal state), the warning is performed using the HUD, thereby avoiding the warning from being performed by a troublesome warning method using a plurality of output devices. On the other hand, when the driver state is other than “A” (other than the normal state), a warning is issued using an output device other than HUD (at least one of an audio output device and a vibration output device) in addition to HUD. . That is, by giving a warning using a plurality of output devices, it becomes easier for the driver to notice the warning as compared to the case of giving a warning using only the HUD.

<Warning process flow>
Next, the flow of warning processing (warning processing for notifying that automatic driving cannot be continued) executed by the in-vehicle warning system 100 executed during traveling by automatic driving will be described. FIG. 4 is a flowchart showing a flow of warning processing by the in-vehicle warning system. When automatic driving is started in the automatic driving system, the processing shown in FIG. 4 is started.

  In step S401, the vehicle state information acquisition unit 122 acquires vehicle state information, and the surrounding state information acquisition unit 123 acquires surrounding state information.

  In step S402, the system state determination unit 124 determines the state of automatic driving based on one or both of the vehicle state information and the surrounding state determination information, and transmits system state information according to the determination result. The automatic driving availability determination unit 141 receives the system state information transmitted from the system state determination unit 124 and determines whether or not the automatic driving can be continued. If it is determined that the automatic operation can be continued, the process returns to step S401.

  On the other hand, if it is determined that the automatic operation cannot be continued, the process proceeds to step S403. In step S <b> 403, the automatic driving availability determination unit 141 notifies the warning control unit 143 of the determination result. Further, when the warning control unit 143 receives the determination result from the automatic driving propriety determination unit 141, the warning control unit 143 receives driver state information (information indicating whether or not the driver is gripping the steering wheel) from the driver state information acquisition unit 121. Information) indicating whether or not the driver's line of sight is facing forward.

  In step S404, the warning control unit 143 determines whether or not the driver's state is a normal state based on the driver state information. When the driver state information includes information indicating that the driver is holding the steering wheel and information indicating that the driver's line of sight is facing forward, the warning control unit 143 may It is determined that the person is in a normal state, and the process proceeds to step S405.

  In step S405, the warning control unit 143 refers to the HMI allocation information 300, and notifies that the automatic driving cannot be continued via the first HMI (for example, HUD) defined by the definition information = HMI-Ab. To warn you.

  On the other hand, if the driver status information includes at least one of information indicating that the driver does not hold the steering wheel or information indicating that the driver's line of sight is not facing forward, a warning is given. The control unit 143 determines that the driver is not in a normal state. In this case, the process proceeds to step S406.

  In step S406, the warning control unit 143 refers to the HMI allocation information 300, and via the second HMI (for example, HUD and audio output device) defined by any one of the definition information = HMI-Bb to Db, A warning is issued to notify that automatic operation cannot be continued.

<Summary>
As is clear from the above description, in the in-vehicle warning system in the present embodiment,
-Based on the data detected by the sensor for estimating the driver state, the driver state information acquisition unit, as the driver state information, information indicating whether the driver is holding the steering wheel, and driving Information indicating whether or not the person's line of sight is facing forward.
-A vehicle state information acquisition part acquires vehicle state information based on the data detected by the sensor for judging a vehicle state. Further, based on one or both of the data detected by the sensor for judging the surrounding situation and the data obtained by the device for judging the surrounding situation, the surrounding situation information acquiring unit Get information about surrounding traffic conditions. Further, the system state determination unit determines the state of the automatic driving based on one or both of the vehicle state information and the traffic state information, and indicates that the reliability of the automatic driving system is high or low. Send information to indicate.
・ When information indicating that the reliability of the automatic driving system is low is received, the automatic driving availability determination unit determines that automatic driving cannot be continued, and the warning control unit determines that automatic driving cannot be continued. A warning is given.
When the driver status information acquisition unit acquires information indicating that the driver is holding the steering wheel and information indicating that the driver's line of sight is facing forward, the warning control unit Use the display to warn.
-When the driver status information acquisition unit acquires information indicating that the driver does not hold the steering wheel or information indicating that the driver's line of sight is not facing forward, the warning control unit In addition to the up display, a warning is given using an audio output device. Alternatively, a warning is issued using a vibration output device in addition to the head-up display. Or, in addition to the head-up display, a warning is given using an audio output device and a vibration output device.

  Accordingly, it is possible to provide an in-vehicle warning system that can issue a warning for notifying that automatic driving cannot be continued in a vehicle equipped with an automatic driving system by a warning method according to the state of the driver.

  It should be noted that the present invention is not limited to the configuration shown here, such as a combination with other elements in the configuration described in the above embodiment. These points can be changed without departing from the spirit of the present invention, and can be appropriately determined according to the application form.

100: On-vehicle warning system 120: Automatic operation ECU
121: Driver state information acquisition unit 122: Vehicle state information acquisition unit 123: Surrounding state information acquisition unit 124: System state determination unit 140: Dynamic HMI control device 141: Automatic driving availability determination unit 142: Switching unit 143: Warning control Unit 144: HMI allocation information storage unit 151: Display output device 152: Audio output device 153: Vibration output device 154: Operation device

Claims (1)

An in-vehicle warning system that warns a driver who is in a position to perform driving operation of a vehicle during traveling by automatic driving,
A driver sensor for detecting data for estimating the state of the driver;
Based on data detected by the driver sensor, the state of the driver is estimated, information indicating whether or not the driver is holding a steering wheel, and whether or not the driver's line of sight is facing forward. Driver state information acquisition means for acquiring information indicating
A surrounding sensor for detecting data for judging the situation around the vehicle;
A surrounding situation information obtaining unit for judging a situation around the vehicle based on data detected by the surrounding sensor and obtaining information on a traffic situation around the vehicle;
Automatic driving propriety judging means for judging whether or not the vehicle can be continuously driven on the basis of information on the traffic situation obtained by the surrounding situation information obtaining means;
In the case where it is determined by the automatic driving propriety determination means that the automatic driving of the vehicle cannot be continued
When information indicating that the driver is gripping a handle and information indicating that the driver's line of sight is facing forward is acquired by the driver state information acquisition unit, the head Use the up display to warn
Either or both of information indicating that the driver does not hold the steering wheel and information indicating that the driver's line of sight is not facing forward is acquired by the driver state information acquisition unit. And an alarm control means for controlling to issue an alarm using at least one of an audio output device and a vibration output device in addition to the head-up display.

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