JP2017084112A - Information presentation system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an information presentation system which gives an occupant a sense of ease during lane change by autonomous driving.SOLUTION: An information presentation system 1 includes: a drive control unit (included in a vehicle control unit 40) which controls steering and speed of a vehicle at least, to execute lane change of the vehicle; an information presentation unit 20 which presents information to an occupant of the vehicle; and a presentation control unit (included in the vehicle control unit 40) which causes the information presentation unit 20 to present lane change information which is information indicating that the vehicle is changing the lane, when the drive control unit is executing lane change of the vehicle.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technique for presenting information to a vehicle occupant.

  When changing lanes while the vehicle is running, the driver needs to check the position and behavior of the vehicle in the vicinity. Patent Document 1 discloses a driving support device that supports lane change. This driving support device supports the driver's lane change operation by notifying the driver of the planned course of the other vehicle.

JP 2006-113918 A

  In recent years, a driving support system that automatically adjusts the traveling speed and steering angle of a vehicle to change lanes has been studied. Since the lane change is a different kind of vehicle behavior compared to driving while maintaining the lane during travel, the passenger may feel anxiety if the lane change is automatically executed.

  An object of this invention is to provide the technique which gives a passenger a sense of security during the lane change by automatic driving | operation.

The information presentation system (1) of the present invention includes a drive control unit (61), an information presentation unit (20), and a presentation control unit (66).
The drive control unit changes the lane of the vehicle by at least controlling the steering and speed of the vehicle. The information presentation unit presents information to the vehicle occupant. The presentation control unit causes the information presentation unit to present lane change information that is information indicating that the vehicle is changing the lane when the lane change of the vehicle is being executed by the drive control unit.

  According to such a configuration, the passenger can recognize that the vehicle on board is changing lanes by acquiring the lane change information. Therefore, anxiety about the behavior of the vehicle can be suppressed and a sense of security can be given to the passenger.

  In addition, the code | symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.

It is a block diagram which shows the structure of an information presentation system. It is a figure explaining the example of arrangement | positioning of the information presentation part in the inside of a vehicle. It is a block diagram which shows the structure of a vehicle control part. 4A to 4C are diagrams for explaining examples of HUD display images. It is a figure explaining the relationship between the behavior of an actual vehicle lane change, and a HUD display image. It is a figure explaining the offset amount of a lane change icon. It is a figure explaining the transition of a HUD display image when a lane change is interrupted. It is a flowchart of an information presentation process. It is a figure explaining transition of a HUD display image at the time of interrupting lane change in other embodiments. It is a figure explaining transition of a HUD display image at the time of interrupting lane change in other embodiments.

Hereinafter, embodiments for carrying out the invention will be described with reference to the drawings.
[1. Embodiment]
[1-1. Constitution]
An information presentation system 1 shown in FIG. 1 is a system that is mounted on a vehicle and used to present information to passengers of the vehicle including the driver. The information presentation system 1 includes an external environment monitoring unit 10, an information presentation unit 20, and a vehicle control unit 40. Hereinafter, a vehicle equipped with the information presentation system 1 is referred to as a host vehicle.

<External monitoring unit>
The external monitoring unit 10 is a device that monitors the periphery of the host vehicle, and includes an information acquisition unit 11 that acquires information on a road surface around the vehicle, and an obstacle detection unit that detects an obstacle such as another vehicle around the host vehicle. 12 and. The road surface information is information capable of recognizing lane markings such as white lines and road fences. The signal acquired by the external monitoring unit 10 is output to the vehicle control unit 40.

  For example, a LIDAR or a camera can be used as the information acquisition unit 11. LIDAR is an abbreviation for Light Detection and Ranging, and is a device that emits laser light and receives reflected waves of the laser light.

  When LIDAR is used as the information acquisition unit 11, a division line such as a white line can be recognized from a detection signal of a reflected wave, that is, data capable of measuring a distance to a target. Whether the line is a lane marking can be determined from the reflection intensity.

  When a camera is used as the information acquisition unit 11, an edge is detected from a captured image captured by the camera and recognized as a lane marking. An edge is a feature point on a captured image, for example, a location where the brightness of the image changes sharply.

  Road surface information when using a LIDAR or a camera means that when a road surface around a vehicle is subdivided into innumerable areas and optical parameters are acquired from each area, the parameters related to the area where the lane line is present This is information indicating a difference that can be distinguished from a parameter in a region where no line exists.

Note that a device other than LIDAR or a camera may be used as the information acquisition unit 11 as long as it is a device that can acquire road surface information and a device that can recognize lane markings.
For example, an infrared radar can be used as the obstacle detection unit 12. However, the above-described LIDAR or camera may be used. If the information acquisition unit 11 and the obstacle detection unit 12 are a common device, the system configuration can be simplified.

<Information presentation section>
The information presentation unit 20 includes an image display unit 21 and an audio output unit 22. The image display unit 21 is a device arranged inside the host vehicle, and presents information to the passenger by displaying an image according to a control signal from the vehicle control unit 40. Examples of the image display unit 21 include a head-up display (hereinafter referred to as HUD) and a liquid crystal display. Note that the present invention is not limited to these as long as the apparatus can display an image, and various apparatuses can be used.

  The HUD display image 31 shown in FIG. 2 is an HUD image configured to project an image on the windshield 32. In FIG. 2, the liquid crystal display 33 is disposed on the front side of the instrument panel (in other words, on the passenger side). Although FIG. 2 illustrates a configuration in which both the HUD and the liquid crystal display 33 are mounted inside the vehicle, the image display unit 21 may be either one. Of course, you may have two or more display apparatuses.

  The sound output unit 22 is a device having a speaker that can output sound disposed inside the host vehicle, and presents information to the passenger by outputting sound according to a control signal from the vehicle control unit 40.

<Vehicle control unit>
As shown in FIG. 3, the vehicle control unit 40 is mainly configured by a known microcomputer having a CPU 51 and a semiconductor memory (hereinafter, memory 52) such as a RAM, a ROM, and a flash memory. Various functions of the vehicle control unit 40 are realized by the CPU 51 executing a program stored in a non-transitional tangible recording medium. In this example, the memory 52 corresponds to a non-transitional tangible recording medium that stores a program. Further, by executing this program, a method corresponding to the program is executed. Note that the number of microcomputers constituting the vehicle control unit 40 may be one or more.

  The vehicle control unit 40 includes a drive control unit 61, a lane recognition unit 62, a target determination unit 63, a position specification unit 64, and a continuation determination unit 65 as functional configurations realized by the CPU 51 executing a program. And a presentation control unit 66. The method of realizing these elements constituting the vehicle control unit 40 is not limited to software, and some or all of the elements may be realized using hardware that combines a logic circuit, an analog circuit, and the like. .

<Each function of the vehicle control unit>
The drive control unit 61 changes the lane of the host vehicle by automatic driving by controlling the steering and speed of the host vehicle. The lane change here means that when there are a plurality of lanes, the own vehicle moves from the lane in which the vehicle is traveling to another lane.

  The drive control unit 61 functions as a front-rear direction control unit 71, a left-right direction control unit 72, and a behavior determination unit 73. The front-rear direction control unit 71 adjusts the traveling speed, acceleration, and deceleration of the host vehicle by controlling engine output, transmission, shift change, brake, and the like provided in the host vehicle. The left / right direction control unit 72 drives the steering to change the traveling direction of the vehicle.

  The behavior determination unit 73 determines the lane and the travel direction of the host vehicle according to the situation outside the host vehicle, destination information input by the passenger using a navigation system (not shown), traffic information received from the outside, and the like. Determine route, travel speed, etc. For example, when a vehicle having a very low traveling speed is detected in front of the host vehicle, execution of the lane change is determined, and a specific vehicle behavior for realizing the lane change is determined. The front-rear direction control unit 71 and the left-right direction control unit 72 drive the vehicle according to the determined content.

In addition, the drive control part 61 may be comprised so that the other function of the vehicle for implement | achieving a lane change suitably may also be controlled.
The lane recognition unit 62 detects the position of a lane line such as a white line based on the position of the host vehicle based on the output signal of the information acquisition unit 11, and at least the host vehicle based on the detected position of the lane line. Recognizes a traveling lane that is a traveling lane and an adjacent lane that is a lane adjacent to the traveling lane. Of course, the structure which also recognizes the lane farther from the own vehicle than the adjacent lane may be sufficient.

  The target determination unit 63 becomes a target for moving the host vehicle by changing the lane in the lateral direction in which the traveling lane and the adjacent lane are aligned based on the traveling lane and the adjacent lane recognized by the lane recognition unit 62. The target position which is a position is determined. The lateral direction can be said to be a direction orthogonal to the direction of the lane.

  For example, the target position may be set at the center of the lane that is the target of the lane change. The center of the lane is the center in the lateral direction of the two lane lines constituting the lane, in other words, the two lane lines indicating the outer edge portion of the lane. Of course, the target position is not limited to the center of the lane, and can be determined at various positions in the lane that is the target of the lane change. The target position may be determined based on the traveling lane.

Since the target position is a position based on the position of the own vehicle, the actual point on the road changes as the vehicle travels.
The position specifying unit 64 specifies the current position of the vehicle in the lateral direction. A specific method for specifying the current position is not particularly limited. For example, a method for detecting the current position based on the position of the lane marking detected by the lane recognition unit 62 or a control by the drive control unit 61 is used. It is conceivable to perform estimation based on the lateral moving speed and moving time calculated from the traveling speed and steering angle of the vehicle.

  The continuation determination unit 65 determines whether the lane change of the host vehicle by the drive control unit 61 can be continued. Specifically, an external vehicle that exists at the target position or can move to the target position within a predetermined time is searched based on the output from the obstacle detection unit 12, and such a vehicle is found. Sometimes it is determined that the lane change cannot be continued.

  The presentation control unit 66 causes the information presentation unit 20 to present lane change information when the drive control unit 61 is executing a lane change of the host vehicle. The lane change information here is information indicating that the host vehicle is changing the lane.

  In addition, when the continuation determination unit 65 determines that the lane change cannot be continued during the lane change and the drive control unit 61 executes a return operation described later, the presentation control unit 66 returns the return operation as the lane change information. Information is presented to the information presentation unit 20.

<Lane change information>
In the present embodiment, the presentation control unit 66 has different information depending on the distance between the target position determined by the target determining unit 63 and the current position specified by the position specifying unit 64 as lane change information. To the information presentation unit 20.

As shown in FIG. 4A, the HUD display image 31 displays a road image 81, a host vehicle icon 82, a lane change icon 83, and the like. These form lane change information.
The road image 81 is an image that is displayed according to the lane information recognized by the lane recognition unit 62. A road image 81 shown in FIG. 4A is an example of a road image when the lane recognition unit 62 recognizes a traveling lane and an adjacent lane located on the right side of the traveling lane.

  When two or more lanes are recognized by the lane recognizing unit 62, all the recognized lanes may be displayed, and necessary lanes, for example, a running lane and a target for lane change It may be configured to display only the portion including the lane.

  The own vehicle icon 82 is an icon indicating which position of the road the host vehicle is traveling in the lateral direction, and is displayed by being superimposed on the road image 81, so that the lane and the own vehicle on the actual road are displayed. The positional relationship is shown.

  The lane change icon 83 is an arrow indicating the traveling direction of the host vehicle displayed when the lane change is performed, and the shape is determined based on the current vehicle position and the target position. For example, when the drive control unit 61 is planning to change the lane to the adjacent lane, as shown in FIG. 4B, the lane change icon 83 moves to the adjacent lane so as to suggest the lane change. Displayed as a shape.

  As shown in FIG. 4C, in the middle of the lane change, the own vehicle icon 82 moves toward the adjacent lane on the right side of the road image 81, and the position where the arrow of the lane change icon 83 starts is also on the right side. Move to.

  Thus, when the lane change is being executed, an image corresponding to the distance between the target position and the current position of the vehicle is displayed. A plurality of image data corresponding to the distance is stored in the memory 52, and one image corresponding to the distance at the timing is selected and displayed on the HUD display image 31.

  Further, a left arrow 84 and a right arrow 85 are displayed on the HUD display image 31. The left arrow 84 and the right arrow 85 are blinking arrows when changing lanes. As shown in FIGS. 4B and 4C, the right arrow 85 blinks when changing lanes to the right.

  In addition to the above-described image, the HUD display image 31 displays a steering wheel icon 86, a gear display 87, a battery remaining amount 88, a speed display 89, and the like that suggest the current steering angle based on the rotational position. Even when the liquid crystal display 33 is used as the information presentation unit 20, a similar image can be displayed.

  The relationship between the actual lane change behavior of the vehicle and the HUD display image 31 will be described with reference to FIG. A road overhead view 91 as seen from above is a diagram schematically showing a lane change of a vehicle 93 on a two-lane road 92. The parameter on the right side of the vehicle 93 indicates the percentage of lane change, in other words, the percentage of completed lane change with respect to the lateral distance.

  A transition diagram 101 showing a transition of the HUD display image 31 is a diagram illustrating a change in the offset amount of the lane change icon 83 that changes as the lane change progresses. In the transition diagram 101, the HUD display image 31 transitions from the lowermost diagram to the upper as time passes. Each HUD display image 31 roughly corresponds to the state of the vehicle 93 shown on the right side. The parameter on the left side of the HUD display image 31 indicates the offset amount as a percentage.

  As shown in FIG. 6, the offset amount here is 0% of the lane change icon 83a when there is no change in the horizontal direction, and when the change in the horizontal direction is the largest, that is, when the lane change is started. This is the amount of change in the horizontal direction of the arrow shown with the lane change icon 83c as 100%. As the lane change progresses, the distance from the current position to the target position becomes smaller, and thus, as a lane change icon 83b, it is displayed as an arrow with a shorter change in the horizontal direction.

  Returning to FIG. A lane change icon 83 with an offset amount of 100% is displayed on the HUD display image 31 at the timing when the lane change is started, which is shown second from the bottom in the transition diagram 101. As the lane change of the vehicle progresses, the host vehicle icon 82 moves to the right, and the displayed lane change icon 83 gradually changes to one having a smaller offset amount. When the lane change is completed, a lane change icon 83 with an offset amount of 0% is displayed.

  A graph 111 shown in the lower part of FIG. 5 is a graph showing the relationship between the lane change ratio and the offset amount of the lane change icon 83. As shown in the graph 111, the offset amount decreases as the lane change ratio increases, in other words, as the lane change progresses.

  In graph 111, when the lane change ratio is low and high, in other words, in the vicinity of the start timing and end timing of the lane change, the offset amount does not change greatly even if the lane change ratio increases. On the other hand, when the lane change ratio is close to 50%, the amount of change in the offset amount with respect to the change in the lane change ratio is large.

  In other words, in the present embodiment, the horizontal position indicated by the lane change icon 83 and the actual lane change ratio do not exactly match, and it is easy for the passenger to recognize the image change in the middle period of the lane change. It has become.

  Therefore, the position of the vehicle 93 in the road overhead view 91 and the horizontal length of the lane change icon 83 shown in the HUD display image 31 in the transition diagram 101 do not exactly match even if they are written side by side. The horizontal position indicated by the lane change icon 83 may be configured to match the actual lane change ratio.

  Next, the HUD display image 31 when it is determined that the lane change cannot be continued by the continuation determination unit 65 will be described. FIG. 7 is a transition diagram showing the transition of the HUD display image 31, and the HUD display image 31 changes from the bottom to the top as time passes.

  The display of the lane change icon 83 from the state (i) which is the most past state to the state (iii) is the same as the transition diagram 101. However, the obstacle image 123 is displayed on the HUD display image 31 in the state (iii) when the continuation determination unit 65 finds a vehicle that moves from the rear of the adjacent lane toward the target position.

  When the continuation determination unit 65 determines that the lane change of the own vehicle cannot be continued based on the vehicle described above, the target determination unit 63 starts the lane change of the own vehicle by the drive control unit 61 based on the target position. It changes to the position where the host vehicle existed before it was done. When the continuation determination unit 65 determines that the lane change of the host vehicle cannot be continued, the drive control unit 61 performs a return operation that is an operation of returning the host vehicle to a new target position.

  In the state (iv), in response to the change of the target position to the left lane, the lane change icon 83 in which the arrow change direction is changed to the left is displayed. Thereafter, when the lane change by the drive control unit 61 proceeds, the offset amount of the lane change icon 83 decreases as in the state (v), and when the lane change is completed, the offset amount becomes 0 as in the state (vi). .

The lane change icon 83 shown in the states (iv) and (v) is an example of information indicating the return operation.
[1-2. processing]
Next, the information presentation process which CPU51 of the vehicle control part 40 performs is demonstrated using the flowchart of FIG. This process is executed when the behavior determining unit 73 determines to execute the lane change.

  First, in S1, the CPU 51 determines a target position. Here, a target position in the lateral direction of lane change is determined. This process is a process performed by the target determination unit 63 described above.

  In S2, the CPU 51 calculates the distance from the current position of the host vehicle to the target position based on the target position determined in S1 or S6. This calculation method is not particularly limited. For example, the distance from the own vehicle to the lane marking can be calculated based on the output of the information acquisition unit 11 at that timing, and the distance can be calculated based on the result.

It is also conceivable to obtain the current distance from the lateral movement speed of the vehicle calculated from the vehicle speed and the steering angle and the distance calculated in the past.
In S3, the CPU 51 presents lane change information. Specifically, an image corresponding to the distance calculated in S <b> 2 is displayed on the information presentation unit 20. In the HUD display image 31, a lane change icon 83 having a larger offset amount as the distance is larger is displayed according to the distance described above. In addition, a host vehicle icon 82 is displayed at a position on the road image 81 according to the current lateral position of the vehicle.

By repeating S2 and S3 described above, the passenger can visually recognize the lane change icon 83 in which the offset amount gradually changes.
In S3, the CPU 51 causes the voice output unit 22 to output a voice indicating that the lane is being changed. For example, it is conceivable to output a notification sound indicating that the lane is being changed, or to output a sound “the lane is being changed”. These processes in S3 are processes by the presentation control unit 66 described above.

  In S4, the CPU 51 determines whether or not the lane change is completed. Specifically, it is determined that the lane change has been completed when the current position of the vehicle matches the target position. If it is determined in S4 that the lane change has been completed, this processing ends. On the other hand, if it is not determined that the lane change has been completed, the process proceeds to S5.

  In S5, the CPU 51 determines whether or not the lane change can be continued. This process is a process by the continuation determination unit 65 described above. If it is determined in S5 that the lane change can be continued, the process proceeds to S2. On the other hand, if it is not determined that the lane change can be continued, the process proceeds to S6.

In S6, the CPU 51 changes the target position to a position where the host vehicle is present in the traveling lane before starting the lane change. After S6, the process proceeds to S2.
[1-3. effect]
According to the first embodiment described in detail above, the following effects can be obtained.

  (1a) In the information presentation system 1, lane change information such as the lane change icon 83 is presented to the vehicle occupant during execution of lane change by automatic driving. The shape of the lane change icon 83 changes according to the progress of the lane change.

  The passenger recognizes the lane change information by visually recognizing that the lane change is being performed by automatic driving control, the lane to which the lane change has been performed, the completed percentage of the total travel distance due to the lane change, etc. can do. Therefore, in the information presentation system 1, it is possible to give a sense of security to the passenger during the lane change.

  (1b) In the information presentation system 1, the lane change information is presented to the occupant by the image by the image display unit 21 of the information presentation unit 20, so that the occupant can easily recognize the lane change situation.

  (1c) In the information presentation system 1, when the lane change cannot be continued, an image suggesting the movement to the original lane is displayed as the lane change information. The passenger can recognize that the lane change is canceled and returned by visually recognizing the lane change information.

[2. Other Embodiments]
As mentioned above, although the form for implementing this invention was demonstrated, this invention is not limited to the above-mentioned embodiment, It can implement in various deformation | transformation.

  (2a) In the above embodiment, as the lane change icon 83, the configuration in which the image of the arrow that displays the path from the current position of the vehicle to the target position is illustrated, but an image corresponding to the acceleration of the vehicle is displayed. It is good also as a structure.

  For example, it is conceivable to change the display mode of the arrow when acceleration or deceleration exceeds a predetermined threshold. A specific example will be described with reference to FIG. In the transition diagram shown in FIG. 9, the HUD display image 31 changes from the bottom to the top as time passes.

  In FIG. 9, the length of the lane change icon 131 in the traveling direction is shorter in the lengths L2 to L5 in the state (ii) to the state (v) than the length L1 in the state (i). ing. This indicates that the vehicle is decelerating while changing lanes. L4 is shorter than L2, L3, and L5, which indicates that the deceleration acceleration in the state (iv) is larger than the others. Although not shown, when the vehicle accelerates, the length of the arrow becomes longer.

  The above-described example shows that the acceleration is large by changing the shape of the displayed image, but it can be considered that the acceleration is large due to a change in color or pattern in addition to the shape. Further, the shape, color, pattern, or the like may be changed according to the magnitude of acceleration.

  Moreover, you may be comprised so that the change of acceleration may be displayed by adding the other image which shows acceleration and deceleration. For example, the characters “acceleration” and “deceleration” may be superimposed on the lane change icon 83 and displayed.

  (2b) In the above embodiment, the configuration in which information corresponding to the distance between the target position and the current position of the host vehicle is displayed is exemplified. However, the presentation control unit 66 may be configured to cause the information presentation unit 20 to present information corresponding to the time necessary for the vehicle to move from the current position to the target position as the lane change information.

  For this purpose, for example, a time estimation unit that estimates the time required for the host vehicle to move from the current position of the host vehicle specified by the position specifying unit 64 to the target position determined by the target determination unit 63. It is conceivable to have a configuration having A time estimation part is a structure of the function implement | achieved when CPU51 of the vehicle control part 40 runs a program.

  The time estimation unit, for example, calculates the lateral distance from the current position of the host vehicle to the target position using the travel speed of the host vehicle controlled by the drive control unit 61 and the lateral movement speed calculated from the steering angle. The divided value can be estimated as the required time.

  (2c) In the above embodiment, as the lane change icon 83, the configuration of displaying an arrow image that displays the distance from the current position of the vehicle to the target position is illustrated, but the configuration may also be such that an image other than the arrow is displayed. Good.

A specific example will be described with reference to FIG. In the transition diagram shown in FIG. 10, the HUD display image 31 changes from the bottom to the top as time passes.
In FIG. 10, a lane change icon 141 for displaying an indicator is displayed. The indicator consists of five blocks arranged on the left and right, and the color of the block changes in order from the left as the progress of the lane change to the right increases. The progress degree of the lane change may be any distance or time until the lane change is completed.

  By displaying the indicator as a lane change icon, the occupant is in the progress of the lane change, that is, the ratio of the completed travel distance of the total travel distance due to the lane change and the ratio of the elapsed time of the time required for the lane change Etc. can be easily recognized.

An indicator is not limited to the form mentioned above, The indicator of various forms can be displayed in the range which a passenger can understand the progress of a lane change.
In addition to the arrows and indicators, the lane change information is displayed as an image indicating at least the target position of the lane change and the current position of the vehicle, so that the passenger can recognize the current lane change status. .

  Further, by displaying an image showing three points of the start position, the target position, and the current position of the lane change, the passenger can easily recognize the progress of the lane change. For example, by displaying the lane change icon 83 whose offset amount is 100% together with the lane change icon 83 based on the current position, the passenger can recognize the progress by comparing these icons. .

  (2d) The lane change information may be configured to display an image indicating that the host vehicle is changing the lane without indicating the degree of progress of the lane change. For example, it may be configured such that the characters “changing lanes” are displayed on the image display unit 21 or an image or a moving image showing that the vehicle is changing lanes is simply displayed.

  (2e) In the above embodiment, the configuration in which the lane change information is presented by the image display unit 21 and the audio output unit 22 is exemplified, but only one of them may be configured to present the lane change information. In addition, also when performing the audio | voice output by the audio | voice output part 22, you may change the content output according to the distance and time from the present position of a vehicle to a target position. For example, it is conceivable to change the volume or the content of the sound according to the distance or time.

  (2f) The functions of the M constituent elements in the above embodiment may be distributed as N constituent elements, or the functions of the N constituent elements may be integrated into the M constituent elements. Note that M is an integer greater than or equal to 1, and N is an integer greater than M. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified only by the wording described in the claim are embodiment of this invention.

  (2g) In addition to the information presentation system 1 described above, a vehicle control unit 40 that is a component of the information presentation system 1, a program for causing a computer to function as the vehicle control unit 40, a semiconductor memory in which the program is recorded, and the like The present invention can also be realized in various forms such as a non-transition actual recording medium and a warning method.

DESCRIPTION OF SYMBOLS 1 ... Information presentation system, 20 ... Information presentation part, 61 ... Drive control part, 66 ... Presentation control part

Claims (7)

A drive control unit (61) for performing lane change of the vehicle by performing at least steering and speed control of the vehicle;
An information presentation unit (20) for presenting information to a passenger of the vehicle;
When the lane change of the vehicle is being executed by the drive control unit, a presentation control unit that causes the information presentation unit to present lane change information that is information indicating that the vehicle is changing the lane (66)
An information presentation system (1) comprising: The information presentation system according to claim 1,
Furthermore, an information acquisition unit (11) that acquires information on the road surface around the vehicle;
Based on the information acquired by the information acquisition unit, a lane recognition unit (62) that recognizes at least a traveling lane in which the vehicle is traveling and an adjacent lane that is adjacent to the traveling lane. )When,
Based on the travel lane recognized by the lane recognition unit and the adjacent lane, the vehicle is a target position for the vehicle to move by changing the lane in the lateral direction in which the travel lane and the adjacent lane are arranged. A target determining unit (63) for determining a target position;
A position specifying unit (64) for specifying the current position of the vehicle in the lateral direction,
The presentation control unit presents the information according to the distance between the target position determined by the target determination unit and the current position specified by the position specifying unit as the lane change information. Information presentation system to be presented to the department. The information presentation system according to claim 1,
Furthermore, an information acquisition unit (11) that acquires information on the road surface around the vehicle;
Based on the information acquired by the information acquisition unit, a lane recognition unit (62) that recognizes at least a traveling lane in which the vehicle is traveling and an adjacent lane that is adjacent to the traveling lane. )When,
Based on the travel lane recognized by the lane recognition unit and the adjacent lane, the vehicle is a target position for the vehicle to move by changing the lane in the lateral direction in which the travel lane and the adjacent lane are arranged. A target determining unit (63) for determining a target position;
A position specifying unit (64) for specifying the current position of the vehicle in the lateral direction;
A time estimating unit that estimates a time required for the vehicle to move from the current position of the vehicle specified by the position specifying unit to the target position determined by the target determining unit;
The presentation control unit causes the information presentation unit to present information according to the time estimated by the time estimation unit as the lane change information. The information presentation system according to any one of claims 1 to 3,
Furthermore, a continuation determination unit (65) for determining whether or not the lane change of the vehicle by the drive control unit can be continued,
When the continuation determination unit determines that the lane change of the vehicle cannot be continued, the drive control unit is a return operation that returns the vehicle to the lateral position where the lane change being performed is started. Perform the action,
The presentation control unit provides information indicating that the vehicle is performing the return operation when the return operation is being performed by the drive control unit as the lane change information. Information presentation system to be presented to the department. The information presentation system according to any one of claims 1 to 4,
The information presentation unit includes an image display unit (21) capable of displaying an image,
The presentation control unit displays the lane change information as an image on the image display unit. The information presentation system according to claim 5,
The said presentation control part is an information presentation system which displays the image according to the acceleration of the said vehicle on the said image display part. The information presentation system according to any one of claims 1 to 6,
The information presentation unit includes an audio output unit (22) capable of outputting audio,
The said presentation control part is an information presentation system which outputs the said lane change information to the said audio | voice output part as an audio | voice.

Images