JP2003291688A - Display method, driving support device and program - Google Patents

Display method, driving support device and program

Info

Publication number
JP2003291688A
JP2003291688A JP2002101505A JP2002101505A JP2003291688A JP 2003291688 A JP2003291688 A JP 2003291688A JP 2002101505 A JP2002101505 A JP 2002101505A JP 2002101505 A JP2002101505 A JP 2002101505A JP 2003291688 A JP2003291688 A JP 2003291688A
Authority
JP
Japan
Prior art keywords
display
driver
driving
position
sight
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP2002101505A
Other languages
Japanese (ja)
Inventor
Hiroshi Ando
Takayuki Fujikawa
Hitoshi Hayashi
Masaru Kakizaki
Reiro Kamiya
Hirobumi Kiyohara
Akira Nagiyama
Koji Nakamura
耕治 中村
景 名木山
浩 安藤
仁志 林
勝 柿崎
博文 清原
玲朗 神谷
卓之 藤川
Original Assignee
Denso Corp
株式会社デンソー
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp, 株式会社デンソー filed Critical Denso Corp
Priority to JP2002101505A priority Critical patent/JP2003291688A/en
Publication of JP2003291688A publication Critical patent/JP2003291688A/en
Application status is Pending legal-status Critical

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K35/00Arrangement of adaptations of instruments
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2370/00Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/10Input devices or features thereof
    • B60K2370/12Input devices or input features
    • B60K2370/149Input by detecting viewing direction
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2370/00Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/18Information management
    • B60K2370/191Highlight information
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2370/00Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/18Information management
    • B60K2370/193Information management for improving awareness
    • B60K2370/194Information management for improving awareness by directing line of sight
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2370/00Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/20Optical features of instruments
    • B60K2370/33Illumination features
    • B60K2370/334Projection means
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60KARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K2370/00Details of arrangements or adaptations of instruments specially adapted for vehicles, not covered by groups B60K35/00, B60K37/00
    • B60K2370/70Arrangements of instruments in the vehicle
    • B60K2370/77Arrangements of instruments in the vehicle characterised by locations other than the dashboard
    • B60K2370/785Arrangements of instruments in the vehicle characterised by locations other than the dashboard on or in relation to the windshield or windows

Abstract

(57) [Problem] To provide a display method, a driving support device, and the like that can call attention to a driver without obstructing the driver's view as much as possible. SOLUTION: An alert display is performed at a position indicated by a mark in the figure and a gaze guidance display is performed by moving the display position as indicated by a mark in the figure. First, after the alert display is performed at the position indicated by the ★ mark, the gaze guidance display is performed in which the display is gradually moved from the vicinity to the position of the obstacle as indicated by △. The alert display is performed in the peripheral visual region outside the central visual region in the line of sight (viewpoint) during driving (particularly during driving) of the driver. In particular, it is preferable to display the information substantially in front of and below the driver, such as the position indicated by a star. By performing the alerting display in this manner, the driver's attention can be attracted without obstructing the driver's line of sight while driving. The movement of the viewing area to the obstacle can be encouraged.

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile display device,
For example, using a head-up display (HUD)
Display method for displaying information to driver, driving support device, etc.
About. [0002] The cause of a traffic accident is a driver's misunderstanding,
Mistakes in operation, falling asleep, drunk driving, provocation, nervousness, etc.
Most of the accidents are caused by traffic accident analysis
From Intertarda Information). like this
For now, to reduce cognitive errors,
Head-up device that can recognize information without taking your eyes off
Displays have been put into practical use.
How to present information on up display etc.
Has been studied. For example, Japanese Patent Application Laid-Open No. 2002-19491
As described in, the gaze of the driver is detected and the type of information
Depending on the gaze direction and other directions,
In order to improve safety,
Displays information on obstacles next to it, and then displays the information
Guides the driver's gaze by moving in the direction of
Display that allows you to quickly and reliably check for the presence of
The law is known. [0004] However, JP-A-200
In the method disclosed in Japanese Patent Application Laid-Open No. 2-19491,
This warning is displayed near the driver's line of sight.
It is dangerous if the display obstructs the driver's view.
Can not take a long time to display to prevent
For example, relatively early, such as when an obstacle is detected
Display is difficult. Therefore, these people
The law does not always recognize objects quickly.
There was a serious problem in practice. In addition, conventional
Because the method needs to detect the driver's gaze, the device
Are complex and costly compared to a display only
There was also a problem that it became high. In such a driving assistance device, for example,
For example, lane keeping vehicle control, headway keeping vehicle control,
Various driving support machines, such as various display controls such as line guidance display
Noh is realized. These driving assistance devices are
Depending on the state of the vehicle detected from the
May be canceled. For example, during the headway control, the driver
If the brake operation is detected by the
Cancel. Cancellation of such a driving support function is not possible for the driver.
The driver does not know the driver assistance function
It was difficult to know the removal. However, for example,
As in the case of conventional gaze guidance,
If displayed, this display may obstruct the driver's view, etc.
The problem arises. Accordingly, the present invention provides a driver's view.
It can alert the driver as little as possible
To provide a display method and a driving support device
I do. Means for Solving the Problems and Effects of the Invention
The display according to claim 1, which is made to solve the problem.
According to the method, the driver's gaze is guided to the position of the guidance target.
Driver's gaze before driving
In a position that does not obstruct the vehicle and is visible to the driver while driving
Alert table to alert the driver to the location
Perform the following. Then, the position where the alert was displayed, or
Or a position that does not obstruct the driver's gaze while driving, and
From the position visible to the driver to the guidance target position
Perform the following. [0008] Further, it is necessary to solve the above-mentioned problems.
According to the display method described in claim 2, the driver's view
Perform guidance display to guide the line to the guidance target position
Prior to the driver's line of sight
To alert the driver to a position in the peripheral vision area
Warning display. And the alert display
The position of the guidance target from the position where the user performed or the position in the peripheral vision
A guidance display is provided to the location. Therefore, the display method according to the first and second aspects is provided.
According to the law, warning signs may obstruct the driver's view.
It can be done without hurting. Also, the driver's line of sight
Guidance is guided from a predetermined position regardless of direction
Can eliminate the conventional gaze detection mechanism.
It is possible to simplify the equipment configuration,
Can be reduced. Furthermore, it obstructs the driver's view.
Warning, the display that calls attention is faster than in the past.
Can be performed from a very early stage. Therefore, the driver
It is possible to recognize the object at a stage where there is room for turning.
It is possible to further increase the safety compared to the conventional method.
it can. [0010] Further, in order to solve the above problems,
The driving assistance device according to claim 3, wherein the driving is performed by a driver.
Do not obstruct the driver's line of sight while looking at the driver while driving.
To call attention to the driver
Displays alert information that is information. And this note
Does not disturb the driver's eyes while driving after displaying alert information
Driver's view from a position that is
Provides guidance to guide the line to the guidance target position
U. In a position where the driver's line of sight while driving is not obstructed.
The position that is visible to the driver while driving
As shown in item 4, the driver's line of sight
In the peripheral vision region. example
For example, the maximum field of view with one eye of a person can be as high as 150 ° in horizontal angle.
However, the entire field of view cannot be seen with uniform accuracy,
Central vision with a size of about 1 ° 20 '
The largest, the function to obtain detailed information by gazing at the object
Have. On the other hand, parts other than central vision are called peripheral vision,
A function to obtain information for recognizing blinking or moving objects
Have. Therefore, as in the past, central vision such as near the line of sight
Instead of displaying alert information in the area, the peripheral vision area
By displaying the alert information to alert you,
This allows the driver to keep the line of sight while driving. The driver's line of sight while the vehicle is running
Is, for example, as described in claim 5, when the driver is directly from the driver's seat.
It may be used as the line of sight when looking at the surface, or during normal driving of the vehicle
The line of sight to be taken and the "position in the peripheral vision area"
It may be a position in a common peripheral vision region in the group. In a position where the driver's gaze during driving is not obstructed.
The position that is visible to the driver while driving
As shown in claim 6, the edge of the windshield, the meter table
Display unit, at least one of the navigation display unit
It may be a position within the area. Meter display and navigation
Option display section is installed at a position that is normally visible to the driver.
Because they are Also with the edge of the windshield
Especially at the lower edge of the window glass.
No. During normal driving, the vertical center of the window glass
It is often the case that the vehicle ahead can be seen from below
No. In such a case, it is easy to recognize as a peripheral vision area
For example, it is lower than the upper part of the window glass
Because there are many cases. [0014] Thus, each of the first to sixth aspects of the present invention is described.
According to the driving support device, the display that calls attention is displayed by the driver.
Can be performed without obstructing the field of view. Also driving
Gaze from a predetermined position that is not related to the gaze direction of the user
Can be guided, eliminating the conventional gaze detection mechanism.
And simplify the equipment configuration.
Cost can be reduced. In addition, the driver
As it does not obstruct the view, the display that calls attention is the conventional case
It can be done earlier. So driving
Can recognize the object at a stage where they can afford to drive.
Is possible, and more secure than conventional methods
Can be The alert information includes characters, figures, static
It can be a still image or a moving image. Position that does not obstruct view
Is often a peripheral visual field, so the displayed image
It is especially good to display simple patterns instead of complex information
No. For example, an image that schematically shows the content of the alert that evoked
Or simple shapes like ellipses and triangles
Good to do. For example, the danger
Can indicate the type, degree of danger, etc.
You. In addition, the peripheral visual field has changes in color, brightness, shape, and the like.
As shown in claim 7, the warning
At least the color, brightness and shape of the image displayed as information
May be changed during display. like this
Will give the driver more attention
be able to. On the other hand, the guidance display is, for example, described in claim 8.
Move the guidance image in the direction of the guidance target position.
It is good to do it. For example, a point or a figure is moved. In addition,
The image of the moved locus may be deleted,
You may do it. The image for guidance is, for example,
Same or similar to the image displayed by the reminder
It may be an image. For example, if you approach the position of the guidance target
It is better to display smaller as you get closer. And the guidance table
When the warning is started, for example,
The display may be continued or may be deleted. The guidance display is, for example, a window on a windshield.
Using the entire shield and through the windshield
Guide to the position corresponding to the position of the visible object
No. In this way, the position of the object can be more reliably
The gaze can be guided. Meanwhile, Windsea
When using a part of the field or the above-mentioned meter,
The guidance display may be performed in the direction of the object. in this case
The driver may move his / her line of sight in the guidance display direction
Can recognize the object. Then, a guidance display is performed after the warning display.
However, the guidance display indicates that a predetermined condition is satisfied, for example.
It is good to start when. For example, the predetermined condition is, for example, a predetermined time
When a certain period of time elapses or when predetermined information is input from the sensor
Or when the result of the operation reaches a predetermined value
Can be. For example, as set forth in claim 9,
A danger determining unit for determining a danger is provided, and the guiding unit includes:
The danger of the object determined by the danger determination means
The guidance display may be started when a certain level is exceeded.
For example, if the object is a detected obstacle,
When the distance to an obstacle falls below a certain distance, the obstacle
A display for guiding the line of sight to the harmful object may be provided. This
In other words, up to a certain level,
Attention can be raised without disturbing the visual field
When approaching, the gaze can be guided. According to a tenth aspect of the present invention,
If the risk exceeds a certain level, the object
Displaying an image that gives a sense of oppression to the driver
Good. For example, when a curve is detected as approaching
The driver at a position corresponding to the outer periphery of the curve.
To display images such as walls that give pressure
You. By displaying images that give a sense of oppression in this way,
Reflexive avoidance behavior of the diver can be obtained. An image that gives a sense of oppression to such a driver
The display of the image may be performed by a driver.
It is recommended that you do this when you exceed the level that requires evacuation.
Claim 11 made in order to solve the above-mentioned problem
According to the driving assistance device described, the driver's avoidance behavior is
An image that gives a sense of oppression when exceeding the required level
Is displayed. Therefore, the visibility of the driver is obstructed as much as possible.
The driver can be alerted without difficulty. [0023] Further, as shown in claims 12 and 13,
The driver's gaze while driving, and
Driving assistance device support at a position visible to the driver while driving
A display indicating that the function has been released may be provided. Conventional support
Although the release of the function was not notified at all,
If this is the case, it is easy to notify that the support function has been released by peripheral vision, etc.
be able to. Therefore, the visibility of the driver is obstructed as much as possible.
The driver can be alerted without difficulty. What
In the driving support device according to claim 13, "driving by driver"
Do not obstruct the driver's line of sight while looking at the driver while driving.
The “recognizable position” is, for example, the position described in claims 4 to 6.
can do. Each means of the driving support device is implemented by a circuit.
It can also be used for
It can also be implemented on a computer. Realized by computer
If so, a computer as claimed in claim 14
It can be provided as a program to be started by. this
For such a program, for example,
Disk, magneto-optical disk, CD-ROM, hard disk,
Computer-readable recording media such as ROM and RAM
Record it on your body and load it to your computer if necessary
It can be used by moving. In addition, network
Used by loading and launching via a network
Can be. For example, update the program via a communication line.
It is also possible to upgrade. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.
It will be described in the light of the above. FIG. 1 shows the configuration of the driving support device of the present embodiment.
FIG. 2 is a block diagram showing the driving assistance of the present embodiment.
FIG. 2 is a diagram showing an example of the arrangement of each part of the device in a vehicle 100. As shown in FIG. 1, the driving support device of the present invention
Is an information input unit 205, an information output unit 206,
Storage device 207 and control unit 200 for controlling them
And The information input unit 205 is located in front of the vehicle 100.
Monitors the shape of the road ahead and the position of vehicles and obstacles ahead.
A front radar 101 for detecting the position and the relative speed;
A forward monitoring camera 115 for obtaining an image of the front, and a vehicle 100
Monitor the rear of the vehicle and check the rear running path
Rear radar 119 that detects the position and relative speed of harmful objects
And a rear monitoring camera 116 for obtaining an image of the rear, and the vehicle 1
Side monitoring cameras 106 and 111 for obtaining images of the side of 00
And The information input unit 205 detects the speed of the vehicle.
The vehicle speed sensor 103 outputs a signal to detect the throttle opening.
Rottle sensor 105, brake for detecting brake oil pressure
Key oil pressure sensor 104, a switch for detecting steering torque.
The steering torque sensor 113 detects the steering angle.
Outgoing steering angle sensor 114 to detect the amount of solar radiation
Sunlight sensor 112, light switch 109a, ignition
Option switch 109b, wiper switch 109c,
Turn signal switch 109d, microphone 107, automatic operation
A switch 120 is provided. The information output unit 206 mainly includes a control unit.
Image based on the image information and audio information generated in
131 that outputs audio and audio
Top display 132, meter display 133,
The speaker 134 and the control generated by the control unit 200
Slot, which is an actuator that operates based on control signals
Equipped with steering wheel 135, brake 136 and steering wheel 137
You. The external storage device 207 stores map data.
DVDROM, hard disk, etc.
The control unit 200 detects from the GPS antenna 117
From the external storage device 207
Navigation to read and display on multi-display
Function. In addition, the map data contains information on road shapes.
Data, such as the position coordinates of the curve
And the curvature of the curve are recorded. The control unit 200 includes a CPU 203, R
Memory 202 such as OM / RAM, input port 201, output
A microcomputer having I / Os such as a power port 204 can be used.
Has been established. The control unit 200 includes the information input unit 20
5 are collected through the input port 201.
For this purpose, a process for storing the data in the memory 202 is performed. That is, FIG.
As shown in FIG.
From the rear radar 119, the shape and relative speed
The shape and relative speed, the vehicle speed V from the vehicle speed sensor 103,
The throttle opening So is
Brake oil pressure Bp from the
Steering torque Wt from ring torque sensor 113
From the steering angle sensor 114
Degree Wa, and ambient light brightness S from solar radiation sensor 112
And memorize. Also, the light switch 109a, the ignit
Switch 109b, wiper switch 109c,
Turn signal switch 109d, automatic operation switch 120
And store the state of the switch. Light switch
The value of the variable L indicating the state of the switch 109a is the light switch 1
0 if 09a is off, 1 if small, 1 high
In this case, it is set to 2 and the state of the ignition switch 109b is set.
Is the value of the variable I / G indicating the ignition switch 10
0 is set when 9b is off, and 1 when it is on. Again
The value of the variable Wp indicating the state of the hyper switch 109c is
0 when the wiper switch 109c is off, low
1 if high, 2 if high, turn signal switch 10
The value of the variable Wi indicating the state of 9d is a turn signal switch.
0 if 109d is off, 1 if right, 1 if left
Let it be 2. And a variable indicating the state of the automatic operation switch
The value of Fas is calculated when the automatic operation switch 120 is off.
0: Vehicle-to-vehicle distance control in a state in which control to maintain vehicle-to-vehicle distance is performed
In the case of 1, the lane keeping control is performed in addition to the headway keeping control.
In the case of the inter-vehicle / lane maintenance control, which is the state, the value is set to 2. Also,
The audio signal from the microphone 107 is transmitted from the front monitoring camera 115
From the side surveillance cameras 106 and 111
Video from the rear monitoring camera 116
Antenna 117, FM antenna 118a, telephone antenna
118b, received by beacon receiving element 118c
Get the current location, traffic information (VICS, etc.) from the signal
To remember. Then, the CPU 203 stores the
Read necessary information from these stored information
Control, determine the control target and control method, and control
The information output unit 206 via the output port 204
Display 131, head-up display 13
2. H of meter display 133, speaker 134, etc.
MI (Human Machine Interfac)
e), throttle 135, brake 136, steer
By outputting a control signal to the
It has a turn support function. Of these driving support functions, mainly
Multi Display 131, Head Up Display 1
32, Function related to display on meter display 133
Will be described. FIG. 4 shows the vehicle 100 viewed from the driver's seat.
Of the interior of the car and the display on the multi-display 131
Navigation display area, head-up
Windshield 4 which is the display area of spray 132
4. Position of meter display area of meter display 133
Is shown. The head-up display 132 is shown in FIG.
As shown in the figure, the video projector 42, the screen 43, the win
A shield 44 and a Fresnel mirror 45 are provided. Control unit
The knit 200 transmits a video image via the video data signal line 41.
A video signal is sent to the projector 42, and the video projector 42
The image signal is converted into light and projected on the screen 43. School
The lean 43 reflects the light projected from the video projector 42
The light is reflected toward the Rennel mirror 45, and
The light 45 reflects the light toward the windshield 44
Let it. And the windshield 44 is a Fresnel mirror
The light reflected at 45 is reflected toward the driver's viewpoint,
A virtual image is formed that is visible to the driver. Wind seal
The door 44 is connected to the vehicle 100 passing through the window glass.
This virtual image is presented over the light in front. The control unit 200 includes an information input unit 205
6 shown in FIG. 6 based on the information shown in FIG.
Output the alarm sound by voice, etc.
A frame is displayed on the field 44 so as to surround the obstacle.
Highlighting of harmful objects, symbol display of rear warning, etc.
Text, such as vehicle speed and distance to the vehicle in front, etc.
Or go to the issue display area. Also, in FIG.
An alert / gaze guidance display, which is indicated by an ellipse, is performed. This warning / gaze guidance display is shown in FIG.
Attention indication displayed at the position indicated by ★ mark and indicated by Δ mark in Fig. 7
The gaze guidance display is performed by moving the display position as
Is First, after displaying the alert at the position of the ★ mark,
Display gradually from the vicinity to the position of the obstacle as shown by △
A gaze guidance display for moving is performed. The alert display is
In the line of sight (viewpoint) while driving (especially while driving)
In the peripheral vision area outside the central vision area as shown in FIG.
Do. Especially below the front of the driver, as indicated by the ★ mark
It is good to display. In this way, the warning display
With this, the driver can view the driving
Attracts the attention of Iba and provides a gaze guidance display, for example,
As shown in “Moving the line of sight” in 7
Prompt to move to. This helps the driver to recognize obstacles
And assist in driving. FIG. 7 shows an obstacle.
Is an example of supporting the movement of the gaze to
Instead of moving the driver's line of sight
The display for moving to the target that can be performed is also performed. Operation including such a warning / gaze guidance display
Flow charts and diagrams of FIGS.
A description will be given with reference to the drawings showing display examples 18 to 27. FIG.
As shown in FIG. 1, first, in step 301, I / G (i.
It is determined whether the ignition switch 109b) is on.
Set. If the I / G is off (step 301: N
O), this process ends. On the other hand, I / G is on
In this case (step 301: YES), step 302
Move to. In step 302, the information input unit 205
Input the data shown in FIG. 3 and store it in the memory 202
Of the data input to the variables shown in the "symbol" column in FIG.
Set the value. In the following step 303, the variable Fas
It is determined whether or not = 0. That is, the detected self
Determines whether the state of the dynamic operation switch 120 is off
I do. If Fas = 0, that is,
When the state of the automatic operation switch 120 is off
(Step 303: YES), proceed to step 304
If Fas ≠ 0, that is, if the automatic operation switch 12
If the state of 0 is not off (step 303: N
O), proceed to step 309; At step 304, the obstacle data is analyzed.
I do. FIG. 9 shows the details of the processing of step 304.
You. First, front radar 101, rear radar 11
9, forward monitoring camera 115, side monitoring camera 106, 1
11, rear monitoring camera 116, various infrastructure data, etc.
Read from the memory 202 (step 3041)
Based on the data read out, for example, a known obstacle determination
The presence or absence of an obstacle is determined by the method (step 30).
42). If it is determined that there is an obstacle (step
3042: YES), caution / warning in step 3043
Determine the level. This level displays an alert
Attention level (Fd = 1), alert to perform gaze guidance display
Level (Fd = 2), warning level for performing danger avoidance display
There are three levels (Fd = 3), and the warning level is the highest
The level of urgency is high, followed by the alert level,
Attention level followed. This level is, for example, collision with obstacles
What is necessary is just to determine based on the possibility of. For example, near an obstacle
From the caution level to the alert level, the warning level
To gradually increase the level. Meanwhile, obstacles
If it is determined that there is no (Step 3042: N
O), proceed to step 3044, and Fd = 0 (no obstacles)
Is shown). In the subsequent step 305 of FIG. 8, Fd = 0
(No obstacle). Fd = 0
In this case (step 305: YES), the process proceeds to step 317.
Transition. On the other hand, if Fd ≠ 0 (step 30)
5: NO), proceed to step 306. At step 306, a caution / warning is displayed.
U. FIG. 10 shows the details of the processing in step 306.
You. First, in step 3061, Fd (attention / warning
The processing branches depending on the value of (bell). Fd = 1 (attention
(Bell) (step 3061: Fd = 1),
Proceeding to step 3062, a warning display is performed. Fd =
2 (alert level) (step 3061:
Fd = 2), the process proceeds to step 3063, and the gaze guidance display is performed.
And if Fd = 3 (warning level) (step
3061: Fd = 3), proceed to step 3064, and
Notice display. The warning display of step 3062 is a warning
This corresponds to processing as means. This notice is shown in FIG.
Warnings set on the edge of the windshield as shown in
In the active display area, a figure such as a shaded ellipse
This is performed by displaying a predetermined color. This shape is being displayed
For example, blink, change the color, brightness
Change or change the shape. Such a flow
When the driver is driving the vehicle, such as the edge of a
Peripheral vision in the usual line of sight (for example, in the front direction)
The driver's line of sight and center while driving.
The presence of obstacles for the driver without disturbing the viewing area
Can be notified. The position of the detected obstacle
The position of the alert display area may be changed according to the position.
For example, the position of the detected obstacle is below the front of the driver.
In the case of, as shown in FIG.
Pay attention to the edge of the windshield below the sides (both sides)
An alert display may be performed as an alert display area. on the other hand,
If the position of the detected obstacle is not under the driver's front,
In this case, as shown in FIG.
Alerts the edge of the front glass as an alert display area
It is good to display. On the other hand, gaze guidance display in step 3063
Corresponds to a process as guidance display means. For example, FIG.
From the alert display area of the obstacle to the position of the obstacle as shown in FIG.
Move the shaded elliptical shape gradually while
To display. In this way, the driver's line of sight to obstacles
Can be moved. Details of the gaze guidance display in step 3063
FIG. 10 shows detailed processing contents. At step 30630
First, the data showing the direction of the obstacle in FIG.
Radar 101, rear radar 119, surveillance camera
115, side monitoring cameras 106 and 111, rear monitoring turtle
Is determined based on the information from the server 116). Obstacles
If the direction is determined to be ahead of the vehicle 100 (step
30631: forward), proceeding to step 30632,
20 with head-up display (HUD) 132
The gaze guidance display as shown in FIG. The direction of the obstacle is determined to be the side of the vehicle 100.
If it is set (step 30631: side),
Go to Step 30633 and move to side mirror or side projection
Perform gaze guidance display on the image. For example, as shown in FIG.
Shade towards the side mirror in the direction where obstacles exist
The elliptical shape was moved and displayed while gradually shrinking
As shown in FIG. 22, the driver leans left and right below the front of the driver.
In the side image display area provided on the edge of the windshield of
The corresponding side monitoring cameras 111, 116
The image is displayed and the side image table on the side where the obstacle is detected
Alert area to display area Gradually shaded ellipse from display area
Move and display while reducing the size. Fig. 21 shows the right side view
7 shows an example of gaze guidance display on an image. Like this
The driver's line of sight to the side mirror or side image
Can be moved. In addition, the direction of the obstacle is different from the rear of the vehicle 100.
If it is determined (step 30631: backward),
Proceed to step 30634, and similarly,
Performs gaze guidance display on the rear video. For example, in FIG.
A gaze guidance display is provided to the rearview mirror as shown
Rear monitoring provided below the front of the driver as shown in 24
Gaze to the rear video display area that displays the video of camera 116
Perform guidance. Gaze guidance to rearview mirror as shown in FIG.
When displaying, for example, make the field of view ahead of the driver as much as possible.
The display may be moved along a route that does not interfere. Also,
As shown in FIG. 24, when the vehicle is guided below the front of the driver.
In this case, the warning display areas on both the left and right sides shown in FIG.
The gaze guidance display to the position of the obstacle at the same time.
No. The warning display in step 3064 indicates the danger.
It corresponds to a rugged avoidance image display means.
The driver makes a display so that the object jumps out of the
Get reflexive danger avoidance operations. In this way, the obstacle
If the distance to the object is relatively large,
Alert is displayed without disturbing (Step 306)
2) At the stage where the danger of collision has increased,
(Step 3063)
Danger avoidance display when the urgency is high
Is performed (step 3064). At the next step 307 in FIG.
It is determined whether or not is necessary. When vehicle control is not needed
(Step 307: NO), proceed to Step 317
When vehicle control is required (step 307: YE
S), proceed to step 308. In step 308, a vehicle system for avoiding obstacles is used.
I will do it. The contents of the detailed processing of step 308 are shown in FIG.
Shown in In step 3081, the vehicle control is activated.
Is displayed on the head-up display 132,
In step 3082, the brake 136 and the like are controlled to
Apply sudden braking. When the processing of step 308 is completed,
Move to step 317. In this way, assist driving
Can be Next, at step 303, it is determined that Fas ≠ 0.
In other words, the automatic operation entered in step 302
The state of the changeover switch 120 is the headway maintenance control state (Fas
= 1) or in the inter-vehicle / lane maintenance control state (Fas = 2)
The processing in the case where there is (Step 303: NO) will be described.
I do. At step 309, the solution of the automatic driving data
Perform analysis. FIG. 13 shows the contents of the detailed processing in step 309.
Shown in First, in step 3091, the information shown in FIG.
From the memory 202. In the following step 3092
Calculates the following distance from this information and calculates the following distance
Is determined to be within a range in which automatic operation is possible. Between cars
If the distance is within the range where automatic driving is possible, the variable Fa is set to Fa =
0 and F unless the inter-vehicle distance is within the range of automatic driving.
Set a = 1. Next steps 3093 to 3099
, The same processing as in step 3092 is performed. sand
That is, in step 3093, the speed of the vehicle 100 is calculated.
To determine whether the speed is within the range that allows automatic operation
If it is within the range in which automatic operation is possible, Fa2 = 0 is set, and
If it is not within the range, it is assumed that Fa2 = 1. In the following step 3094, an accelerator operation is performed.
It is determined whether or not there is, and if there is no accelerator operation, F
a3 = 0, and if there is an access operation, Fa3 = 1
And In the following step 3095, the brake operation is
It is determined whether or not there is no brake operation.
= 0, and if there is a brake operation, Fa4 = 1.
You. In the following step 3096, the transmission operation is started.
It is determined whether or not there is a gear shift.
= 0, and when there is a transmission operation, Fa5 = 1.
You. In the following step 3097, a known white line detection process and the like are performed.
Determines whether white line detection is possible and enables white line detection
In this case, Fa6 = 0, and if white line detection is impossible,
Is set to Fa6 = 1. In the following step 3098, the GPS antenna
The current position obtained based on the signal from the
Car included in map data stored in storage device 207
Is predicted to run based on the position coordinates and curvature of the
Car up to a point (for example, a few hundred meters away)
Judge whether the curvature is within a preset range.
You. If it is within the preset range, Fa7 = 0, and
If it is not within the range, Fa7 = 1. In the following step 3099, the steering
Determines whether control torque is within a preset range
If it is within the preset range, Fa8 = 0 is set, and
If not, Fa8 = 1. And the following FIG.
In step 310, the variable set in step 309
It is determined whether all the values of Fa1 to Fa5 are 0.
You. If all are 0 (step 310: YES),
The process proceeds to step 313, and if any one is 1, the
(Step 310: NO), and proceed to Step 311. At step 311, a table such as a caution warning display is displayed.
Is displayed in the character / symbol display area. This step 31
FIG. 14 shows the details of the first process. As shown in FIG.
In the case where Fa1 = 1 (step 31101: YE
S) An inter-vehicle distance warning display is performed (step 31102),
When Fa2 = 1 (Step 31103: YES) Speed
Attention display is performed (step 31104), and when Fa3 = 1
Case (Step 31105: YES) Accelerator operation display
Is performed (step 31106), and when Fa4 = 1 (step 31106).
(Step 31107: YES) Perform brake operation display
(Step 31108) When Fa5 = 1 (Step 31108)
31109: YES) Display transmission operation (step)
31110). In the following step 312 in FIG.
Is released, and the routine goes to Step 317. This step 3
In FIG. 12, first, as shown in FIG.
(Step 3121), and release the control (step 3121).
3122). This control release display is shown in FIG.
Peripheral vision of the driver while driving, as shown as a release display
The edge of the window glass, which is the area, has color changes and movements.
Display the video. By doing this, while driving
To the driver without disturbing the driver's view
Indeed, it can be notified that automatic driving has been canceled. On the other hand, when all of Fa1 to Fa5 are 0
(Step 310: NO), proceed to step 313
You. In step 313, it is determined whether or not Fas = 1.
Set. That is, the automatic operation switch 120 is set to
Is in the hold control state (Fas = 1) or the headway / lane maintenance control
Control state (Fas = 2) (see FIG. 3).
See). If Fas = 1 (vehicle headway control state)
(Step 313: YES), proceed to Step 315
And Fas = 2 (inter-vehicle / lane maintenance control state)
(Step 313: NO), then proceed to Step 314
I do. At step 314, the lane keeping vehicle control is executed.
Do. The contents of the detailed processing in step 314 are shown in FIG.
Shown in As shown in FIG.
Is whether all of Fa6, Fa7 and Fa8 are 0
Is determined. If all are 0 (step 31
401: YES), proceed to step 31402
For example, steering 137 using the result of white line recognition, etc.
Control to control the lane. On the other hand, Fa6, Fa
If any one of 7 and Fa8 is 1 (step 314)
01: NO), the process moves to step 31403. In step 31403, Fa6 = 1.
Is determined. If Fa6 = 1, the character
A white line detection warning display is performed in the signal display area (step 31)
404), the control release display shown in FIG. 25 is performed (step 404).
31405). In step 31406, Fa
It is determined whether 7 = 1. When Fa7 = 1
Performs a curve curvature warning display (step 3140).
7), the control release display shown in FIG. 25 and the visual control shown in FIG.
A line guidance display is performed (step 31411). This gaze invitation
The guidance display is based on the signal from the GPS antenna 117.
The obtained current position and the location stored in the external storage device 207
Curve position coordinates and curve curvature included in the figure data
Based on the point to be guided, determine the point to be guided
The gaze guidance display is performed toward. Note that this gaze guidance display
It is advisable to give an alert display beforehand. The white line on the street
If recognition is possible, guidance based on the result of white line recognition
The target point may be obtained. Then, in step 31409, Fa8
It is determined whether or not = 1. When Fa8 = 1,
A warning display for steering torque is made (step 3141).
0), the control release display shown in FIG. 25 and the program shown in FIG.
Performing a reduction wall display (step 3141)
1). This pressure wall is, for example,
Display a red wall along the line. In this way, a feeling of oppression
By displaying the image given, the driver can avoid reflexive actions
Movement can be obtained. Then, in step 315 of FIG.
Car maintenance control is performed. This inter-vehicle maintenance vehicle control is performed as shown in FIG.
As shown in (3), it is determined in step 313 that Fas = 1.
Will also be executed if FIG. 17 shows the car in step 315.
6 is a flowchart showing the detailed processing contents of the interval maintenance control.
You. As shown in FIG.
It is determined whether there is a possible preceding vehicle. Followable precedence
If there is a car (step 3151: YES), S3
154. If there is no preceding vehicle that can follow,
Step 3151: NO), proceed to Step 3152
You. In step 3152, the character / symbol display error
A speed automatic control operation display is displayed at the rear, and the subsequent step 31
At 53, control the throttle 135, brake 136, etc.
Perform automatic speed control. On the other hand, in step 3154,
Tracking type automatic speed control operation display in the character / symbol display area
(Step 315).
5). Then, it is determined whether or not the tracking vehicle has been replaced.
(Step 3156), and if there is a change,
(Step 3156: YES), follow-up vehicle replacement
An intellectual display is performed. On the other hand, when there is no change of the tracked vehicle
, This process ends, and the routine goes to step 317 in FIG.
I do. Step 3157: Tracking vehicle replacement notification display
Are, for example, side monitoring cameras 106, 111, etc.
Intervenes between the vehicle that has been tracking and the vehicle
When a vehicle is detected, an alert is displayed and an interrupt is displayed.
This is realized by performing gaze guidance display on the position of the vehicle. On the other hand, in step 313 of FIG.
If it is determined to be 1, the execution of step 315 described above is performed.
After the line, a caution warning is displayed in the character / symbol display area.
(Step 316), the process proceeds to Step 317. Stay
In step 317, it is determined whether or not the I / G is off.
If G is off (step 317: YES),
When the process is completed and the I / G is on, the process returns to step 302.
You. In this way, the information input unit 205
Various recognition processing and judgment processing
Alerts, gaze guidance,
Displaying danger avoidance images, controlling vehicles, etc.
You can assist driving. In particular, attention display is performed in the peripheral visual region.
Obstruct the driver's line of sight and central vision while driving
Without warning, to display a warning from a relatively early stage
be able to. Also, it is determined in advance according to the detected state.
If the determined position is determined as the alert display area,
There is no need to detect the driver's line of sight, etc.
A driving assistance device can be configured. And alert
The gaze guidance display is performed from the vicinity of the
Easily guide Iva's line of sight to objects such as obstacles and traveling directions
can do. The embodiment of the present invention is not limited to the above-described embodiment.
Without being limited to any examples, they belong to the technical scope of the present invention.
It goes without saying that various forms can be adopted as far as possible.
For example, in the above embodiment, the head-up device shown in FIG.
FIG. 4 and FIGS.
As described above, the display is made using the entire surface of the windshield 44.
It is decided to do it, but it is not limited to this and various display methods are adopted
be able to. For example, the head-up display 132
Are configured as shown in FIG. 28, and as shown in FIGS.
May be displayed. Head-up display shown in FIG.
Ray 132 was provided in the instrument panel
Wind projector mounted on video projector 42 and windshield
Field 44 is provided. The control unit 200 stores the video data
A video signal is sent to a video projector 42 via a signal line 41,
The display of the video projector 42 converts this video signal into light.
Output light, and the output light is reflected by a reflecting mirror to
To a part of the shield 44. Table by this projection
The indicated area is an area indicated by a broken line in FIGS. this
The area includes the peripheral vision area shown in FIG.
Display is performed within this peripheral vision region. In addition, Windsea
For example, instead of the field 44, a combiner is shown by this broken line.
May be provided in the area where
No. For example, as shown in FIG.
The alert display and gaze guidance display for the obstacle are shown in FIG.
Perform as shown. That is, first, below the driver's front
Alerts the user, and then guides the line of sight to obstacles
Display. In addition, the circuit shown in FIG.
Figure 3 shows the warning display and gaze guidance display for the id mirror.
Perform as 0. In other words, in order to promote gaze guidance,
Attention to the edge of the display area as much as possible as shown in 30
Display it. For example, to the right side mirror
When guiding, call attention table as far to the left as possible
Gaze guidance in the direction of the right side mirror
I do. Similarly, the back mesh shown in FIG.
The warning display and the gaze guidance display for the
Do it as you like. Further, the system shown in FIG.
The stem release display is located at the bottom of the display area as shown in FIG.
To do. In addition, the gaze guidance table shown in FIG.
This is performed as shown in FIG. And, in the above embodiment,
The display of the pressure wall shown in FIG.
Perform as shown. In this way, while the driver is driving
It is possible to call attention without disturbing the line of sight and central vision area.
Wear. The alert display and the gaze guidance display are as follows.
Instead of using the head-up display 132,
Data display 133 and multi-display 131
You can do it too. For example, various data as shown in FIG.
Meter display by display (liquid crystal, plasma, etc.)
A meter display 133 for performing the
Gaze guidance display on display 133 as shown in FIG.
Or meter display 1 as shown in FIG.
33 by blinking the entire surface in a predetermined color
Release display may be performed. Meter display 133
Indicates that the driver is driving (for example, while driving or looking ahead)
Driver's line of sight while driving.
It can be displayed without hurting. Such a meter display
Like the guidance display in 133, it overlaps the original display contents
When the guidance display is performed, as shown in FIGS.
In addition, the guidance display is an original such as translucent display (transparent color display).
It is good to perform so that various display contents can be confirmed. like this
, You can check the original display contents even during the guidance display
it can. Also, the multi-display 131 and the head
Up display 132, meter display 133
Combining multiple displays such as
Is also good. At this time, the alert display is in the peripheral vision area of FIG.
To the display area inside. By doing so, the central vision area
Can alert you without interfering with
I can help.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram illustrating a configuration of a driving support device according to an embodiment. FIG. 2 is an explanatory diagram showing an arrangement in a vehicle of a device constituting the driving assistance device of the embodiment. FIG. 3 is an explanatory diagram showing data input from an information input unit and stored in a memory; FIG. 4 is an explanatory diagram showing a display area. FIG. 5 is an explanatory diagram showing a configuration of a head-up display. FIG. 6 is an explanatory diagram showing an example of driving assistance. FIG. 7 is a diagram illustrating a relationship between a driver's field of view and display. FIG. 8 is a flowchart showing a control flow of the driving support device of the embodiment. FIG. 9 is a flowchart showing a control flow for analyzing obstacle data. FIG. 10 is a flowchart showing a control flow of caution / warning display. FIG. 11 is a flowchart showing a control flow of gaze guidance. FIG. 12 is a flowchart illustrating a control flow of obstacle avoidance. FIG. 13 is a flowchart showing an analysis flow of automatic driving data. FIG. 14 is a flowchart illustrating a control flow of caution / warning display. FIG. 15 is a flowchart of control release. FIG. 16 is a flowchart showing a vehicle control flow for maintaining a lane. FIG. 17 is a flowchart showing a vehicle control flow for maintaining the following distance. FIG. 18 is a diagram showing an example of a warning display. FIG. 19 is a diagram showing another example of the alert display. FIG. 20 is a diagram illustrating an example of a display for guiding a line of sight to an obstacle. FIG. 21 is a diagram illustrating an example of gaze guidance to a side mirror. FIG. 22 is a diagram illustrating an example of gaze guidance to a side image. FIG. 23 is a diagram illustrating an example of gaze guidance to a rearview mirror; FIG. 24 is a diagram illustrating an example of gaze guidance to a rear image. FIG. 25 is a diagram showing an example of a display for notifying system release. FIG. 26 is a diagram illustrating an example of a display for guiding a line of sight in a traveling direction. FIG. 27 is a diagram showing an example of a display (pressure wall) for inducing an avoidance behavior. FIG. 28 is an explanatory diagram showing a configuration of another example of a head-up display. FIG. 29 is a diagram showing another example of a display for guiding a line of sight to an obstacle. FIG. 30 is a diagram showing another example of gaze guidance to a side mirror. FIG. 31 is a diagram showing another example of gaze guidance to a rearview mirror. FIG. 32 is a diagram showing another example of a display for notifying system cancellation. FIG. 33 is a diagram showing an example of a display for guiding a line of sight in a traveling direction. FIG. 34 is a diagram showing another example of a display (pressure wall) for inducing an avoidance behavior. FIG. 35 is a diagram illustrating an example of a normal display state of a meter. FIG. 36 is a diagram showing an example of a display for guiding a line of sight on a meter. FIG. 37 is a diagram showing an example of a display on the meter for notifying system release. [Description of Signs] 41 ... Video data signal line 42 ... Video projector 43 ... Screen 44 ... Wind shield 45 ... Fresnel mirror 100 ... Vehicle 101 ... Front radar 103 ... Vehicle speed sensor 104 ... Brake oil pressure sensor 105 ... Throttle sensor 106 ... side Monitor camera 107 microphone 109 switches 109a light switch 109b ignition switch 109c wiper switch 109d turn signal switch 111 side monitor camera 112 solar radiation sensor 113 steering torque sensor 114 steering angle sensor 115 Forward monitoring camera 116 Rearward monitoring camera 117 GPS antenna 118a FM antenna 118b Telephone antenna 118c Beacon receiving element 119 Rear radar 120 Automatic driving switch 131 Multi-display 132 Head-up display 133 Meter display 134 Speaker 135 Throttle 136 Brake 137 Steering 200 Control unit 201 Input port 202 Memory 204 Control output port 205 Information input unit 206 Information output Part 207: external storage device

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. 7 Identification FI FI Theme Court ゛ (Reference) G08G 1/16 G08G 1/16 C (72) Inventor Takuyuki Fujikawa 1-1-1 Showacho, Kariya, Aichi Prefecture In Denso Co., Ltd. (72) Inventor Katsu Kakizaki 1-1-1, Showa-cho, Kariya-shi, Aichi Prefecture Intra-company Dentsu (72) Inventor Hitoshi Hayashi 1-1-1, Showa-cho, Kariya-shi, Aichi Pref. 72) Inventor Hirofumi Kiyohara 1-1-1, Showa-cho, Kariya-shi, Aichi Pref., In Denso Corporation (72) Inventor Kageyama 1-1-1, Showa-cho, Kariya-shi, Aichi Pref. Reiro 1-1-1, Showa-cho, Kariya-shi, Aichi F-term in DENSO Corporation (Reference) 3D044 BA20 BA21 BA26 BB01 BC25 BD01 5H180 AA01 BB13 CC04 CC14 FF05 FF25 FF2 7 FF32 LL01 LL04 LL07 LL09

Claims (1)

  1. Claims 1. A display method for performing a guidance display for guiding a driver's line of sight to a guidance target position, wherein the driver's line of sight during driving is displayed prior to the guidance display. An alert display for calling attention to the driver is provided at a position that is not obstructed and visible to the driver while driving, and the position where the alert display is performed, or during the driving of the driver Performing the guidance display from a position that does not obstruct the line of sight of the driver and is visible to the driver to the position of the guidance target. 2. A display method for performing a guidance display for guiding a driver's line of sight to a position of a guidance target, wherein a peripheral visual region in a line of sight taken by a driver while the vehicle is running prior to the guidance display. Performing a warning display to call attention to the driver at a position within, performing the guidance display from the position at which the warning display was performed or a position within the peripheral visual region to the position of the guidance target, The display method characterized by the above. 3. A driving support device provided with guidance display means for performing guidance display for guiding a driver's line of sight to a guidance target position, wherein the driver's line of sight is not obstructed while driving. A warning information display unit that displays warning information that is information for calling a driver at a position visible to a driver while driving is provided, the guidance display unit includes the warning information display unit. The driving assistance device according to claim 1, further comprising: displaying the guidance information from a position that does not hinder the driver's line of sight while driving and that is visible to the driver after the display of the alert information. 4. The driving support apparatus according to claim 3, wherein the position that does not obstruct the driver's line of sight while driving and that is visible to the driving driver is that the driver is driving the vehicle. A driving support device, which is a position in a peripheral visual region in a line of sight taken by the driver. 5. The driving support device according to claim 3, wherein the position that does not hinder the driver's line of sight while driving and that is visible to the driving driver is that the driver is in front of the driver's seat. A driving support device characterized in that it is a position in a peripheral visual region in a line of sight when viewing the vehicle. 6. The driving assistance device according to claim 3, wherein the position that does not obstruct the driver's line of sight while driving and that is visible to the driving driver is a windshield. The driving support device is a position within at least one of the edge portion, the meter display portion, and the navigation display portion. 7. The driving support device according to claim 3, wherein the alert information display means includes at least one of a color, brightness, and shape of an image displayed as the alert information. A driving assistance device characterized by changing the display during the display. 8. The driving support device according to claim 3, wherein the guidance display means performs the guidance display by moving a guidance image in the direction of the position of the guidance target. A driving assistance device characterized by the above-mentioned. 9. The driving support device according to claim 3, further comprising: a risk determining unit that determines a risk of the target object to be guided, wherein the guiding unit includes the risk determining unit. The driving support apparatus starts the guidance display when the degree of danger of the object determined by the above exceeds a predetermined level. 10. The driving support apparatus according to claim 9, wherein when the risk of the object determined by the risk determining means exceeds a predetermined level, the driver moves in the direction of the object. A driving assistance device comprising: a danger avoidance image display unit that displays an image that gives a sense of pressure to the vehicle. 11. A driving assistance apparatus for assisting a driver by driving a display to call attention to an object, a danger determining means for determining a danger of the object, and a danger When the degree of risk determined by the determination unit exceeds a level that requires the driver to perform an avoidance action,
    A driving support device comprising: a display unit that displays an image that gives a sense of oppression to the driver in the direction of the target object. 12. The driving support device according to claim 3, wherein the alert information display means displays a display notifying that the support function of the driving support device has been canceled by the driver's gaze during driving. A driving support device that performs the driving at a position where the driving is not obstructed and is visible to the driver while driving. 13. A driving assistance device having a driving assistance function, wherein a display notifying the cancellation of the driving assistance function is a position which does not obstruct the driver's line of sight while driving and is visible to the driving driver. A driving support device comprising: a display unit for performing the operation. 14. A program for causing a computer to function as each means in the driving assistance device according to claim 3.
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