JP6107618B2 - Peripheral mobile object display device - Google Patents

Description

  The present invention relates to a peripheral moving body display device that sequentially displays the position of a moving body such as another vehicle existing around a host vehicle.

  There is known an apparatus that sequentially displays the position of a moving body existing around the host vehicle. For example, Patent Document 1 discloses a technique for displaying the position of a vehicle that is a moving body. When the host vehicle is about to turn right at an intersection, an oncoming vehicle that travels in each lane of the oncoming lane appears in a pop-up window. Is displayed as an icon. The pop-up window also displays an icon of the host vehicle. The driver grasps the timing of the right turn from the distance between the icon of the oncoming vehicle and the icon of the own vehicle.

JP 2007-102492 A

  The icon of the other vehicle displayed in the pop-up window of Patent Document 1 does not have an index indicating the distance or direction from the icon of the own vehicle. Therefore, it is difficult to understand the distance between the host vehicle and the other vehicle and the direction of the other vehicle with respect to the host vehicle.

  In view of this, it is conceivable to display a plurality of display sections serving as a guide for the distance and direction from the host vehicle together with the positions of other vehicles. As the display section, for example, a plurality of square-shaped display sections formed by grid-like lines centering on the host vehicle can be considered.

  If a plurality of display sections are displayed, it is easy for the driver to determine the distance to the other vehicle and the direction of the other vehicle by determining which display section is a display indicating that another vehicle exists. Can be judged.

  In order to display the position of the other vehicle relative to the host vehicle on the display unit, an area corresponding to the display section (hereinafter referred to as a display section corresponding area) is set around the host vehicle using the position of the host vehicle as a reference position. There is a need.

  When the display section corresponding area is set around the own vehicle, the direction of the display section corresponding area with respect to the road also changes as the direction of the own vehicle with respect to the road changes.

  If the orientation of the display area corresponding to the road changes, the display area corresponding area set in front of the host vehicle and the display area corresponding area set on the side of the own vehicle are the same. May be in the lane. In this case, in the display unit, after the display section corresponding to the front of the host vehicle becomes a display in which another vehicle exists, the display section corresponding to the side of the host vehicle becomes a display in which the other vehicle exists.

  When the display section, which is a display indicating that another vehicle exists, changes as described above, there is an impression that the other vehicle turns around from the front to the side of the host vehicle. However, in reality, the other vehicle is traveling straight on the road in front of the own vehicle extending left and right with respect to the own vehicle. For this reason, it is considered that the driver who sees the actual other vehicle often feels that the other vehicle has passed in front of the host vehicle. Therefore, the driver displays the display area where the other vehicle exists. If you change from front to side, you may feel uncomfortable.

  The possibility that the driver may feel such a sense of incongruity is not limited to the case where the moving body moving in front of the host vehicle is an automobile. Similarly, when displaying the presence of a light vehicle that is a vehicle other than an automobile or a person that is a moving body other than a vehicle, the driver may feel uncomfortable.

  The present invention has been made based on this situation, and the object of the present invention is to display a peripheral moving body display that displays the presence of a moving body around the host vehicle while reducing the driver's uncomfortable feeling. To provide an apparatus.

  The above object is achieved by a combination of the features described in the independent claims, and the subclaims define further advantageous embodiments of the invention.

The present invention for achieving the above object includes a moving body position acquisition unit (72) for acquiring the position of a moving body existing around the host vehicle, and a plurality of display sections (81, 811). A display unit (30) for displaying a moving body position notification image (80, 801) indicating the position of the moving body with respect to the host vehicle by displaying a part of the display sections in the moving body existence color, An area setting unit (74) for setting a display section corresponding area (95), which is an area corresponding to each display section of the moving body position notification image, around the own vehicle with the position of the own vehicle as a reference position; Corresponding to the position of the moving body acquired by the moving body position acquisition unit in the moving body position notification image based on the comparison between the display section corresponding area set by the unit and the position of the moving body acquired by the moving body position acquisition unit. The display area is determined and the determined display area A display determination unit (73) for displaying the vehicle in the presence color of the moving body, and the region setting unit determines whether the angle difference between the direction of the road on which the host vehicle is traveling and the traveling direction of the host vehicle is set in advance. If the angle difference is determined not to exceed the switching determination value, the display section corresponding area is set along the front, rear, left and right of the host vehicle, while the angle difference is determined to be switched. Based on the determination that the value has been exceeded , the display area corresponding to the front and rear sides of the host vehicle is rotated around the own vehicle, and the display area corresponding to the front of the own vehicle is A peripheral moving body display device characterized in that each display section corresponding area is set along a road on which a vehicle is traveling.

  According to the present invention, when it is determined that the angle difference between the road on which the host vehicle is traveling and the direction of the host vehicle has exceeded the switching determination value, the display zone corresponding area in front of the host vehicle is Each display section corresponding area is set along the road.

  As a result, when the vehicle travels on the road on which the host vehicle is traveling and another vehicle passes in front of the host vehicle, the moving body moves in front of the host vehicle in the direction of travel along the road on which the host vehicle is traveling. When the vehicle passes, the display section located in front of the host vehicle is only displayed in the moving body presence color in the moving body position notification image, and the side display section of the host vehicle is not displayed in the moving body presence color. Therefore, it is possible to display the presence of a moving body present in the vicinity of the host vehicle while reducing the driver's uncomfortable feeling.

  In addition, the code | symbol in the parenthesis described in the 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 limited is not.

It is a lineblock diagram of peripheral existence vehicle display 1 of an embodiment. 3 is a block diagram illustrating functions of a control unit 70. FIG. FIG. 6 is a diagram illustrating another vehicle position notification image 80. It is a flowchart explaining the process which the control part 70 performs. It is a detailed flowchart of step S11 of FIG. It is a detailed flowchart of step S14 of FIG. It is a figure showing the relation of vehicles Cm, other vehicles Ct, display section correspondence field 95, etc. It is an example of a display change of the other vehicle position notification image 80 as a comparative example. It is the figure which has set the display division corresponding | compatible area | region 95 on the basis of the road currently drive | working. It is an example of a display change of the other vehicle position notification image 80 in the embodiment. It is a figure explaining the modification 3. FIG. It is a figure which shows the other vehicle position notification image.

<Overall configuration>
Hereinafter, embodiments of the present invention will be described with reference to the drawings. This embodiment is an embodiment that displays the position of another vehicle that is one of the moving bodies, and the surrounding vehicle display device 1 of this embodiment corresponds to the surrounding moving body display device of the claims.

  As shown in FIG. 1, the surrounding vehicle display device 1 of this embodiment includes a position detection unit 10, a wireless communication unit 20, a display unit 30, an output sound generation unit 40, a speaker 50, a storage unit 60, and a control unit 70. Equipped and mounted on the vehicle. In addition to this, an optical beacon receiver may be provided. Hereinafter, a vehicle on which the surrounding vehicle display device 1 is mounted is referred to as a host vehicle.

  The position detection unit 10 includes a GNSS receiver that is used in a GNSS (Global Navigation Satellite System) that detects the position of its own device based on radio waves from a satellite. Based on the signal received by the GNSS receiver, the coordinates of the current position are detected.

  The wireless communication unit 20 is a communication unit that performs wireless communication between a wireless device included in a roadside device and an inter-vehicle communication device mounted on another vehicle. The wireless communication unit 20 uses a predetermined frequency such as 700 MHz band and 5 GHz band, for example, and the communication range is, for example, a radius of several hundred meters. The wireless communication unit 20 corresponds to a road-to-vehicle receiver and a vehicle-to-vehicle receiver in the claims.

  The display unit 30 is installed at a position that is visible to the driver in the passenger compartment. The other vehicle position notification image 80 illustrated in FIG. 3 is displayed on the display unit 30. The other vehicle position notification image 80 corresponds to the moving body position notification image in the claims.

  The output sound generator 40 includes a DA converter and an amplifier, converts the input digital signal into an analog signal, amplifies it, and outputs it to the speaker 50. The speaker 50 is for outputting sound into the vehicle interior, receives the analog signal generated by the output sound generation unit 40, converts this analog signal into sound, and outputs it to the vehicle interior.

  The storage unit 60 has a writable configuration, such as a start determination area 90 or a start determination line 91 used in a right turn support start determination condition described later, information acquired from other vehicles or roadside devices via the wireless communication unit 20, and the like. Remembered.

  The control unit 70 is connected to the position detection unit 10, the wireless communication unit 20, the display unit 30, the output sound generation unit 40, and the storage unit 60, and exchanges signals with them. The control unit 70 also receives a vehicle speed, a direction indication signal indicating an operation state of the direction indication lever, and a steering angle signal indicating a steering rotation angle. The control unit 70 is a computer including a CPU, a ROM, a RAM, and the like, and the CPU executes a program stored in the ROM while using a temporary storage function of the RAM. By executing this program, the control unit 70 functions as the host vehicle information transmission processing unit 71, the other vehicle position acquisition unit 72, the display determination unit 73, and the region setting unit 74 shown in FIG.

<Function of Control Unit 70>
The own vehicle information transmission processing unit 71 transmits information on the own vehicle including the position of the own vehicle detected by the position detection unit 10 from the wireless communication unit 20 to the outside at a predetermined cycle. The information related to the own vehicle transmitted from the wireless communication unit 20 is hereinafter referred to as transmission vehicle information.

  The other vehicle position acquisition unit 72 acquires the transmission vehicle information that the other vehicle sequentially transmits and the wireless communication unit 20 receives from the wireless communication unit 20, and based on the transmission vehicle information, the other vehicle position that exists in the vicinity of the own vehicle The position of the vehicle is determined sequentially. The other vehicle position acquisition unit 72 corresponds to a moving body position acquisition unit in claims.

  The display determination unit 73 determines a display start timing for starting the display of the other vehicle position notification image 80 on the display unit 30 and a display end timing for ending the display of the other vehicle position notification image 80. Then, the other vehicle position notification image 80 is displayed on the display unit 30 from the display start timing to the display end timing. In the present embodiment, the other vehicle position notification image 80 is displayed in the oncoming vehicle support process that is a part of the right turn support process that performs support when the host vehicle turns right at the intersection. Therefore, both the display start timing and the display end timing are during the right turn support process.

  FIG. 3 illustrates another vehicle position notification image 80. The other vehicle position notification image 80 of the present embodiment has a shape in which square display sections 81a to 81i are arranged in three vertical rows and three horizontal rows. In the center display section 81e, a host vehicle figure 82 indicating the position of the host vehicle is shown.

  In this other vehicle position notification image 80, the display section 81 corresponding to the position of the other vehicle is indicated by the vehicle presence color. This vehicle presence color corresponds to the moving body presence color in the claims. In the example of FIG. 3, the display area 81a at the upper left is shown in the vehicle presence color. The direction of the other vehicle position notification image 80 is fixed, and the direction of the other vehicle position notification image 80 does not change even if the traveling direction of the host vehicle changes.

  Returning to FIG. In addition to starting display of the other vehicle position notification image 80 on the display unit 30 and ending the display, the display determination unit 73 determines a display section 81 corresponding to the position of the other vehicle in the other vehicle position notification image 80. And the process which displays the determined display section 81 with a vehicle presence color is also performed. In this processing, the display section corresponding area 95 (see FIGS. 7 and 9) set by the area setting unit 74 described below is used.

  The region setting unit 74 sets a display section corresponding region 95 that is a region corresponding to each display section 81 of the other vehicle position notification image 80 around the host vehicle using the position of the host vehicle as a reference position. In the present embodiment, each display section 81 of the other vehicle position notification image 80 has a shape obtained by subdividing a square centered on the host vehicle position into nine squares. Therefore, the display section corresponding area 95 is also a shape obtained by subdividing a square centered on the vehicle position into nine squares.

  As can be seen from FIG. 3, the vertical and horizontal arrangement directions of the display sections 81 are along the front-rear direction and the left-right direction of the host vehicle. Therefore, the vertical and horizontal arrangement directions of the nine display section corresponding areas 95 corresponding to the display sections 81 are also directions along the front-rear direction and the left-right direction of the host vehicle when a switching condition described later is not satisfied.

  This region setting unit 74 also determines whether or not a switching condition is satisfied. The switching condition is a condition for determining whether or not to switch the direction of the display section corresponding area 95 from the direction based on the host vehicle to the direction based on the road.

  The content of the switching condition is whether or not the angle difference between the direction of the road on which the host vehicle is traveling and the traveling direction of the host vehicle exceeds a preset switching determination value. When the angle difference exceeds the switching determination value, the switching condition is satisfied. The switching determination value is a corner at which the host vehicle can determine that the vehicle turns right or left on the road, and is appropriately set within a range of 20 to 60 degrees, for example. Note that the road on which the host vehicle is traveling within the intersection means a road that has been traveling before entering the intersection unless the lane that was traveling before entering the intersection is exited.

  When this switching condition is satisfied, the area setting unit 74 causes the host vehicle to travel in the display section corresponding area 95 in front of the host vehicle, that is, the display section corresponding areas 95a to 95c corresponding to the display sections 81a to 81c. The display area corresponding areas 95a to 95i are set along the roads.

<Details of processing of control unit 70>
Next, processing executed by the control unit 70 will be further described with reference to the flowchart shown in FIG. The processing shown in FIG. 4 is periodically executed in a state where the ignition is on.

  In step S1, it is determined whether or not the support state is supporting a right turn. If it is determined that the right turn is not being supported, the process proceeds to step S2.

  In step S2, a right turn support start determination process is performed. The right turn support start determination process is a process for determining whether a preset right turn support start condition is satisfied.

  The right turn support start condition is, for example, whether the light beacon has passed, the start determination area 90 has been entered, or the start determination line 91 has been passed. When the right turn support start condition is that the vehicle enters the start determination area 90 or passes through the start determination line 91, the boundary coordinates of the start determination area 90 or the coordinates of the start determination line 91 are stored in the storage unit 60 in advance. Keep it. Then, based on the boundary coordinates of the start determination area 90 or the coordinates of the start determination line 91 stored in advance and the coordinates of the host vehicle detected by the position detection unit 10, the start determination area 90 has been entered, or the start determination It is determined whether the line 91 has been passed. FIG. 7 illustrates a start determination area 90 and a start determination line 91. The start determination area 90 and the start determination line 91 are set to a predetermined distance before the intersection.

  In step S3, based on the result of the determination process in step S2, it is determined whether to start right turn support. In the determination process of step S2, if the right turn support start condition is satisfied, step S3 is set to Yes, and if the right turn support start condition is not satisfied, step S3 is set to No. If step S3 is No, it will return to step S1, and if it is Yes, it will progress to step S4.

  In step S4, a right turn support start process is performed. Specifically, this process determines to notify the start of the right turn support by sound or display. Also, the support state is changed during the right turn support.

  In step S5, the support process determined in step S4 or steps S11 and S14 described later is executed. Therefore, when this step S5 is executed following step S4, the start of the right turn support is notified by sound or display. After executing step S5, the process returns to step S1.

  When step S5 is executed and the process returns to step S1, since the support state is in the right-turn support in step S4, step S1 is Yes, and the process proceeds to step S6.

  In step S6, right turn support end determination processing is performed. The right turn support end determination process is a process for determining whether or not a preset right turn support end condition is satisfied.

  The right turn support end condition is, for example, having passed the support end line or entering the support end area. Alternatively, the right turn support end condition may be that the elapsed time from the start of the right turn support process has passed a preset right turn support time.

  Whether the vehicle has passed the support end line or entered the support end area is determined by, for example, the travel distance from the start of the right turn support. In this case, the travel distance from the start of the right turn support to the end of the right turn support is stored in the storage unit 60. Further, as in the right turn support start determination process, the coordinates of the support end line and the boundary coordinates of the support end area may be stored. FIG. 7 illustrates a support end line 94. The support end line 94 is set on the pedestrian crossing in parallel with the pedestrian crossing.

  In step S7, based on the result of the determination process in step S6, it is determined whether to continue right turn support. In the determination process of step S6, if the right turn support end condition is satisfied, step S7 is No, and if the right turn support end condition is not satisfied, step S7 is Yes. If step S7 is No, it will progress to step S15, and if it is Yes, it will progress to step S8.

  In step S8, it is determined whether or not the support state is oncoming vehicle support. If it is determined that the oncoming vehicle is not being supported, the process proceeds to step S9.

  In step S9, an oncoming vehicle support start determination process is performed. The oncoming vehicle support start determination process is a process of determining whether a preset oncoming vehicle support start condition is satisfied.

  The oncoming vehicle support start condition in the present embodiment is that the own vehicle has passed the oncoming vehicle support start line and that the own vehicle has stopped. FIG. 7 also shows an oncoming vehicle support start line 92. As shown in FIG. 7, the oncoming vehicle support start line 92 is set near the stop line between the intersections. FIG. 7 also shows an oncoming vehicle support area 93 that is an area for performing oncoming vehicle support processing. Passing the oncoming vehicle support start line 92 simply determines whether or not the host vehicle has entered the oncoming vehicle support area 93. The oncoming vehicle support area 93 corresponds to the oncoming vehicle support area in the claims.

  The storage unit 60 stores the coordinates of the oncoming vehicle support start line 92. In step S 9, the host vehicle passes the oncoming vehicle support start line 92 from the coordinates of the oncoming vehicle support start line 92 stored in the storage unit 60 and the coordinates of the host vehicle detected by the position detection unit 10. It is determined whether or not. The stop determination, which is another condition for the oncoming vehicle support start condition, is determined using a signal from the vehicle speed sensor. The stop here is not only a complete stop but also an extremely low speed close to the stop.

  In step S10, it is determined whether to start oncoming vehicle support based on the result of the determination process in step S9. In the determination process of step S9, if the oncoming vehicle support start condition is satisfied, step S10 is Yes, and if the oncoming vehicle support start condition is not satisfied, step S10 is No. If step S10 is No, it will return to step S1, and if it is Yes, it will progress to step S11.

  In step S11, an oncoming vehicle support start process is performed. Details of this processing are shown in FIG. In step S111 of FIG. 5, it is assumed that the support state is during oncoming vehicle support.

  In subsequent step S112, the traveling direction of the host vehicle is determined. The traveling direction of the host vehicle is determined from the travel locus of the host vehicle. The travel locus is determined by connecting the positions of the host vehicle sequentially acquired by the position detection unit 10. When the gyro sensor signal can be acquired, the traveling direction of the host vehicle may be determined from the signal.

  In the following step S113, the front and rear, left and right of the host vehicle are determined from the traveling direction of the host vehicle determined in step S112, and the display sections corresponding to the nine display sections 81 are arranged along the front and rear and left and right of the host vehicle. A region 95 is set around the host vehicle. The size of each display section corresponding area 95 is set in advance.

  In step S114, the vehicle position included in the transmission vehicle information is acquired from the transmission vehicle information received by the wireless communication unit 20, and this vehicle position is set as the other vehicle position. When transmission vehicle information is acquired from a plurality of other vehicles, a vehicle position is acquired from each transmission vehicle information, and each vehicle position is set as another vehicle position.

  In step S115, the display section corresponding area 95 set in step S113 is compared with all other vehicle positions acquired in step S114. If there is another vehicle position within any one of the display section corresponding areas 95, the display section 81 corresponding to the display section corresponding area 95 is determined as the display section 81 having the vehicle presence color. In addition, when there are a plurality of display sections 81 determined to be the vehicle presence color, the plurality of display sections 81 may be different from each other. Further, the color may be determined according to the number of other vehicles corresponding to one display section 81. When all the other vehicle positions are not inside any of the display section corresponding areas 95, the display section 81 having the vehicle presence color is not provided.

  Returning to FIG. After executing step S11, the support process of step S5 is executed. In this case, the other vehicle position notification image 80 in which the display section 81 determined in step S115 is the vehicle presence color is displayed on the display unit 30.

  After step S5 is executed, the process returns to step S1 as described above. Immediately after executing step S11, the right turn support end condition is not yet established. If the right turn support end condition is not satisfied, Step S7 is Yes. The support state is oncoming vehicle support. Therefore, step S8 becomes Yes and proceeds to step S12.

  In step S12, an oncoming vehicle support end determination process is performed. The oncoming vehicle support end determination process is a process of determining whether or not a preset oncoming vehicle support end condition is satisfied.

  The oncoming vehicle support end condition is, for example, the departure from the oncoming vehicle support area. Further, the oncoming vehicle support end condition may be that the elapsed time from the start of the oncoming vehicle support processing has passed a preset oncoming vehicle support time.

  FIG. 7 illustrates an oncoming vehicle support area 93. The oncoming vehicle support area 93 shown in FIG. 7 is an area within a circle centered on the intersection center and including the intersection. The boundary circle of the oncoming vehicle support area 93 is stored in the storage unit 60 in advance. Then, from the stored boundary circle and the coordinates of the host vehicle detected by the position detection unit 10, it is determined whether or not the oncoming vehicle support end condition is satisfied.

  In step S13, it is determined whether to continue oncoming vehicle support based on the result of the determination process in step S12. In the determination process of step S12, if the oncoming vehicle support end condition is satisfied, step S13 is No, and if the oncoming vehicle support end condition is not satisfied, step S13 is Yes. If step S13 is No, it will progress to step S15, and if it is Yes, it will progress to step S14.

  In step S14, an oncoming vehicle display section determination process is performed. Details of this processing are shown in FIG. In step S141 of FIG. 6, it is determined whether road alignment information has been acquired. The road alignment information is information that is sequentially transmitted by a roadside device (not shown) installed at an intersection, and the roadside device transmits the road information including the road alignment information.

  The road alignment information is information representing the linear structure of the road in the support target range around the intersection where the roadside machine is installed (hereinafter, the target intersection). The road alignment information also includes information on the position of the target intersection. For example, the road alignment information includes the position (latitude and longitude) of a target intersection measured and stored in advance, a plurality of road structure specified points (latitude and longitude) around the target intersection, and road structure specified points adjacent to each other. This is information such as the length of the connecting line segment and the direction of the line segment. The position of the target intersection is the position of the center of the intersection.

  Since the intersection information includes road alignment information corresponding to the number of approach roads, it is necessary to select road alignment information corresponding to the approach road on which the vehicle is traveling. This selection is made based on a comparison between the direction of each approach road indicated by the road alignment information and the direction of the own vehicle or the direction of the traveling locus, and the approach that most closely matches the direction of the own vehicle or the direction of the traveling locus. Select road alignment information for the road.

  If the determination in step S141 is No, the process proceeds to step S142, and if Yes, the process proceeds to step S144. In step S142, road alignment information corresponding to the road on which the host vehicle is traveling is acquired from the intersection information received by the wireless communication unit 20 from the roadside machine.

  In subsequent step S143, the direction of the road on which the host vehicle is traveling is determined based on the road alignment information acquired in step S142.

  In step S144, the traveling direction of the host vehicle is determined. The traveling direction of the host vehicle is calculated by the same process as step S112 in FIG.

  In step S145, the angle difference between the direction of the road on which the vehicle is traveling and the traveling direction of the host vehicle is calculated. This angle difference is calculated from the azimuth of the traveling road determined in step S143 and the traveling azimuth of the host vehicle determined in step S144.

  In step S146, it is determined whether the angle difference calculated in step S145 has exceeded a preset switching determination value. As described above, the switching determination value is an angle at which it can be determined that the host vehicle turns right or left on the road, and is appropriately set within a range of 20 to 60 degrees, for example.

  If the determination in step S146 is No, the process proceeds to step S147. In step S147, the display section corresponding area 95 is set based on the traveling direction of the host vehicle. This process is the same as step S113 in FIG.

  On the other hand, if determination of step S146 is Yes, it will progress to step S148. In step S148, the display section corresponding area 95 is set based on the direction of the traveling road determined in step S143. More specifically, each display section is arranged such that the display section corresponding area 95 in front of the host vehicle, that is, the display section corresponding areas 95a to 95c corresponding to the display sections 81a to 81c are along the road on which the host vehicle is traveling. Corresponding areas 95a to 95i are set. In this case as well, the display section corresponding area 95 corresponding to the center display section 81 is set to the position of the host vehicle. Therefore, in step S148, the display section corresponding areas 95a to 95i are set at positions where the display section corresponding area 95 set in step S147 is further rotated by 90 degrees-angle difference around the host vehicle. Will be. Note that the setting of the display section corresponding area 95 is to specifically determine the position of the boundary line of the display section corresponding area 95.

  After executing Step S147 or Step S148, the process proceeds to Step S149. Steps S149 and S150 are the same as steps S114 and S115 in FIG. 5. In step S149, the position of the other vehicle is acquired, and in step S150, the display section 81 to be the vehicle presence color is determined.

  Returning to FIG. After executing step S14, the support process of step S5 is executed. In this case, the other vehicle position notification image 80 in which the display section 81 determined in step S150 is the vehicle presence color is displayed on the display unit 30.

  If the right turn support continuation determination in step S7 is No, the process proceeds to step S15. In step S15, a right turn support end process is performed. In the right turn support end process, the support state is set to the support end, and the display on the display unit 30 is changed to a screen before the other vehicle position notification image 80 is displayed, for example, a screen on which a predetermined standby screen is displayed.

  4 to 6, steps S111 and S112 in FIG. 5 and steps S141 to S148 in FIG. 6 are processes of the region setting unit 74. Step S114 in FIG. 5 and step S149 in FIG. 6 are processes of the other vehicle position acquisition unit 72. Other steps are processing of the display determination unit 73.

<Display change example of other vehicle position notification image 80>
Next, a display change example of the other vehicle position notification image 80 will be described. As shown in FIG. 7, the host vehicle Cm is traveling toward the intersection in front of the intersection at time t0. By further running, the vehicle passes through the start determination area 90 or the start determination line 91, so right turn support is started (S2 to S4).

  The host vehicle Cm further goes straight and exceeds the oncoming vehicle support start line 92. Since the oncoming vehicle Ct, which is another vehicle, is approaching the intersection at time t1, the host vehicle Cm stops within the intersection. By stopping at the intersection, oncoming vehicle support is started, and the other vehicle position notification image 80 is displayed on the display unit 30 (S9 to S11, S5).

  If the host vehicle Cm is stopped in the intersection to wait for the oncoming vehicle Ct to pass, steps S8 and S13 are both Yes, so step S14 is executed.

  In the example of FIG. 7, it is assumed that the angle difference between the direction of the host vehicle Cm and the direction of the running road at time t1 exceeds the switching determination value. Therefore, step S146 in FIG. 6 is Yes, and step S148 is executed. By executing step S148, the display section corresponding area 95 in front of the host vehicle, that is, the display section corresponding areas 95a to 95c corresponding to the display sections 81a to 81c are arranged along the road on which the host vehicle is traveling. Display area corresponding areas 95a to 95i are set.

  However, the display area corresponding area 95 shown in FIG. 7 is a comparative example, and the display area corresponding area 95 is determined based on the traveling direction of the host vehicle even though the angle difference exceeds the switching determination value. This is the case.

  As can be seen from the figure, the oncoming vehicle is located in the display section corresponding area 95a at time t2, and is located in the display section corresponding area 95b at time t4. At the subsequent time t7, the oncoming vehicle is located not in the display section corresponding area 95c but in the display section corresponding area 95f.

  Therefore, as shown in FIG. 8, in the other vehicle position notification image 80, the display section 81a is displayed in the vehicle presence color at the time t2, the display section 81b is displayed in the vehicle presence color at the time t4, and the display section 81 is displayed at the time t7. 81f is displayed in the vehicle presence color. That is, the position of the vehicle presence color that was the display area 81 on the front side of the host vehicle figure 82 at time t2 and t4 changes to the right side of the host vehicle figure 82 at time t7. Therefore, from the change in the position of the vehicle presence color, there is an impression that the oncoming vehicle turns around from the front to the side of the host vehicle Cm.

  However, as can be seen from FIG. 7, the oncoming vehicle Ct is actually traveling straight in the lane immediately in front of the host vehicle Cm. Therefore, the driver may feel uncomfortable with the change in the position of the vehicle presence color in the other vehicle position notification image 80.

  On the other hand, in the present embodiment, as shown in FIG. 9, at the same time t1 as in FIG. 7, the display section corresponding areas 95a to 95c ahead of the host vehicle Cm are traveling by the host vehicle Cm. The display area corresponding areas 95a to 95i are set along the road.

  In this case, the oncoming vehicle Ct that travels straight in the oncoming lane is located in the display section corresponding area 95a at the time t3, is positioned in the display section corresponding area 95b at the time t5, and corresponds to the display section at the time t6. Located in region 95c.

  Therefore, as shown in FIG. 10, in the other vehicle position notification image 80, the display section 81a is displayed in the vehicle presence color at time t3, the display section 81b is displayed in the vehicle presence color at time t5, and the display section at the time t6. 81c is displayed in the vehicle presence color. That is, the display sections 81a to 81c on the front side of the host vehicle figure 82 are sequentially changed to the vehicle presence color. Therefore, the lane immediately in front of the host vehicle Cm coincides with the movement of the oncoming vehicle Ct traveling straight from left to right. From this, the driver feels that the position change of the vehicle presence color in the other vehicle position notification image 80 matches the actual movement of the oncoming vehicle Ct.

  As described above, according to the present embodiment described above, the angle difference between the traveling direction of the host vehicle Cm and the direction of the currently traveling road is calculated (S145). If it is determined that the angle difference has exceeded the switching determination value (S146: Yes), the display sections corresponding regions 95a to 95c in front of the host vehicle Cm are arranged so as to follow the road on which the host vehicle Cm is traveling. Corresponding areas 95a to 95i are set (S148).

  When the display section corresponding areas 95a to 95c in front of the host vehicle Cm are along the road on which the host vehicle Cm is traveling, the other vehicle Ct travels on the road and the oncoming vehicle Ct passes in front of the host vehicle Cm. Also in the vehicle position notification image 80, the display sections 81a to 81c positioned in front of the host vehicle Cm are displayed in the vehicle presence color, and the side display sections 81e are not displayed in the vehicle presence color. Accordingly, the driver feels that the position change of the vehicle presence color in the other vehicle position notification image 80 matches the actual movement of the oncoming vehicle Ct.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following modification is also contained in the technical scope of this invention, Furthermore, the summary other than the following is also included. Various modifications can be made without departing from the scope.

<Modification 1>
In the above-described embodiment, the other vehicle position notification image 80 is displayed based on the fact that the host vehicle has exceeded the oncoming vehicle support start line 92 set at the intersection. However, the present invention is not limited to this. For example, the host vehicle may turn right even at a location that is not an intersection, such as when entering a parking lot of a store facing a road. When turning right at a place that is not an intersection, it is necessary to pay attention to oncoming vehicles, as is the case when making a right turn at an intersection.

  Therefore, the other vehicle position notification image 80 may be displayed based on the determination that the host vehicle turns right without being within the intersection. The determination of the right turn is made, for example, from a direction indication signal indicating the operation state of the direction indication lever. Further, it may be determined from the steering angle.

<Modification 2>
7 and 9 exemplify a four-wheeled vehicle as the oncoming vehicle Ct. However, if the two-wheeled vehicle is equipped with an inter-vehicle communication device, the other vehicle is similar to the four-wheeled vehicle. The position notification image 80 displays the position of the motorcycle. Even if a light vehicle such as a bicycle is equipped with an inter-vehicle communication device, the position of the light vehicle is displayed in the other vehicle position notification image 80.

  Furthermore, the position of a moving body other than the vehicle, such as a pedestrian, may be displayed on the moving body position notification image in the same manner as the position of the other vehicle is displayed on the other vehicle position notification image 80. When displaying the position of the pedestrian in the moving body position notification image, the position of the pedestrian is determined by, for example, inter-pedal communication between the wireless communication unit 20 and the transmitter that is carried by the pedestrian and sequentially transmits the current position. get. Further, the roadside sensor may detect the position of various moving bodies such as a pedestrian, a light vehicle, and an automobile, and may acquire the position of the moving body through road-to-vehicle communication with the roadside sensor.

<Modification 3>
The above-described embodiment is an example in which the host vehicle makes a right turn. However, even when making a left turn, it may be necessary to pay attention to other vehicles traveling on the side of the host vehicle on the left turn side. For example, the vehicle may be traveling in the right lane of a two-lane road on one side and entering the road side across the left lane for some reason.

  Moreover, as shown in the modified example 2, the moving body that displays the position in the moving body position notification image is not limited to the automobile, and includes a bicycle and a pedestrian. When making a left turn at an intersection, or turning left from the leftmost lane and passing a sidewalk, it is necessary to pay attention to bicycles and pedestrians.

  Therefore, the moving body position notification image may be displayed based on the determination that the host vehicle is turning left. The determination of the left turn may be made in the same manner as in the case of the right turn. In the case of a left turn, the moving body does not necessarily approach the host vehicle from the front, and may approach the host vehicle from the rear.

<Modification 4>
Furthermore, not only when it is determined to turn left and right, but when the wireless communication unit 20 can receive the route information that can predict the route of the other vehicle that is sequentially transmitted by other vehicles, the route information is based on this route information. The start timing of the other vehicle position notification image 80 may be determined. The course information may be the course itself of the other vehicle predicted by the other vehicle, or may be a travel locus of the other vehicle. This is because it is common that the line extending the travel locus is the course.

  When based on the route information, as shown in FIG. 11, it is determined that the route prediction line La of the other vehicle Ca determined from the route information intersects with the display section corresponding region 95 set based on the traveling direction of the host vehicle Cm. In such a case, the other vehicle position notification image 80 is displayed. This is because it is necessary to pay attention to the other vehicle Ca when crossing the predicted route La of the other vehicle Ca and the display section corresponding area 95.

  In this case, the direction of the road is determined based on one or both of the route prediction line Lm of the own vehicle and the route prediction line La of the other vehicle Ca. This is because the host vehicle and other vehicles should be traveling on the road. When using both the course prediction lines Lm and La, for example, the direction of a line equidistant from both the course prediction lines Lm and La is set as the direction of the road. Then, an angle difference is calculated based on the traveling direction of the host vehicle after determining the direction of the road and the direction of the road, and it is determined whether or not the reference of the display section corresponding area 95 is switched to the traveling road.

  As can be seen from the fact that no road is shown in FIG. 11, the present invention can be implemented even if there is no road map or road shape.

<Modification 5>
In the above-described embodiment, the road alignment information is received from the roadside machine. However, the road alignment information may be acquired from an optical beacon installed in front of the intersection. Moreover, the storage part which memorize | stored the road map may be provided in a vehicle, and the shape of an intersection may be acquired from the storage part.

<Modification 6>
Further, the other vehicle position notification image 80 in the above-described embodiment includes the nine display sections 81 of 3 × 3 in the vertical direction, but is not limited thereto. For example, as shown in FIG. 12, an other vehicle position notification image 801 including five display sections 811 may be used. As shown in FIG. 12, the display section 811 may have a plurality of types. In FIG. 12, the intersection of five lines within the square indicates the position of the host vehicle. As can be seen from this, the number of front display sections 811 and the number of rear display sections 811 of the host vehicle may be different.

  Moreover, although not shown in figure, the front display area of the own vehicle may be only one. In this case, when it is determined that the angle difference between the direction of the road on which the host vehicle is traveling and the traveling direction of the host vehicle exceeds the switching determination value, the longitudinal direction of the display section corresponding region corresponding to the one display section is The area corresponding to the display section is set so as to follow the traveling road.

<Modification 7>
In the above-described embodiment, the direction of the road is determined (S143), the traveling direction of the host vehicle is determined (S144), and the angle difference is calculated from them (S145). However, when the road direction and the traveling direction of the host vehicle match, the steering angle is almost 0 degrees. Therefore, for convenience, the angle difference is calculated by multiplying the steering angle by a predetermined coefficient. Also good.

<Modification 8>
In addition, the host vehicle travels in the direction indicated by the travel trajectory that the host vehicle has traveled a predetermined distance set within a range not reaching the intersection from the start point when the right turn support start condition is satisfied. It may be the direction of the road. In this case, the angle difference is calculated from the direction of the road and the traveling direction of the host vehicle after traveling the predetermined distance.

<Modification 9>
It is not necessary for the entire display section to be the vehicle presence color. For example, a figure indicating the shape of another vehicle may be indicated in the display section using the vehicle presence color.

1: peripheral presence vehicle display device, 10: position detection unit, 20: wireless communication unit, 30: display unit, 40: output sound generation unit, 50: speaker, 60: storage unit, 70: control unit, 71: own vehicle Information transmission processing unit 72: Other vehicle position acquisition unit 73: Display determination unit 74: Area setting unit 80: Other vehicle position notification image 81: Display section 82: Own vehicle figure 90: Start determination area 91: Start determination line, 92: Oncoming vehicle support start line, 93: Oncoming vehicle support area, 94: Support end line, 95: Display section corresponding area, 801: Other vehicle position notification image, 811: Display section

Claims (6)

A moving object position acquisition unit (72) for acquiring the position of a moving object existing around the host vehicle;
A moving body position indicating a position of the moving body with respect to the host vehicle by including a plurality of display sections (81, 811) and displaying some of the plurality of display sections in a moving body existence color A display unit (30) for displaying notification images (80, 801);
An area setting unit (74) for setting a display section corresponding area (95), which is an area corresponding to each display section of the moving body position notification image, around the host vehicle with the position of the host vehicle as a reference position; ,
The movement acquired by the moving body position acquisition unit in the moving body position notification image based on a comparison between the display section corresponding area set by the area setting unit and the position of the moving body acquired by the moving body position acquisition unit A display determining unit (73) for determining a display section corresponding to the position of the body and displaying the determined display section in the moving body existence color;
The region setting unit determines whether an angle difference between a direction of a road on which the host vehicle is traveling and a traveling direction of the host vehicle exceeds a preset switching determination value, and the angle difference is When it is determined that the switching determination value is not exceeded, the display section corresponding area is set along the front, rear, left and right of the host vehicle, while the angle difference is determined to have exceeded the switching determination value. Then, the display section corresponding area set along the front, rear, left and right of the host vehicle is rotated around the host vehicle, and the display section corresponding area in front of the host vehicle is driven by the host vehicle. A peripheral moving body display device characterized in that each display section corresponding region is set along a running road. In claim 1,
A road-to-vehicle receiver (20) that sequentially transmits roadside equipment installed near the intersection and receives road alignment information indicating the shape of the road connected to the intersection, (20),
The region setting unit determines a direction of a road on which the host vehicle is traveling based on the road alignment information received by the road-to-vehicle receiving unit, and determines the determined road direction and the traveling direction of the host vehicle. The peripheral moving body display device characterized in that the angle difference is calculated on the basis thereof. In claim 1,
The region setting unit is traveling in a direction indicated by a travel locus traveled by the host vehicle at a predetermined distance starting from a point determined based on the establishment of a support start condition before the intersection. A peripheral moving body display device characterized in that the angle difference is calculated based on a road direction, and the direction of the road and the traveling direction of the host vehicle after traveling a predetermined distance from the starting point. In any one of Claims 1-3,
The display determining unit displays the moving body position notification image based on the fact that the position of the host vehicle is in an oncoming vehicle support area set at an intersection. . In any one of Claims 1-3,
The peripheral moving body display device, wherein the display determining unit displays the moving body position notification image based on determining that the host vehicle turns right or left. In claim 1,
A vehicle-to-vehicle receiver (20) that sequentially receives route information that can predict the route of the other vehicle that the other vehicle that is the mobile body sequentially transmits,
The display determination unit determines that the route prediction line determined based on the route information of the other vehicle received by the inter-vehicle reception unit intersects the display section corresponding region, and displays the moving body position notification image. Display
The area setting unit determines a direction of a road on which the host vehicle is traveling based on at least one of a course prediction line of the other vehicle and a travel locus of the host vehicle. .

Images