Driving assistance method, and driving assistance device, driving control device, vehicle, driving assistance program, and recording medium using said method
First Claim
1. A driving assistance device comprising:
- an action information input unit, which, in operation, acquires, from an autonomous driving controller that determines an action of a vehicle during autonomous driving of the vehicle, action information indicating a first action that the vehicle is caused to execute;
a detection information input unit, which, in operation, acquires, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result;
a candidate determination unit, which, in operation, determines, based on the detection information, at least one second action that the vehicle is caused to execute after the first action indicated by the action information, the first action and the at least one second action adjusting movement of the vehicle;
an image generator, which, in operation, generates a first image representing the first action indicated by the action information and a second image representing the at least one second action; and
an image output unit, which, in operation, outputs the first image and the second image to a display in the vehicle, whereinthe at least one second action includes a plurality of second actions,the candidate determination unit, in operation, determines the plurality of second actions and determines a priority order of each of the plurality of second actions,the image generator, in operation, generates a plurality of third images representing the plurality of second actions,the image output unit, in operation, outputs the plurality of third images according to priority orders to the display in the vehicle to display the plurality of third images in a manner according to the priority orders.
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Accused Products
Abstract
The driving assistance device acquires, from an autonomous driving controller that determines an action of a vehicle during autonomous driving of the vehicle, action information indicating a first action that the vehicle is caused to execute. The driving assistance device acquires, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result. The driving assistance device determines a second action which is executable in place of the first action, based on the detection information. The driving assistance device generates a first image representing the first action and a second image representing the second action. The driving assistance device outputs the first image and the second image to a notification device such that the first image and the second image are displayed within a fixed field of view of a driver of the vehicle.
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Citations
19 Claims
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1. A driving assistance device comprising:
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an action information input unit, which, in operation, acquires, from an autonomous driving controller that determines an action of a vehicle during autonomous driving of the vehicle, action information indicating a first action that the vehicle is caused to execute; a detection information input unit, which, in operation, acquires, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result; a candidate determination unit, which, in operation, determines, based on the detection information, at least one second action that the vehicle is caused to execute after the first action indicated by the action information, the first action and the at least one second action adjusting movement of the vehicle; an image generator, which, in operation, generates a first image representing the first action indicated by the action information and a second image representing the at least one second action; and an image output unit, which, in operation, outputs the first image and the second image to a display in the vehicle, wherein the at least one second action includes a plurality of second actions, the candidate determination unit, in operation, determines the plurality of second actions and determines a priority order of each of the plurality of second actions, the image generator, in operation, generates a plurality of third images representing the plurality of second actions, the image output unit, in operation, outputs the plurality of third images according to priority orders to the display in the vehicle to display the plurality of third images in a manner according to the priority orders. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15)
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16. A driving control device comprising:
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an autonomous driving controller, which, in operation, determines an action of a vehicle during autonomous driving of the vehicle; a detection information input unit, which, in operation, acquires, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result; a candidate determination unit, which, in operation, determines, based on the detection information, at least one second action that the vehicle can be caused to execute after a first action that the autonomous driving controller causes the vehicle to execute, the first action and the at least one second action adjusting movement of the vehicle; an image generator, which, in operation, generates a first image representing the first action and a second image representing the second action; and an image output unit, which, in operation, outputs the first image and the second image to a display in the vehicle, wherein the at least one second action includes a plurality of second actions, the candidate determination unit, in operation, determines the plurality of second actions and determines a priority order of each of the plurality of second actions, the image generator, in operation, generates a plurality of third images representing the plurality of second actions, the image output unit, in operation, outputs the plurality of third images to the display in the vehicle to display the plurality of third images in a manner according to priority orders. - View Dependent Claims (17)
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18. A driving assistance method executed by a computer, the method comprising:
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acquiring, from an autonomous driving controller that determines an action of a vehicle during autonomous driving of the vehicle, action information indicating a first action that the vehicle is caused to execute; acquiring, from a detector that detects a surrounding situation and a travel state of the vehicle, detection information indicating a detection result; determining, based on the detection information, at least one second action that the vehicle can be caused to execute after the first action indicated by the action information, the first action and the at least one second action adjusting movement of the vehicle, the at least one second action including a plurality of second actions; determining a priority order of each of the plurality of second actions; generating a first image representing the first action indicated by the action information and a second image representing the second action; and generating a plurality of third images representing the plurality of second actions; outputting the first image, the second image, and the plurality of third images to a display in the vehicle; and displaying the plurality of third images in a manner according to priority orders. - View Dependent Claims (19)
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Specification