JP7779674B2 - Agent Device - Google Patents

Description

The present invention relates to an agent device capable of providing notifications using personified characters.

BACKGROUND ART Conventionally, various methods have been proposed as methods for alerting occupants (particularly the driver) in a driving environment of a vehicle such as an automobile.
As one such technique, an agent device or driving assistance device has been proposed in which an occupant and an anthropomorphized character (a so-called agent) interact with each other to provide information on driving assistance in response to the occupant's requests.

For example, in conventional driving assistance devices, it is thought that notifications of danger avoidance actions using voice or other means are not intuitively conveyed, so one proposal is to place a small robot on the dashboard as an anthropomorphized agent, and have this agent simulate the danger avoidance actions that the driver should take (see Patent Document 1).

JP 2018-032204 A

However, conventional agents were impersonal or appeared suddenly to draw attention, making it difficult to build a relationship of trust between the agent and the driver. Also, even if the agent suddenly took the same action as an evasive action, it was difficult for the driver to take that action immediately if they did not understand the cause of the evasive action, and there was a problem that evasive action would not be taken unless a relationship of trust was established.
Furthermore, when a navigation system provides guidance on turning points, it can be difficult to know where to turn. This is because it provides quantitative distance information, but does not provide a sense of where and how much to decelerate. Furthermore, when there are multiple turns, the driver may wonder, "Which one should I turn?" Furthermore, when the driver arrives at or near the destination, the guidance may suddenly end, leaving the driver feeling unhelpful and abandoned. When a driver has doubts or distrust for the navigation system, they may find themselves staring at the navigation screen, which could compromise driving safety.

The present invention was made to solve these conventional problems, and its objective is to provide an agent device that can support safety while driving by preventing drivers from looking away while driving and allowing them to remain attentive to their surroundings.

The agent device of the present invention comprises a shift position detection unit that detects the shift position, a surrounding situation acquisition unit that acquires the surrounding situation, and an agent control unit that controls a personified agent. When the agent control unit determines, based on the acquired surrounding situation, that an action point requiring a specific action from the driver is approaching, it causes the agent to express the degree of deceleration using both arms and bending and stretching.

This invention provides an agent device that can support safety while driving by preventing drivers from looking away while driving and allowing them to remain vigilant about their surroundings.

1 is a perspective view showing an interior of a vehicle according to an embodiment of the present invention; FIG. 2 is a front view showing the interior of the vehicle in front of the driver's seat. FIG. 10 is a front view showing the placement of agents. FIG. 2 is a schematic diagram showing a configuration of an agent according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating an agent device. 10 is a main flowchart of an agent control process performed by a control unit of the agent device. 10 is a flowchart showing a process performed by a control unit of the agent device during driving. 10 is a flowchart showing a process performed during travel by a control unit of the agent device. 10 is a flowchart showing a process for turning right or left, which is performed by a control unit of the agent device. FIG. 10 is an operational diagram showing an example of a deceleration instruction operation by an agent. FIG. 10 is an operational diagram showing an example of an agent's right/left turn point guidance operation. 10A and 10B are diagrams illustrating an example of a guidance operation of an agent when turning right or left. 10 is a flowchart showing a destination vicinity process performed by a control unit of the agent device. FIG. 10 is a diagram illustrating an example of a destination surroundings guidance operation performed by an agent. FIG. 10 is a diagram showing an example of an image of a guidance situation around a destination.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the following description, the same reference numerals in different drawings indicate parts with the same functions, and duplicated descriptions in each drawing will be omitted as appropriate.

(Vehicle interior configuration)
1 and 2, a vehicle 1 has an instrument panel 3 provided in front of a driver's seat 2, and a steering wheel 4 disposed between the driver's seat 2 and the instrument panel 3. The steering wheel 4 is rotatably attached to a steering column (not shown) via a steering shaft (not shown). An airbag 8 is stored inside the steering wheel 4 and is deployed toward the driver H in the event of a collision or the like of the vehicle 1.
In the present embodiment, the agent device 100 (described later) and the agent 200 (described later) are described based on dialogue and gestures (movements) with the driver H, but similar actions can also be taken with other passengers.

As shown in FIG. 1, two display panels, a first display panel 30 and a second display panel 40, are provided inside the vehicle 1. The first display panel 30 is located on the instrument panel 3 in front of the driver's seat 2, and the second display panel 40 is located on the instrument panel 3 to the left and front of the driver's seat 2.

(First display panel 30)
1 and 2, the first display panel 30 is configured to include a pointer-type meter configured like an analog clock and a so-called liquid crystal display device in which a liquid crystal panel and a backlight are integrally provided. The driver H can view various information displayed in the first display area 30a of the first display panel 30 through the space 4a above the steering wheel 4.

As shown in FIG. 2, the first display panel 30 has a first display area 30a. On the left and right sides of this first display area 30a are two pointer-type meters that display information such as the vehicle 1's traveling speed (speedometer) and the engine's revolutions per unit time (tachometer), and between the two pointer-type meters, in the center of the first display panel 30, is a small liquid crystal display device that displays images showing general vehicle information. Note that the first display panel 30 may not have a pointer-type meter and may instead be configured entirely with a single liquid crystal display device.

(Second display panel 40)
1, the second display panel 40 is configured as a so-called liquid crystal display device, in which a liquid crystal panel and a backlight are integrally provided, for example. Note that the second display panel 40 displays map information and the like, and serves as a so-called car navigation system.

The liquid crystal display devices configured in the first display panel 30 and the second display panel 40 may also be configured as self-luminous display devices such as plasma displays or organic EL displays, or display devices such as projection projectors.

(Agent 200)
As shown in FIG. 3, an agent 200 is disposed on the upper part of the instrument panel 3 in front of the driver's seat 2 .
The agent 200 may be located anywhere as long as it is within the peripheral vision of the driver H, and does not necessarily have to be located directly in front of the driver's seat. It is desirable that the agent 200 be located within the peripheral vision of the driver H, but in a position that does not obstruct the driver H's view of the outside of the vehicle. The location of the agent 200 may also be made changeable using a predetermined operating device or voice instructions, etc.

Agent 200 is an anthropomorphized character, a three-dimensional object with a humanoid external shape used for notification and interaction. In this embodiment, agent 200 is a real three-dimensional object in the shape of a humanoid, but it is not limited to this. It may also be a character displayed on a display device such as a monitor, a three-dimensional object represented by a hologram, a virtual three-dimensional object, etc.

As shown in FIG. 4, the agent 200 includes a head 211, a right eye 212R, a left eye 212L, a neck 213, a chest 214, a waist 215, a buttocks 216, and a right shoulder 2. 21R, left shoulder 221L, right upper arm 222R, left upper arm 222L, right elbow 223R, left elbow 223L, right forearm 224R, left forearm 224L, right wrist 22 5R, left wrist 225L, right hand 226R, left hand 226L, right hip 231R, left hip 231L, right thigh 232R, left thigh 232L, right knee 2 33R, a left knee part 233L, a right lower leg part 234R, a left lower leg part 234L, a right ankle part 235R, a left ankle part 235L, a right foot part 236R, and a left foot part 236L.

The agent 200 is also provided with a support connector 240, which supports the agent 200 so that it can be placed upright on the instrument panel 3.
Incidentally, ears are provided on both sides of the head 211 of the agent 200. This makes it appear as if the agent 200 is listening carefully to what the driver H is saying. Even if these ears are not actually provided, as will be described later, when the agent 200 is listening to what the driver H is saying, the agent 200 can make it appear as if he is listening with his hands on his ears by placing his right hand 226R or left hand 226L on the side of the head 211 of the agent 200, thereby deepening the relationship of trust between the agent 200 and the driver H.

Note that Figure 4(a) is a diagram showing the basic posture of the agent 200 when it is facing the driver H (the rear side of the vehicle 1), and Figure 4(b) is a diagram showing the basic posture of the agent 200 when it is facing away from the driver H (facing the front side of the vehicle 1).
In addition, in the basic posture, the agent 200 stands with the right palm portion 226Ra of the right hand portion 226R and the left palm portion 226La of the left hand portion 226L facing toward the inside of the agent 200, and the right back portion 226Rb of the right hand portion 226R and the left back portion 226Lb of the left hand portion 226L facing toward the outside of the agent 200.
As described above, the agent 200 can freely rotate between a front posture facing the driver H and a rear posture facing away from the driver H. In other words, the agent 200 may be one in which the agent 200 itself rotates around the support connector 240, or the agent 200 may be placed on a rotating body and rotated from the front posture to the rear posture and from the rear posture to the front posture by rotating the rotating body.

The agent 200 also includes an agent control unit 190, which will be described later, that controls and operates each joint of the agent 200, allowing the agent 200 to assume a predetermined posture. The agent control unit 190 is wirelessly connected to a control unit 110 (ECU), which will be described later, and operates the agent 200 under the control of the control unit 110. Note that in this embodiment, the agent control unit 190 and the control unit 110 are connected wirelessly, but they may also be connected by wire, for example, by passing a communication line through the support connector 240.

An agent speaker 191, which will be described later, is provided in the head 211 of the agent 200, and audio is output under the control of the agent control unit 190. Note that this agent speaker 191 is not limited to being located in the head 211 of the agent 200, but may be provided in another part of the agent 200 or in another location on the vehicle 1. However, providing the agent speaker 191 in the head 211 of the agent 200 allows the driver H to perceive the speech from the agent 200 more realistically, makes it easier for the driver to empathize with the agent, and greatly contributes to building the driver H's trust in the agent 200.

Next, the configuration of the agent device 100 of the present invention will be described with reference to the block diagram in Figure 5.

As shown in FIG. 5, the agent device 100 includes a control unit 110, a surrounding environment recognition unit 120, an occupant state recognition unit 130, a vehicle state recognition unit 140, a speaker 150, a microphone 160, a memory unit 170, a transceiver 180, an agent control unit 190, and an agent speaker 191.

Note that the agent device 100 shown in FIG. 5 is merely an example, and the components of the agent device 100 can be modified as appropriate. For example, the agent device 100 of the present invention can be realized with only either the speaker 150 or the agent speaker 191. Furthermore, an agent microphone may be provided within the agent 200 in addition to the microphone 160, or the agent device 100 of the present invention can be realized with only an agent microphone provided within the agent 200 instead of the microphone 160. Furthermore, in this embodiment, both the control unit 110 and the agent control unit 190 are provided, but this is not limiting, and it is also possible to have only one of the control unit 110 or the agent control unit 190 and have it perform the functions of both.

(Control unit 110)
The control unit 110 is equipped with a CPU, ROM, RAM (e.g., a ring buffer), EEPROM, input/output ports, etc., which are not shown in the figure, and for example, when information is input through the input port, it controls various devices via the output port based on a control program read from the ROM.

The ROM of the control unit 110 stores a data table (not shown) of the actions and lines to be performed by the agent 200. Furthermore, the agent 200 may be equipped with a learning function such as AI, allowing it to perform actions and lines other than those stored. The CPU of the control unit 110 determines the actions and lines to be performed by the agent 200 from the data table based on information acquired from each recognition unit (described below) and information acquired from the microphone 160. For example, when an utterance from driver H is acquired from the microphone 160, a "nod" gesture is determined from the data table, and when driver H has finished speaking, a line such as "I understand" is determined. The data table of the actions and lines to be performed by the agent 200 may be stored in the ROM of the agent control unit 190.

(Surrounding environment recognition unit 120)
The surrounding environment recognition unit 120 is provided to recognize the surrounding environment of the vehicle 1 (host vehicle). The surrounding environment recognition unit 120 also includes an exterior camera 120a, a radar 120b, a temperature sensor 120c, a weather sensor 120d, and a navigation device 121, and these devices enable the surrounding environment and surrounding conditions of the vehicle 1 to be recognized. For example, the surrounding environment recognition unit 120 can detect the presence of corners or turning points in the traveling direction, the presence or absence of approaching objects, etc.
In this embodiment, the navigation device 121 is configured to be part of the surrounding environment recognition unit 120, but this is not limited to this, and the navigation device 121 may be configured as a standalone device separate from the surrounding environment recognition unit 120.

(Exterior camera 120a)
The exterior camera 120a is attached to, for example, a rearview mirror (not shown) and is capable of capturing images of the area in front of and behind the vehicle 1. The captured image information is input to the control unit 110, which then stores the image information in RAM. This allows the control unit 110 to recognize the conditions in front of and behind the vehicle 1 in real time and after the fact.

(Radar 120b)
The radar 120b is, for example, a millimeter-wave radar that detects obstacles and the like by emitting radio waves. The millimeter-wave radar is attached to the front bumper or rear bumper of the vehicle 1, and is capable of monitoring the area ahead of the vehicle 1, the areas in front of the vehicle 1, and the areas behind the vehicle 1. The monitoring information is input to the control unit 110, which stores the monitoring information in RAM. This allows the control unit 110 to recognize the situation ahead of the vehicle 1, the areas in front of the vehicle 1, and the areas behind the vehicle 1 in real time and after the fact. Note that although a millimeter-wave radar is used in this embodiment, other radars may also be used. For example, infrared radar may be used.

(Air temperature sensor 120c)
The air temperature sensor 120c is attached to, for example, the rear of the vehicle 1 and is capable of detecting the air temperature outside the vehicle 1. The detected air temperature is input to the control unit 110, which then stores the air temperature in RAM. This allows the control unit 110 to recognize the air temperature outside the vehicle 1.

(Weather sensor 120d)
The weather sensor 120d is attached, for example, to the top of the vehicle 1 and is capable of detecting raindrops and the like falling on the vehicle 1. The detected water droplet information is input to the control unit 110, which then stores the water droplet information in RAM. This allows the control unit 110 to recognize the weather conditions outside the vehicle 1.

(Navigation device 121)
The navigation device 121 provides route guidance according to the destination, waypoints, etc. The navigation device 121 also has map information, a GPS, a VICS receiver, etc., and is capable of acquiring map information on the current position of the vehicle 1, surrounding areas, traffic congestion information, road regulation information, parking lot information, etc. Therefore, the control unit 110 can recognize the surrounding conditions of the vehicle 1 in real time based on information acquired by the navigation device 121, the exterior camera 120a, the radar 120b, etc.
The navigation device 121 can also receive map information at any time, enabling it to acquire the latest map information. The transmitter/receiver of the navigation device 121 may also serve as the transceiver 180, which will be described later.

In this way, the control unit 110 can recognize the surrounding environment and circumstances of the vehicle 1 in real time and after the fact. As a result, the control unit 110 can control the agent 200 and the agent speaker 191 based on the recognition of the surrounding environment and circumstances of the vehicle 1, and notify the driver H of information about the surrounding environment and circumstances of the vehicle 1. For example, if there is a fallen object in front of the vehicle 1, the control unit 110 can notify the driver H by gesture and voice, such as "There is a fallen object ahead." This can improve safety.

In this embodiment, the surrounding environment recognition unit 120 includes an exterior vehicle camera 120a, radar 120b, temperature sensor 120c, weather sensor 120d, and navigation device 121, but these are merely examples, and other devices may of course be used.

(Occupant state recognition unit 130)
The occupant state recognition unit 130 is provided to recognize the state of the driver H. The occupant state recognition unit 130 also includes an occupant image capturing camera 130a and a vital sign sensor 130b, and is able to recognize the state of the driver H using these devices.

(Occupant photographing camera 130a)
The occupant photographing camera 130a is attached to, for example, the instrument panel 3, and is capable of photographing the driver H. The photographed image information is input to the control unit 110, which then stores the image information in RAM. This allows the control unit 110 to recognize the state of the driver H in real time and after the fact. Note that the state of the driver H referred to here specifically includes the state of the driver H's eyelids, the number of blinks, the direction of the driver's gaze, the direction of the face, whether the driver is crouched, or whether the driver is unable to move, etc.

(Vital sensor 130b)
The vital sensor 130b is attached, for example, to a part of the steering wheel 4 that is gripped by the driver H, and is capable of acquiring vital information such as the heart rate and blood pressure of the driver H. The acquired vital information is then input to the control unit 110, which then stores the vital information in RAM. This allows the control unit 110 to recognize the condition of the driver H in real time and after the fact.

In this way, the control unit 110 can recognize the state of driver H in real time and after the fact. As a result, the control unit 110 can control the agent 200 and the agent speaker 191 based on the recognition of driver H's state, and notify driver H of specified information. For example, it can notify driver H by image and sound, such as "Your eyelids are drooping. Would you like to take a break?" or "Your heart rate is faster than usual. Would you like to take a break?" This leads to improved safety.

The occupant state recognition unit 130 can recognize driver H's thoughts and emotions to a certain extent based on information acquired from the occupant image capture camera 130a and vital sensor 130b, and information input from the microphone 160. For example, it can acquire driver H's facial expression from the occupant image capture camera 130a, acquire driver H's heart rate and blood pressure from the vital sensor 130b, and acquire voice volume and input content from the microphone 160, and from this acquired information it can recognize whether driver H is thinking or feeling normal thoughts and emotions or abnormal thoughts and emotions (for example, surprised, angry, etc.).

In this embodiment, the occupant state recognition unit 130 is described as comprising an occupant image capturing camera 130a and a vital sign sensor 130b, but this is merely an example, and other devices may of course also be used.

(Vehicle state recognition unit 140)
The vehicle state recognition unit 140 is provided to recognize the state of the vehicle 1. The vehicle state recognition unit 140 also includes a vehicle speed sensor 140a, a steering wheel angle sensor 140b, an accelerator pedal sensor 140c, a brake pedal sensor 140d, a G sensor 140e, and a shift position sensor 140f, and is able to recognize the state of the vehicle 1 using these devices.

(Vehicle speed sensor 140a)
The vehicle speed sensor 140a is a sensor for detecting the vehicle speed of the vehicle 1. The detected vehicle speed is input as a vehicle speed signal to the control unit 110, and the control unit 110 stores the vehicle speed information in RAM. This allows the control unit 110 to recognize the vehicle speed of the vehicle 1 in real time and after the fact.

(Steering wheel angle sensor 140b)
The steering wheel angle sensor 140b is a sensor for detecting the steering wheel angle (angle of the steering wheel 4) of the vehicle 1. The detected steering wheel angle is input as an angle signal to the control unit 110, which then stores the angle information in RAM. This allows the control unit 110 to recognize the steering wheel angle (angle of the steering wheel 4) of the vehicle 1 in real time and afterwards.

(Accelerator pedal sensor 140c)
The accelerator pedal sensor 140c is a sensor for detecting the depression amount of an accelerator pedal (not shown), and the detected depression amount is input as a depression amount signal to the control unit 110, which then stores the depression amount information in RAM. This allows the control unit 110 to recognize the depression amount of the accelerator pedal of the vehicle 1 in real time and after the fact.

(Brake pedal sensor 140d)
The brake pedal sensor 140d is a sensor for detecting the depression amount of a brake pedal (not shown), and the detected depression amount is input as a depression amount signal to the control unit 110, which then stores the depression amount information in RAM. This allows the control unit 110 to recognize the depression amount of the brake pedal of the vehicle 1 in real time and after the fact.

(G sensor 140e)
The G sensor 140e is a sensor for detecting the acceleration, deceleration, and inclination of the vehicle 1. When acceleration is detected, the acceleration amount is input as an acceleration amount signal, when deceleration is detected, the deceleration amount is input as a deceleration amount signal, and when inclination is detected, the inclination angle amount is input as an inclination angle signal to the control unit 110, and the control unit 110 stores the acceleration information, deceleration information, and inclination information in RAM. This allows the control unit 110 to recognize the acceleration, deceleration, and inclination of the vehicle 1 in real time and after the fact.

(Shift position sensor 140f)
The shift position sensor 140f is a sensor for detecting the shift range (shift position) of the vehicle 1. That is, the shift position sensor 140f detects the position to which the shift range is set, such as parking range (stopped position), drive range (driving position), reverse range (backing position), neutral range (neutral position), etc. The shift range detected by the shift position sensor 140f is input to the control unit 110, which then stores the current shift range in RAM. This allows the control unit 110 to recognize the position to which the shift range is set.

In this way, the control unit 110 can recognize the state of the vehicle 1 in real time and after the fact. As a result, the control unit 110 can control the agent 200 and the agent speaker 191 based on the recognition of the state of the vehicle 1 to notify the driver H of information about the state of the vehicle 1. For example, if the vehicle is traveling at an appropriate speed, the control unit 110 can notify the driver H by gestures and voice, such as "You are traveling at an appropriate speed." This leads to improved safety.

In this embodiment, the vehicle state recognition unit 140 includes a vehicle speed sensor 140a, a steering wheel angle sensor 140b, an accelerator pedal sensor 140c, a brake pedal sensor 140d, a G sensor 140e, and a shift position sensor 140f, but these are merely examples, and other devices may of course be used.

(Speaker 150)
The speaker 150 is attached to, for example, the instrument panel 3, and outputs sounds other than the sound emitted from the agent 200, warning sounds, etc. Note that an audio speaker built into the vehicle 1 may be used instead of providing the speaker 150. Furthermore, as will be described later, the speaker 150 may also serve as the agent speaker 191.

(Mike 160)
The microphone 160 is attached to, for example, the instrument panel 3, and receives input of voices emitted by the driver H and other passengers.

(Storage unit 170)
The storage unit 170 is capable of storing information acquired from each of the recognition units described above, dialogues held between the driver H and the control unit 110, and the like. By storing this information in the storage unit 170, the control unit 110 can recognize the driving tendencies of the driver H (for example, what kind of driving style the driver is), the hobbies and preferences of the driver H (for example, what kind of background music the driver likes), and the like. Furthermore, by recognizing these, it is also possible for the agent device 100 (agent 200) to actively hold a dialogue that is tailored to the driving tendencies of the driver H and the hobbies and preferences of the driver H.

(Transceiver 180)
The transceiver 180 can, for example, acquire information using an in-vehicle wireless LAN, acquire location information using a satellite positioning system, etc. Based on this acquired information and the information stored in the storage unit 170, the control unit 110 can also actively carry out a dialogue from the agent device 100 side (agent 200) that is tailored to the driving tendencies and hobbies and preferences of the driver H.

(Agent control unit 190)
The agent control unit 190 is equipped with a CPU, ROM, RAM, input/output ports, etc. (not shown), and when information is input from the control unit 110, for example, it can operate each part of the agent 200 and cause the agent speaker 191 to output a specified voice.

(Agent Speaker 191)
As described above, the agent speaker 191 is provided inside the head 211 of the agent 200, and outputs sounds and the like emitted from the agent 200. Incidentally, by providing the agent speaker 191 inside the head 211 of the agent 200, particularly in the area corresponding to the mouth, as in this embodiment, it becomes more realistic and contributes to building a relationship of trust, but in cases where the agent 200 is small and it is difficult to provide the agent speaker 191 inside the head 211, the above-mentioned speaker 150 may be used instead, or the agent speaker 191 or a speaker that serves as a substitute may be provided in another part inside the vehicle 1.

Next, the operation and dialogue of the agent 200 in the agent device 100 will be described. The operation and dialogue of the agent 200 are performed by control processing by the control unit 110, and the agent control unit 190 operates each unit of the agent 200, while audio is output from the agent speaker 191. The control flow for performing the control processing is stored in the ROM of the control unit 110, and the CPU of the control unit 110 reads it from the ROM and performs various processes.

The main processing of the agent control process performed by the CPU of the control unit 110 will be explained below using Figure 6.

(Step S10)
In step S10, when the ignition is turned on, the CPU of the control unit 110 starts the main processing of the agent control processing. Specifically, the CPU of the control unit 110 reads the main processing of the agent control processing from the ROM, starts the processing, and then proceeds to step S100.

(Step S100)
In step S100, the CPU of the control unit 110 performs a boarding process. The boarding process is a process that starts when the driver H gets into the vehicle 1. For example, in the boarding process, the CPU of the control unit 110 performs a process of making the agent 200 face the driver H. The CPU of the control unit 110 also performs processes such as having a conversation with the driver H and having the agent 200 provide boarding explanations, such as weather, remaining fuel information, and important vehicle maintenance information, through speech and actions. Then, when the boarding process is completed, the process proceeds to step S200.

(Step S200)
In step S200, the CPU of the control unit 110 performs pre-driving processing. In the pre-driving processing, processing is performed before the driver H starts driving. For example, in the pre-driving processing, the agent 200 provides instructions on precautions regarding the driving environment to the destination and explains rest points. In explaining the pre-driving processing, the agent 200 faces the driver H, moves both hands to explain each item, and also signals completion by nodding its head after each item is completed. Then, when the pre-driving processing is completed, the process proceeds to step S20.

(Step S20)
In step S20, the CPU of control unit 110 performs processing to determine whether the shift range is "P" (parking range). Specifically, the CPU of control unit 110 determines whether the shift range input from shift position sensor 140f is the parking range. If the CPU of control unit 110 determines that the shift range is not the parking range (in this case, the shift position has been changed), it proceeds to step S300. If the CPU of control unit 110 determines that the shift range is the parking range (in this case, the shift position has not been changed), it proceeds to step S400.

(Step S300)
In step S300, the CPU of the control unit 110 performs a driving process. In the driving process, the CPU performs a control process for the agent 200 when the vehicle is driving. For example, when the shift range input from the shift position sensor 140f is "D" (drive range), the CPU of the control unit 110 performs a control process for the agent 200 when the vehicle is driving forward, such as making the agent 200 face forward (in the direction of travel of the vehicle 1) (taking a predetermined posture), and when the shift range is "R" (reverse range), the CPU performs a control process for the agent 200 when the vehicle is driving backward. Details of the driving process will be described later. Then, when the driving process is completed, the process proceeds to step S30.

(Step S30)
In step S30, the CPU of control unit 110 performs processing to determine whether the shift range is "P" (parking range). As described above, the CPU of control unit 110 determines whether the shift range input from shift position sensor 140f is the parking range. If the CPU of control unit 110 determines that the shift range is not the parking range, it proceeds to step S300, and if it determines that the shift range is the parking range, it proceeds to step S400.

(Step S400)
In step S400, the CPU of the control unit 110 performs end-of-driving processing. In the end-of-driving processing, end processing is performed when a predetermined journey has ended. For example, in the end-of-driving processing, the CPU of the control unit 110 makes the agent 200 face the driver H again and assume the basic posture. In addition, the CPU of the control unit 110 outputs audio and performs actions to congratulate the driver when the drive is over, and if there is an abnormality or notification information in the vehicle, it notifies the abnormality, issues a warning sound, or notifies the information by audio or action. Then, when the end-of-driving processing is completed, the process proceeds to step S40.

(Step S40)
In step S40, the CPU of control unit 110 performs processing to determine whether the shift range is "P" (parking range). As described above, the CPU of control unit 110 determines whether the shift range input from shift position sensor 140f is the parking range. If the CPU of control unit 110 determines that the shift range is not the parking range (in this case, the shift position has been changed), it proceeds to step S300. If the CPU of control unit 110 determines that the shift range is the parking range (in this case, the shift position has not been changed), it proceeds to step S50.

(Step S50)
In step S50, the CPU of the control unit 110 performs a driving resumption determination process. In the driving resumption determination process, a process is performed to determine whether or not the driver H intends to resume driving. For example, the CPU of the control unit 110 determines that the driver H intends to resume driving when the driver H makes a voice input such as "I will resume driving," or when a new destination is input into the navigation system by voice input or manual input. If the CPU of the control unit 110 determines that the driver H intends to resume driving, it proceeds to step S200, and if it determines that the driver H does not intend to resume driving, it proceeds to step S60.

(Step S60)
In step S60, the CPU of control unit 110 determines whether the ignition is turned off. If the ignition is turned off, the CPU of control unit 110 ends the main process of the agent control process. If the ignition is not turned off, the CPU of control unit 110 proceeds to step S40.

Next, the driving process performed by the CPU of the control unit 110 will be explained using Figure 7. Figure 7 shows a subroutine of step S300 (driving process) in Figure 6.

(Step S301)
In the driving process, first, in step S301, the CPU of the control unit 110 performs start-up process. In the start-up process, a warning is issued when starting. That is, when starting, it is easy for the driver H's thoughts and actions (including past operations) to be inconsistent. Specifically, elderly people and others may mistakenly select the wrong shift position (e.g., shift range "D" (drive range) and "R" (reverse range)) due to a misconception, resulting in a collision. Here, the start-up process is performed to eliminate the misconception that it is safe. For example, in the start-up process, the CPU of the control unit 110 confirms the driver's actions by reading out the shift range. The CPU of the control unit 110 also prompts the driver to visually confirm the direction of travel. This prevents driver H from making an erroneous operation, thereby improving safety, even if the vehicle 1 is equipped with a false start function.

(Step S302)
In step S302, the CPU of control unit 110 performs processing to determine whether the shift range is "D" (drive range). Specifically, the CPU of control unit 110 determines whether the shift range input from shift position sensor 140f is the drive range. If the CPU of control unit 110 determines that the shift range is not the drive range, it proceeds to step S303, and if it determines that the shift range is the drive range, it proceeds to step S310.

(Step S303)
In step S303, the CPU of the control unit 110 performs non-drive range processing. In the non-drive range processing, processing is performed when the vehicle is traveling except when the shift range is "D" (drive range). For example, if the shift range is "R" (reverse range), the CPU of the control unit 110 performs reverse range processing. In the reverse range processing, processing is performed assuming parking. Details of the non-drive range processing will not be explained here. Then, once the non-drive range processing is completed, the traveling processing ends.

(Step S310)
In step S310, the CPU of the control unit 110 performs in-travel processing. In the in-travel processing, control processing of the agent 200 while traveling is performed according to the surrounding circumstances. For example, the CPU of the control unit 110 performs processing such as guidance operations when turning right or left, and guidance operations around the destination. Details of the in-travel processing will be described later. Then, when the in-travel processing is completed, the in-travel processing ends.

Next, the in-travel processing performed by the CPU of the control unit 110 will be explained using Figure 8. Figure 8 shows a subroutine of step S310 (in-travel processing) in Figure 7.

(Step S311)
In the traveling process, first, in step S311, the CPU of the control unit 110 performs processing to determine whether or not there is an approaching object. Specifically, the CPU of the control unit 110 determines whether or not there is an object (or person, etc.) approaching the vehicle 1 within a predetermined range and at a predetermined speed or faster, based on information about the surrounding situation input from the exterior camera 120a, radar 120b, etc. In other words, the CPU of the control unit 110 determines whether or not it is necessary to avoid an obstacle, based on the acquired surrounding situation. If the CPU of the control unit 110 determines that there is an approaching object, it proceeds to step S312, and if it determines that there is no approaching object, it proceeds to step S314.

(Step S312)
In step S312, the CPU of the control unit 110 performs obstacle avoidance processing. The obstacle avoidance processing includes emergency avoidance processing and normal avoidance processing. That is, when an object is approaching the vehicle 1, there is a risk of collision and evasive action must be taken immediately, or there is a case where it is sufficient to simply notify the driver H and have him take appropriate action. The CPU of the control unit 110 performs emergency avoidance processing or normal avoidance processing depending on the acquired surrounding situation. In emergency avoidance processing, depending on the situation, emergency braking may be activated or the airbag 8 may be deployed without the operation of the driver H. Then, after the obstacle avoidance processing, the CPU of the control unit 110 proceeds to step S313.

(Step S313)
In step S313, the CPU of the control unit 110 performs processing to determine whether or not the vehicle 1 has stopped traveling. This stopping of traveling includes a case where the vehicle 1 has been stopped by the CPU of the control unit 110 without an operation by the driver H, and a case where the driver H has stopped the vehicle 1. If the CPU of the control unit 110 determines that the vehicle 1 has not stopped traveling, it proceeds to step S311, and if it determines that the vehicle has stopped traveling, it ends the in-travel processing.

(Step S314)
In step S314, the CPU of control unit 110 performs processing to determine whether or not the vehicle speed is "0." Specifically, the CPU of control unit 110 determines whether or not the vehicle 1 has stopped based on the vehicle speed input from vehicle speed sensor 140a. If the CPU of control unit 110 determines that the vehicle speed is not "0," it proceeds to step S315, and if it determines that the vehicle speed is "0," it ends the in-travel processing.

(Step S315)
In step S315, the CPU of the control unit 110 performs processing to determine whether or not the vehicle is approaching a right or left turn point. For example, the CPU of the control unit 110 determines that the vehicle is approaching a right or left turn point when the distance to the planned right or left turn point is a predetermined distance, or when the estimated time to reach the planned right or left turn point is within a predetermined time. Note that it is desirable to change the distance, time, etc. used for this determination depending on the speed of the vehicle 1, the conditions of the road, etc. If the CPU of the control unit 110 determines that the vehicle is approaching a right or left turn point, it proceeds to step S330. If the CPU of the control unit 110 determines that the vehicle is not approaching a right or left turn point, it proceeds to step S316.

(Step S330)
In step S330, the CPU of the control unit 110 performs processing for driving to make a right or left turn. In the processing for driving to make a right or left turn, control processing for the agent 200 during driving from just before the planned right or left turn point until the right or left turn is completed is performed. For example, the CPU of the control unit 110 performs guidance processing that makes it easy for the driver H to intuitively grasp the right or left turn point. Details of the processing for driving to make a right or left turn will be described later. Then, after performing the processing for driving to make a right or left turn, the process proceeds to step S311.

(Step S316)
In step S316, the CPU of the control unit 110 performs processing to determine whether the vehicle is approaching the destination. For example, the CPU of the control unit 110 determines that the vehicle is approaching the destination when the distance to the destination is a predetermined distance, or the estimated time to reach the destination is within a predetermined time. Note that, as with the determination of a right or left turn point, it is desirable to change the distance, time, etc. used for this determination depending on the speed of the vehicle 1 and the conditions of the road. If the CPU of the control unit 110 determines that the vehicle is approaching the destination, it proceeds to step S340, and if it determines that the vehicle is not approaching the destination, it proceeds to step S317.

(Step S317)
In step S317, the CPU of the control unit 110 performs a predetermined in-travel process. The predetermined in-travel process is a process for when the vehicle is traveling outside the vicinity of a right or left turn point and outside the vicinity of the destination. For example, if the traveling route is a straight road, the CPU of the control unit 110 performs a straight traveling process. Details of the predetermined in-travel process will not be explained here. After performing the predetermined in-travel process, the process proceeds to step S311.

(Step S340)
In step S340, the CPU of the control unit 110 performs processing for the vicinity of the destination. In the processing for the vicinity of the destination, control processing of the agent 200 is performed from when the vehicle approaches the destination until it arrives at the destination. For example, the CPU of the control unit 110 provides guidance to the destination and also congratulates the driver H when the vehicle arrives at the destination. Details of the processing for the vicinity of the destination will be described later. Then, once the processing for the vicinity of the destination has been performed, the in-travel processing is terminated.

Next, the right/left turn processing performed by the CPU of the control unit 110 will be explained using Figure 9. Figure 9 shows a subroutine of step S330 (right/left turn processing) in Figure 8.

(Step S331)
In the right/left turn driving process, first, in step S331, the CPU of the control unit 110 performs processing to notify the driver H by voice that a right/left turn point is approaching. Specifically, the CPU of the control unit 110 notifies the driver H by voice that the right/left turn point is approaching via the agent speaker 191, so that the driver H knows that a right/left turn will occur. Note that at this stage, no notification is made by action of the agent 200. Then, after the notification by voice that a right/left turn point is approaching has been made, the process proceeds to step S332.

(Step S332)
In step S332, the CPU of the control unit 110 instructs the agent 200 to decelerate. Specifically, as shown in FIG. 10 , the CPU of the control unit 110 instructs the agent 200 to turn its palms downward and spread its arms horizontally. Then, the CPU of the control unit 110 causes the agent 200 to bend and straighten its legs and crouch down while keeping its arms spread. This instructs the agent 200 to decelerate, causing the driver H to decelerate. Furthermore, by changing the amount of bending and straightening (depth of bending and straightening) depending on the degree of deceleration required, the driver H can visualize the amount of deceleration. Note that no audio notification is provided simultaneously with this deceleration instruction. By not simultaneously providing audio and motion notifications in this way, the driver H is prevented from being overwhelmed with information and can take appropriate action. After the deceleration instruction is performed, the process proceeds to step S333.

(Step S333)
In step S333, the CPU of the control unit 110 performs processing to notify the driver H of the characteristic points of the right or left turn points by voice. Specifically, the CPU of the control unit 110 notifies the driver H of the characteristic points of the right or left turn points by voice via the agent speaker 191. For example, the CPU may notify the driver H of the building at the turn point, the name of the intersection, and how far the intersection is from the current position. Note that even in this scene, the agent 200 does not notify the driver H by action. Then, after the characteristic points of the right or left turn points have been notified by voice, the process proceeds to step S334.

(Step S334)
In step S334, the CPU of the control unit 110 causes the agent 200 to express and communicate the right or left turn point through movement. Specifically, as shown in Fig. 11, the CPU of the control unit 110 causes the agent 200 to bend and stretch one arm, point at the right or left turn point, and extend the other arm horizontally with the palm facing downward. The CPU of the control unit 110 then moves the other arm of the agent 200 up and down while keeping it stretched. This makes it possible to communicate the turn location to the driver H. Once the right or left turn point has been communicated through movement, the process proceeds to step S335.
As described above, by alternately transmitting the characteristic points of the right or left turn points by voice and by action rather than simultaneously, when driver H is searching for a right or left turn point, he or she can take appropriate action without being overwhelmed with information.

(Step S335)
In step S335, the CPU of control unit 110 performs a process of determining whether or not the vehicle has reached the vicinity of a right or left turn point. That is, the CPU of control unit 110 determines whether or not the reference value for determining that a right or left turn is about to occur has been reached (e.g., a distance or time shorter than a predetermined distance to the right or left turn point or a predetermined estimated time until the right or left turn point is reached, which determines that the vehicle is approaching the right or left turn point). If the CPU of control unit 110 determines that the vehicle has reached the vicinity of a right or left turn point, it proceeds to step S336. If the CPU of control unit 110 determines that the vehicle has not reached the vicinity of a right or left turn point, it proceeds to step S333.

(Step S336)
In step S336, the CPU of the control unit 110 stops the communication by pointing. That is, the CPU of the control unit 110 causes the agent 200 to lower one of its arms pointing at the right or left turn point. This is because if the information is too accurate, some people may feel uncomfortable. In other words, vague information may be more useful as it makes it easier to imagine. At this time, the other arm that is stretched out and moving up and down may also be lowered. Then, once the communication by pointing has stopped, the process proceeds to step S337.

(Step S337)
In step S337, the CPU of the control unit 110 causes the agent 200 to perform an operation of guiding the driver to the turning point. Specifically, as shown in FIG. 12, the CPU of the control unit 110 causes the agent 200 to assume a posture in which both arms are stretched out and the arms are rotated in the direction of the turning point, with the arms open upward and downward. At this point, the central visual field of the driver H may already be focused on the turning point, but the CPU firmly guides the driver to the turning point. Then, once the driver has been guided to the turning point, the process proceeds to step S338.

(Step S338)
In step S338, the CPU of the control unit 110 provides necessary information if there is anything to be communicated. For example, the CPU of the control unit 110 provides necessary information if there is an approaching vehicle, a pedestrian in the direction of travel, or the vehicle 1 has deviated from its lane. After the process of providing necessary information has been completed, the process proceeds to step S339.

(Step S339)
In step S339, the CPU of the control unit 110 performs processing to determine whether or not the right/left turn has been completed. If the CPU of the control unit 110 determines that the right/left turn has been completed, it ends the processing for right/left turn travel, and if it determines that the right/left turn has not been completed, it proceeds to step S338.

Next, the destination surroundings processing performed by the CPU of the control unit 110 will be explained using Figure 13. Figure 13 shows a subroutine of step S340 (destination surroundings processing) in Figure 8.

(Step S341)
In the destination vicinity process, first, in step S341, the CPU of the control unit 110 performs processing to notify the driver H by voice that they are near the destination. Specifically, the CPU of the control unit 110 notifies the driver H by voice via the agent speaker 191 that they are approaching the destination and have traveled to the vicinity of the destination, thereby making the driver H aware that they will soon arrive at the destination. Note that at this stage, no notification is made by action of the agent 200. Then, after the voice notification that they are near the destination has been made, the process proceeds to step S342.

(Step S342)
In step S342, the CPU of control unit 110 instructs agent 200 to decelerate. This deceleration instruction is the same as the deceleration instruction performed in the right/left turn driving process. That is, as shown in FIG. 10, the CPU of control unit 110 instructs agent 200 to turn palms downward, spread both arms horizontally, and then, with both arms of agent 200 still spread, bend and stretch both legs and crouch down. After the deceleration instruction has been performed, the process proceeds to step S343.

(Step S343)
In step S343, the CPU of the control unit 110 causes the agent 200 to perform an action to urge the agent 200 to stop while indicating that the agent 200 is near the destination. Specifically, as shown in Fig. 14, the CPU of the control unit 110 causes the agent 200 to raise one arm, swing it high, and stretch the other arm horizontally. This allows the agent 200 to indicate with one arm that the agent is near the destination, while the other arm urges the agent 200 to stop. In other words, swinging one arm high indicates that the destination is nearby.

Furthermore, as shown in Figure 15, by rotating your arms, you can retain an image of the surrounding scenery, even if you are unable to clearly remember it. This prevents you from staring at the navigation map display and allows you to get a general idea of the area around your destination without losing focus on your direction of travel. Therefore, for example, even if you pass your destination, make a U-turn, and approach it again, you will remember the surrounding scenery and be able to arrive at your destination easily. Then, once an action is performed to indicate that you are near the destination and urge you to stop, the process proceeds to step S344.

(Step S344)
In step S344, the CPU of the control unit 110 performs processing to determine whether the destination has been reached. That is, the CPU of the control unit 110 determines whether the current location of the vehicle 1 has reached a point set as the destination (for example, within a predetermined distance from the destination). If the CPU of the control unit 110 determines that the destination has been reached, it proceeds to step S345, and if it determines that the destination has not been reached, it proceeds to step S348.

(Step S345)
In step S345, the CPU of the control unit 110 performs processing to notify the driver H that the destination has been reached. For example, the CPU of the control unit 110 issues a voice notification such as "You have arrived at your destination" via the agent speaker 191. After notifying the driver H that the destination has been reached, the process proceeds to step S346.

(Step S346)
In step S346, the CPU of the control unit 110 performs processing to determine whether the vehicle 1 has stopped. Specifically, it determines whether the vehicle 1 has entered a stopped state, for example, whether the vehicle speed is "0" or is below a predetermined speed. If the CPU of the control unit 110 determines that the vehicle 1 has stopped, it proceeds to step S347, and if it determines that the vehicle 1 has not stopped, it proceeds to step S348.

(Step S347)
In step S347, the CPU of the control unit 110 makes an announcement of appreciation to the driver H. For example, the CPU of the control unit 110 makes an audio announcement such as "Thank you for your hard work driving" via the agent speaker 191. At this time, the CPU of the control unit 110 may also cause the agent 200 to give a slight bow or make an "OK" sign with its hand. After making the announcement of appreciation, the CPU of the control unit 110 notifies the driver H that guidance to the destination will end. Then, after making the announcement of appreciation and notifying the driver H that guidance has ended, the processing for the area around the destination is terminated.

(Step S348)
In step S348, the CPU of the control unit 110 performs processing to determine whether or not the vehicle 1 is far from the destination. That is, the CPU of the control unit 110 determines whether or not the distance between the current location of the vehicle 1 and the destination is increasing over time. At this time, even if the distance between the vehicle 1 and the destination is far, if it is within a predetermined range, it may be determined that the vehicle 1 is not far from the destination. If the CPU of the control unit 110 determines that the vehicle 1 is far from the destination, it proceeds to step S349, and if it determines that the vehicle 1 is not far from the destination, it proceeds to step S343.

(Step S349)
In step S349, the CPU of the control unit 110 performs processing to notify the driver H that they are moving away from the destination. For example, the CPU of the control unit 110 issues a voice notification such as "You are moving away from your destination" via the agent speaker 191. After notifying the driver H that they are moving away from their destination, the process proceeds to step S350.

(Step S350)
In step S350, the CPU of control unit 110 performs processing to determine whether or not the vehicle 1 has moved away from the destination by a predetermined distance or more. That is, the CPU of control unit 110 determines whether or not the current location of vehicle 1 is a predetermined distance or more from the destination. If the CPU of control unit 110 determines that the vehicle 1 has moved away from the destination by the predetermined distance or more, it proceeds to step S351, and if the CPU of control unit 110 determines that the vehicle 1 has not moved away from the destination by the predetermined distance or more, it proceeds to step S348.

(Step S351)
In step S351, the CPU of the control unit 110 notifies the driver H that the destination guidance is to end. For example, the CPU of the control unit 110 issues a voice notification such as "Destination guidance is now ended" via the agent speaker 191. Then, after notifying the driver H that the destination guidance is to end, the destination vicinity processing is ended.

As described above, when an action point where driver H is required to perform a predetermined action approaches, the agent device 100 of this embodiment causes the agent 200 in driver H's peripheral vision to express the degree of deceleration by bending and stretching both arms. This makes it possible to encourage driver H to decelerate the vehicle 1 while keeping his or her gaze on the road ahead and surroundings, preventing the driver from looking away while driving and supporting safety while driving without neglecting attention to the surroundings.

Furthermore, when guiding the driver to a right or left turn point, one arm is used to instruct the driver to slow down while the other arm is used to point to the turn point, so that the driver can be accurately guided to the right or left turn point while ensuring safety.
Furthermore, when guiding the user to a destination, one arm is rotated to indicate that the user is near the destination and the other arm is opened to indicate that the user has stopped, allowing the user to safely guide the user while understanding the situation around the destination. Also, since the robot has a vague understanding of the situation around the destination, even if the user passes the destination, it can quickly return and reach the destination.

In the agent control process of this embodiment, a program stored in the ROM, RAM, EEPROM, etc. of the control unit 110 is loaded into the RAM, etc. of the control unit 110 and executed by the CPU, etc. of the control unit 110.
Furthermore, in this embodiment, the shift position sensor 140f constitutes a shift position detection unit of the present invention, and the surrounding environment recognition unit 120 constitutes a surrounding situation acquisition unit of the present invention.

Furthermore, in this embodiment, the agent control unit of the present application is configured using both the control unit 110 and the agent control unit 190, but as mentioned above, the agent control unit 190 alone may have the functions of both the control unit 110 and the agent control unit 190 of this embodiment.

1: vehicle, 100: agent device, 110: control unit, 120: surrounding environment recognition unit, 130: occupant state recognition unit, 140: vehicle state recognition unit, 140f: shift position sensor, 150: speaker, 160: microphone, 170: memory unit, 180: transceiver, 190: agent control unit, 191: agent speaker, 200: agent

Claims (5)

a memory unit that stores a dialogue with a driver;
a surrounding situation acquisition unit for acquiring a surrounding situation;
an agent control unit that controls a personified agent;
Equipped with
The agent:
It is positioned in the driver's peripheral vision,
The agent control unit
A dialogue tailored to the driver's preferences can be executed based on at least the information stored in the storage unit,
When it is determined that an action point requiring a predetermined action by the driver is approaching based on the acquired surrounding conditions, the system does not issue a voice notification but instead spreads both arms horizontally and expresses the degree of deceleration by the amount of bending and stretching .
1. An agent device comprising: a memory unit that stores a dialogue with a driver;
a surrounding situation acquisition unit for acquiring a surrounding situation;
an agent control unit that controls a personified agent;
Equipped with
The agent:
It is positioned in the driver's peripheral vision,
The agent control unit
A dialogue tailored to the driver's preferences can be executed based on at least the information stored in the storage unit,
When it is determined that an action point requiring a predetermined action by the driver is approaching based on the acquired surrounding conditions, the system uses both arms and bends and stretches to express the degree of deceleration without making a voice notification,
If the operation point is a right or left turn point, one arm is used to instruct the driver to slow down while the other arm is used to point to the turn point.
1. An agent device comprising: a memory unit that stores a dialogue with a driver;
a surrounding situation acquisition unit for acquiring a surrounding situation;
an agent control unit that controls a personified agent;
Equipped with
The agent:
It is positioned in the driver's peripheral vision,
The agent control unit
A dialogue tailored to the driver's preferences can be executed based on at least the information stored in the storage unit,
When it is determined that an action point requiring a predetermined action by the driver is approaching based on the acquired surrounding conditions, the system uses both arms and bends and stretches to express the degree of deceleration without making a voice notification,
If the action point is a destination, one arm is rotated to indicate that the robot is near the destination, and the other arm is opened to indicate that the robot is stopped.
1. An agent device comprising: The agent control unit
The characteristic points of the right and left turn points are alternately transmitted by voice and by action.
3. The agent device according to claim 2 . The agent control unit
If it is determined based on the judgment reference value that a right or left turn is about to occur, the one arm is lowered.
3. The agent device according to claim 2 .