JP2007323178A - Merge support device and merge support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To flexibly respond to driving conditions of surrounding vehicles in merging of its own-vehicle and a position of the own-vehicle with respect to a merge point, and to suitably support a driving operation of a driver of the own-vehicle so that the most suitable display image is displayed for current driving environment of the own-vehicle. <P>SOLUTION: A controller 1 generates a display image obtained by superimposing a mark of the own-vehicle indicating the own-vehicle on an enlarged map image which displays road environments around the own-vehicle, on marks of the surrounding vehicles indicating the surrounding vehicles on the basis of the position and behaviors of the own-vehicle running on a merging lane, positions and behaviors of surrounding vehicles running around the own-vehicle, and road environments around the own-vehicle. A displayed position of the mark of the own-vehicle on the display image is determined so that many images of an area in which the driver of the own-vehicle pays attention to merging of the own-vehicle can be displayed according to collision margin time TTC of the surrounding vehicles running around the own-vehicle against the own-vehicle and position relationship between a merging lane where the own-vehicle runs and a main lane. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a merging support apparatus and a merging support method for supporting a driving operation by a driver when a host vehicle traveling in a merging lane joins a main lane.

  Conventionally, when a host vehicle traveling in a merge lane merges with a main lane, a merging support device that supports driving operations by the driver by displaying various information serving as indicators of driving operations on the display means of the host vehicle Has been proposed (see, for example, Patent Document 1).

In particular, in the merging support apparatus described in Patent Document 1, the driver of the host vehicle can grasp at a glance the road environment around the host vehicle and the positional relationship between the host vehicle and the surrounding vehicle traveling around the host vehicle. Therefore, a display image (traffic view) in which the mark of the own vehicle and the mark of surrounding vehicles are superimposed on the image representing the road on which the own vehicle is traveling is displayed on the display means. Yes.
Japanese Patent Laid-Open No. 10-105884

  However, in the merging support apparatus described in Patent Document 1, the display position of the host vehicle mark on the display image is fixed to a predetermined position such as the center position of the image, for example. Depending on the driving environment, there is a problem that information necessary for appropriately supporting the merging may not be sufficiently transmitted. That is, when the host vehicle merges from the merge lane to the main lane, for example, in a situation where the surrounding vehicle running behind the host vehicle on the main lane accelerates and approaches the host vehicle, In a situation where the surrounding vehicle traveling in front of the host vehicle on the main lane decelerates and approaches the host vehicle, the vehicle However, if the display position of the vehicle mark on the display image is fixed, it is not possible to flexibly cope with such changes in the driving conditions of surrounding vehicles. In some cases, sufficient information cannot be transmitted due to the influence of the screen size of the display means. In addition, when the own vehicle actually starts merging, it is also required that the driver can intuitively grasp the behavior change of the own vehicle according to the driving operation from the display image. If the display position of the host vehicle mark is fixed, it is difficult for the driver to intuitively grasp the change in the behavior of the host vehicle in accordance with such driving operation.

  The present invention was devised to solve the above-described problems of the prior art, and flexibly responds to the driving situation of surrounding vehicles at the time of merging of the own vehicle and the position of the own vehicle with respect to the merging point. An object of the present invention is to provide a merging support apparatus and a merging support method capable of displaying an optimal display image in the current traveling environment of the host vehicle and appropriately assisting the driving operation by the driver of the host vehicle. .

  The present invention creates a display image in which a host vehicle mark representing the host vehicle and a surrounding vehicle mark representing a surrounding vehicle traveling around the host vehicle are superimposed on an enlarged map image representing a road environment around the host vehicle. By displaying on the display means, the driving operation of the driver of the host vehicle at the time of joining is supported. At this time, in the present invention, a parameter indicating the current traveling environment of the host vehicle, specifically, for example, a collision margin time between the host vehicle and each surrounding vehicle, or a junction where the junction lane and the main lane intersect The display position of the vehicle mark on the display image is determined based on the position of the vehicle relative to the vehicle.

  According to the present invention, the display position of the own vehicle mark on the display image is the collision allowance time between the own vehicle and each surrounding vehicle, the position of the own vehicle with respect to the junction where the merge lane and the main lane intersect, and the like. Since it is determined based on a parameter indicating the current driving environment of the host vehicle, an optimal display image is displayed in the current driving environment of the host vehicle, and driving operation by the driver of the host vehicle is appropriately supported Is possible.

  Hereinafter, specific embodiments of the present invention will be described in detail with reference to the drawings.

[First Embodiment]
<Device configuration>
A schematic configuration of the merging support apparatus of the present embodiment is shown in FIG. As shown in FIG. 1, this merging support apparatus includes a controller 1 mainly composed of a microcomputer incorporating a control program. A GPS (Global Positioning System) receiver 2 and a vehicle speed are provided on the input side of the controller 1. A sensor 3, a steering angle sensor 4, an in-vehicle camera 5, a laser radar 6, a communication device 7, and a map data storage device 8 are connected. A display device 9 installed in the passenger compartment of the host vehicle is connected to the output side of the controller 1.

  The GPS receiver 2 receives a signal from a GPS satellite every predetermined reception cycle, and detects latitude / longitude information indicating the absolute position of the host vehicle. The vehicle speed sensor 3 detects the traveling speed of the host vehicle, and the steering angle sensor 4 detects the steering steering angle of the host vehicle.

  The in-vehicle camera 5 is an image of the surroundings of the host vehicle, in particular, a lane in the front-rear direction of the host vehicle (such as a start point and an end point of the road junction), a surrounding vehicle traveling around the host vehicle, a direction indicator and a brake lamp of the surrounding vehicle. Take an image of the surroundings of the subject vehicle, such as the lighting state of. Further, the laser radar 6 scans a laser beam within a predetermined scan range around the host vehicle, and determines the presence or absence of the surrounding vehicle traveling around the host vehicle, the inter-vehicle distance and direction to the surrounding vehicle for each surrounding vehicle. To detect.

  The communication device 7 receives detection information from a vehicle detection device installed in a road junction or the like by so-called road-to-vehicle communication by DSRC (Dedicated Short Range Communications) or the like, and by so-called vehicle-to-vehicle communication, Various information such as position information, blinker operation information, and brake operation information is received from surrounding vehicles.

  The map data storage device 8 includes a recording medium in which map data such as a CD-ROM, a DVD-ROM, and a hard disk is recorded in advance, and a playback device that reads out the map data stored in the recording medium. Information from the GPS receiver 2, the vehicle speed sensor 3, the steering angle sensor 4, the in-vehicle camera 5, the laser radar 6, the communication device 7, and the map data storage device 8 is stored in the controller 1 at any time according to a command from the controller 1. Is taken in.

  The display device 9 has a display unit such as a liquid crystal display, an organic EL panel, or a head-up display, for example, and displays a display image created by the controller 1 on the display unit and presents it to the driver of the host vehicle.

  When the control program is executed by the microcomputer, the controller 1 has, as functions characteristic of the merging support apparatus of the present embodiment, the own vehicle grasping means 11, the surrounding vehicle grasping means 12, the road environment grasping means 13, and the TTC calculation. The functional configurations of the means 14 and the display image creation means 15 are realized.

  The own vehicle grasping means 11 specifies the position of the own vehicle for each GPS reception cycle based on the latitude and longitude information detected by the GPS receiver 2 and determines the position of the own vehicle during the GPS reception cycle as a vehicle speed sensor 3. And the current position of the host vehicle is always grasped. In addition, the own vehicle grasping means 11 is an image of the surroundings of the own vehicle taken by the in-vehicle camera 5, road-to-vehicle communication using the communication device 7, and vehicle-to-vehicle communication in order to grasp the current position of the own vehicle more accurately. The detailed position on the road of the own vehicle may be specified using the information obtained in the above. The own vehicle grasping means 11 grasps the behavior of the own vehicle by tracking the current position of the own vehicle that changes every moment in time.

  The surrounding vehicle grasping means 12 performs processing such as edge detection on the image of the surroundings of the own vehicle taken by the in-vehicle camera 5, and detects the positional relationship between the surrounding vehicles and the lane that run around the own vehicle, Further, by using the distance and direction from the vehicle to the surrounding vehicle detected by the laser radar 6 as a reference, and information obtained by road-to-vehicle communication and vehicle-to-vehicle communication using the communication device 7, the surrounding vehicle Always know the current location of The surrounding vehicle grasping means 12 grasps the behavior of the surrounding vehicle by tracking the current position of the surrounding vehicle that changes every moment in time. The surrounding vehicle grasping means 12 is a lighting indicator of a surrounding vehicle direction indicator and a brake lamp reflected in an image photographed by the in-vehicle camera 5, a blinker operation information of the surrounding vehicle received by the communication device 7, a brake operation information, etc. The behavior of surrounding vehicles is also predicted using the various information.

  The road environment grasping means 13 grasps the road environment around the own vehicle based on the current position of the own vehicle grasped by the own vehicle grasping means 11 and the map data stored in the map data storage device 8. In particular, the road environment grasping means 13 constantly monitors whether or not the current position of the own vehicle is on a merging lane for joining the main lane, and if the current position of the own vehicle is on the merging lane, The image taken by the in-vehicle camera 5 is subjected to processing such as edge detection, and the first lane of the merging lane and the main lane (the lane of the main lane intersecting the merging lane) or the merging start point (lane) Lane information related to merge lanes and main lanes obtained by road-to-vehicle communication or inter-vehicle communication using the communication device 7, etc., and detecting merging end points (points where merging lanes disappear) Based on information on the merge start point and merge end point of the merge lane, the detailed road environment around the host vehicle is grasped.

  Based on the current position and behavior of the own vehicle grasped by the own vehicle grasping means 11 and the current position and behavior of the surrounding vehicles grasped by the surrounding vehicle grasping means 12, the TTC calculating means 14 Inter-vehicle distances and relative speeds with each of the surrounding vehicles traveling around the host vehicle are obtained, and a collision margin time (TTC: Time To Collision = inter-vehicle distance / relative speed) is calculated by dividing the inter-vehicle distance by the relative speed.

  The display image creating means 15 automatically determines whether the own vehicle is traveling on the merged lane based on the information from the road environment grasping means 13 based on the map data stored in the map data storage device 8. An enlarged map image representing the road environment around the vehicle is drawn, and on the drawn enlarged map image, the vehicle shape imitating the shape of the vehicle at a position corresponding to the current position of the own vehicle grasped by the own vehicle grasping means 11 A vehicle mark is superimposed, and a surrounding vehicle mark imitating the shape of the vehicle is superimposed at a position corresponding to the current position of the surrounding vehicle grasped by the surrounding vehicle grasping means 12 to display a display image as shown in FIG. create. The display image shown in FIG. 2 shows the front and rear of the host vehicle in the first lane (left side driving lane) of the main lane in a scene where the host vehicle is traveling on a merge lane that merges from the left side of the main lane. Is a display image created by the display image creation means 15 when two surrounding vehicles are traveling, VM1 in the figure is a vehicle mark representing the vehicle, and VM2 is a vehicle image on the main lane. A surrounding vehicle mark representing a surrounding vehicle traveling in front of the vehicle, and VM3 is a surrounding vehicle mark representing a surrounding vehicle traveling behind the host vehicle on the main lane. Note that P1 in FIG. 2 is a merging start point, and indicates that the own vehicle traveling on the merging lane can change to the main lane (merging) ahead of the merging start point P1. Moreover, P2 in FIG. 2 is a merge end point, and indicates that the merge lane disappears completely at the merge end point P2.

  Here, particularly in the merging support apparatus according to the present embodiment, when the display image creating unit 15 creates the display image as described above, the distance between the own vehicle calculated by the TTC calculating unit 14 and each of the surrounding vehicles. Display image, based on the collision margin time of the surrounding vehicle traveling in front of the host vehicle with respect to the subject vehicle and the margin margin time of the surrounding vehicle traveling behind the host vehicle in the main lane with respect to the subject vehicle. The display position of the host vehicle mark VM1 in the direction along the traveling direction of the upper host vehicle (the vertical direction of the image in the example shown in FIG. 2) is determined. That is, when the display image creating means 15 creates a display image as shown in FIG. 2, first, the collision margin time for the surrounding vehicle traveling in front of the host vehicle and the rear side of the host vehicle on the main lane are determined. Based on the relationship between the traveling marginal vehicle and the collision margin time with respect to the own vehicle, it is determined whether the direction to be particularly careful when the own vehicle joins is the rear side in the traveling direction of the own vehicle or the front side in the traveling direction. Then, if the situation in which the rear side of the own vehicle is to be taken into account is the situation, the display position of the own vehicle mark VM1 on the display image is on the front side in the forward direction of travel (upper side in the example shown in FIG. 2). If the position is determined, and conversely the situation where attention should be paid to the front side in the traveling direction of the host vehicle, the display position of the host vehicle mark VM1 on the display image is rearward in the traveling direction from the center of the image (shown in FIG. 2). In the example, it is determined as the lower position. If the situation in which both the traveling direction rear side and the traveling direction front side of the host vehicle are to be noted is determined, the display position of the host vehicle mark VM1 on the display image is determined to be substantially equal to the image center, and the host vehicle is determined. If both the rear side in the traveling direction and the front side in the traveling direction do not require attention, the own vehicle mark VM1 on the display image is displayed according to the position of the own vehicle with respect to the merge point (the merge start point P1 or the merge end point P2). The display position of is determined.

  At this time, the display image creating means 15 always keeps the center of the image for the display position of the own vehicle mark VM1 in the direction orthogonal to the traveling direction of the own vehicle on the display image (in the example shown in FIG. 2, the horizontal direction of the image). However, from the viewpoint of easily displaying the situation on the main lane, the traveling direction of the host vehicle on the display image is based on the positional relationship of the merging lane where the host vehicle is traveling to the main lane. It is desirable to determine the display position of the vehicle mark VM1 in a direction orthogonal to the vehicle. In other words, the display image creating means 15 determines that the host vehicle in a direction perpendicular to the traveling direction of the host vehicle on the display image is the situation where the merge lane in which the host vehicle is traveling joins the main lane from the left side. If the display position of the mark VM1 is determined to be a position shifted to the left side of the image center, and the merge lane in which the host vehicle is traveling is merged from the right side with respect to the main lane, It is desirable to determine the display position of the own vehicle mark VM1 in a direction orthogonal to the own vehicle traveling direction to a position shifted to the right side from the image center.

  Thereafter, the display image creating means 15 determines the display range of the enlarged map image based on the display screen size of the display device 9 and the like, with the display position of the vehicle mark VM1 on the display image determined as described above as a reference. The host vehicle mark VM1 is superimposed on the position where the host vehicle is traveling on the enlarged map image, and the surrounding vehicle marks VM2 and VM3 are superimposed on the position where the surrounding vehicle is traveling and displayed on the display device 9. Display image to be displayed.

  The display image created by the display image creation means 15 is output to the display device 9. The creation of the display image by the display image creation means 15 and the output to the display device 9 are repeated at a predetermined processing cycle of, for example, about 100 msec. Thereby, the display image as described above is displayed on the display device 9 as a moving image.

  In the above, a planar image as shown in FIG. 2 is illustrated as an example of a display image created by the display image creating means 15 of the controller 1 and displayed on the display device 9. For example, FIG. A bird's eye view image as shown may be displayed on the display device 9 as a display image. The bird's-eye view image as shown in FIG. 3 is a display method that makes it easier to grasp the relative positional relationship between the host vehicle and the surrounding vehicles than the planar image as shown in FIG. It can be easily created by performing viewpoint conversion processing with this conversion technology.

<Specific example of operation>
Next, an example of the operation of the confluence support apparatus configured as described above will be specifically described with reference to FIGS.

  FIG. 4 is a flowchart showing a flow of a series of processes executed by the controller 1 while the host vehicle is traveling on the merge lane in the merge support apparatus of the present embodiment. As shown in the flowchart of FIG. 4, when the process is started, the controller 1 first grasps the current position of the host vehicle in step S1, and grasps the road environment around the host vehicle in step S2. In S3, it is determined whether or not the host vehicle has reached a predetermined distance (for example, 500 m) from the merge start point on the merge lane. In addition, a certain position of the merging start point on the merging lane can be obtained by detecting a node to which three or more links are connected in the map data representing the road environment in the vicinity of the own vehicle. The detailed position can be obtained from, for example, information acquired by road-to-vehicle communication. The processes in steps S1 to S3 are repeated until the host vehicle reaches a predetermined distance from the merge start point on the merge lane, and the host vehicle reaches a predetermined distance from the merge start point on the merge lane. Proceed to S4.

  Next, the controller 1 grasps the current position and behavior of the host vehicle in step S4, grasps the current position and behavior of each surrounding vehicle traveling around the subject vehicle in step S5, and in step S6, For each surrounding vehicle traveling around the host vehicle, a margin time (TTC: Time To Collision = inter-vehicle distance / relative speed) with respect to the host vehicle is calculated. Then, in step S7, the collision margin time of each surrounding vehicle calculated in step S6 with respect to the own vehicle is compared, and the positional relationship of the merged lane in which the own vehicle is traveling to the main lane is also taken into consideration. The display position of the vehicle mark on the display image is determined so that many directions that should be particularly paid attention to the traveling direction of the vehicle are displayed.

  Next, in step S8, the controller 1 determines the display range of the enlarged map image representing the road environment around the host vehicle with reference to the display position of the host vehicle mark determined in step S7, and on this enlarged map image. An image in which the own vehicle mark VM1 is superimposed on the position where the own vehicle is traveling and the surrounding vehicle marks VM2, VM3 are superimposed on the position where the surrounding vehicle is traveling is created as a display image and output to the display device 9 To do.

  Next, in Step S9, the controller 1 determines whether or not the own vehicle has passed through the merge end point on the merge lane and has reached a predetermined distance (for example, 300 m) from the merge end point. In addition, a certain position of the merging end point on the merging lane can be obtained by detecting a node to which three or more links are connected in the map data representing the road environment in the vicinity of the own vehicle. The detailed position can be obtained from, for example, information acquired by road-to-vehicle communication. The process of the above step S4-step S9 is repeated until the own vehicle passes through the merge end point on the merge lane and reaches a point of a predetermined distance. Then, when the controller 1 determines in step S9 that the own vehicle has passed through the merging end point on the merging lane and has reached a point of a predetermined distance, the above series of processing ends.

  Here, the controller 1 in the merging support apparatus according to the present embodiment determines the collision margin time of each surrounding vehicle traveling around the host vehicle with respect to the host vehicle and the positional relationship of the merging lane in which the host vehicle is traveling with respect to the main lane. Based on this, the process of determining the display position of the vehicle mark on the display image (the process of step S7 in the flowchart of FIG. 4) will be described more specifically.

  FIG. 5 is a flowchart showing details of processing in which the controller 1 of the joining support apparatus determines the display position of the vehicle mark on the display image. In this example, the threshold of the collision allowance time, which is a reference for whether or not the vehicle is a surrounding vehicle to be noted at the time of merging, will be described as 16 seconds. It can be changed as appropriate according to the ability.

  When the flowchart of FIG. 5 is started, the controller 1 first determines that the relationship between the host vehicle and the surrounding vehicle is in any of the following conditions (1) to (4) based on the determinations in steps S11 to S13. Check if it is true.

(1) Surrounding vehicles having a collision allowance time TTC of 16 seconds or less with respect to the own vehicle exist both in front of the own vehicle (including both on the main lane and on the merged lane) and behind the own vehicle on the main lane. .
(2) A surrounding vehicle having a collision margin time TTC of 16 seconds or less with respect to the own vehicle exists only in front of the own vehicle (including both on the main lane and the merged lane).
(3) There is a surrounding vehicle having a collision margin time TTC of 16 seconds or less for the host vehicle only behind the host vehicle on the main lane.
(4) There are no surrounding vehicles having a collision allowance time TTC of 16 seconds or less for the host vehicle in both the front of the host vehicle (including both on the main lane and the merge lane) and the rear of the host vehicle on the main lane. .

  Then, if the condition (1) is satisfied (in the case of an affirmative determination in step S12), the process proceeds to step S14. If condition (2) is satisfied (in the case of a negative determination in step S12), the process proceeds to step S15. If 3) is true (in the case of an affirmative determination in step S13), the process proceeds to step S16. If condition (4) is true (in the case of a negative determination in step S13), the process proceeds to step S17.

  When the relationship between the host vehicle and the surrounding vehicle corresponds to the condition (1) and the process proceeds to step S14, the controller 1 determines in step S14 that the host vehicle travel direction front side and the travel direction rear side when the host vehicle merges. The display position of the own vehicle mark in the direction along the traveling direction of the own vehicle on the display image is determined to be a position substantially equal to the center of the image. Next, in step S18, the controller 1 checks whether the merging lane in which the host vehicle is traveling merges from the left side or the right side with respect to the main lane, and if merging from the left side, step S19. When the display position of the own vehicle mark in the direction orthogonal to the traveling direction of the own vehicle on the display image is determined to be a position shifted to the left side from the center of the image and merged from the right side, the display image is displayed in step S20. The display position of the host vehicle mark in the direction orthogonal to the upper host vehicle traveling direction is determined as a position shifted to the right side from the image center. When the display position of the vehicle mark is determined as described above, the controller 1 creates display images as shown in FIGS. 6A to 6C, for example, in step S8 in the flowchart of FIG. To the display device 9. 6A to 6C, the inside of the frame F is an image area displayed on the display device 9 as a display image, the upper side of the image is the front side in the traveling direction of the host vehicle, and the lower side of the image is the own side. The rear side of the vehicle traveling direction, C is the center of the image, VM1 is the own vehicle mark, and VM2 and VM3 are surrounding vehicle marks. 6A to 6C show the transition of the display image with the passage of time, and the display image transitions in the order of (a) → (b) → (c) with the passage of time.

  When the relationship between the host vehicle and the surrounding vehicles corresponds to the condition (2) and the process proceeds to step S15, the controller 1 pays particular attention to the front side in the traveling direction of the host vehicle when the host vehicle merges in step S15. The display position of the vehicle mark in the direction along the traveling direction of the host vehicle on the display image is determined to be a position on the rear side in the traveling direction of the host vehicle from the center of the image. Next, in step S18, the controller 1 checks whether the merging lane in which the host vehicle is traveling merges from the left side or the right side with respect to the main lane, and if merging from the left side, step S19. When the display position of the own vehicle mark in the direction orthogonal to the traveling direction of the own vehicle on the display image is determined to be a position shifted to the left side from the center of the image and merged from the right side, the display image is displayed in step S20. The display position of the host vehicle mark in the direction orthogonal to the upper host vehicle traveling direction is determined as a position shifted to the right side from the image center. When the display position of the vehicle mark is determined as described above, the controller 1 creates display images as shown in FIGS. 7A to 7C, for example, in step S8 in the flowchart of FIG. To the display device 9. In FIGS. 7A to 7C, the inside of the frame F is an image area displayed on the display device 9 as a display image, the upper side of the image is the front side in the traveling direction of the host vehicle, and the lower side of the image is the own side. The rear side of the vehicle traveling direction, C is the center of the image, VM1 is the own vehicle mark, and VM2 is the surrounding vehicle mark that represents the surrounding vehicle traveling in front of the own vehicle. FIGS. 7A to 7C show the transition of the display image over time, and the display image transitions in the order of (a) → (b) → (c) with the passage of time.

  If the relationship between the host vehicle and the surrounding vehicle corresponds to the condition (3) and the process proceeds to step S16, the controller 1 pays particular attention to the rear side in the traveling direction of the host vehicle when the host vehicle merges in step S16. The display position of the own vehicle mark in the direction along the traveling direction of the host vehicle on the display image is determined as a position ahead of the traveling direction of the host vehicle from the center of the image. Next, in step S18, the controller 1 checks whether the merging lane in which the host vehicle is traveling merges from the left side or the right side with respect to the main lane, and if merging from the left side, step S19. When the display position of the own vehicle mark in the direction orthogonal to the traveling direction of the own vehicle on the display image is determined to be a position shifted to the left side from the center of the image and merged from the right side, the display image is displayed in step S20. The display position of the host vehicle mark in the direction orthogonal to the upper host vehicle traveling direction is determined as a position shifted to the right side from the image center. When the display position of the vehicle mark is determined as described above, the controller 1 creates display images as shown in FIGS. 8A to 8C, for example, in step S8 in the flowchart of FIG. To the display device 9. 8A to 8C, the inside of the frame F is an image area displayed on the display device 9 as a display image, the upper side of the image is the front side in the traveling direction of the host vehicle, and the lower side of the image is the own side. The rear side of the vehicle traveling direction, C is the center of the image, VM1 is the own vehicle mark, and VM3 is the surrounding vehicle mark that represents the surrounding vehicle traveling behind the own vehicle. 8A to 8C show the transition of the display image over time, and the display image transitions in the order of (a) → (b) → (c) with the passage of time.

  Further, when the relationship between the host vehicle and the surrounding vehicle corresponds to the condition (4) and the process proceeds to step S17, the controller 1 moves forward and backward in the traveling direction of the host vehicle when the host vehicle merges in step S17. It is determined that there is no need to pay attention to both sides, and the display position of the own vehicle mark on the display image is determined according to the position of the own vehicle with respect to the junction. That is, when the relationship between the host vehicle and the surrounding vehicle satisfies the condition (4), the controller 1 first displays the merge point as a reference so that, for example, the merge start point and the merge end point are included in the image. Determine the image area of the image. And the controller 1 determines the display position of the own vehicle mark in a display image so that the own vehicle mark moves on a map image according to the positional relationship of the own vehicle with respect to this joining point (merging start point or joining end point). . When the display position of the vehicle mark is determined as described above, the controller 1 creates display images as shown in FIGS. 9A to 9C, for example, in step S8 in the flowchart of FIG. To the display device 9. 9A to 9C, the inside of the frame F is an image area displayed on the display device 9 as a display image, VM1 is the own vehicle mark, VM2 and VM3 are surrounding vehicle marks, P1 Is the merge start point, and P2 is the merge end point. 9A to 9C show the transition of the display image over time, and the display image transitions in the order of (a) → (b) → (c) with the passage of time.

<Effect>
As described above in detail with reference to specific examples, in the merging support apparatus of the present embodiment, the position and behavior of the host vehicle traveling in the merging lane, and the surroundings of the host vehicle are processed by the controller 1. Based on the position and behavior of surrounding vehicles traveling around the vehicle and the surrounding road environment of the own vehicle, the vehicle mark indicating the own vehicle and the surrounding area representing the surrounding vehicle on the enlarged map image representing the road environment around the own vehicle A display image in which the vehicle mark is superimposed is created. When the controller 1 creates this display image, the collision margin time TTC of each surrounding vehicle traveling around the host vehicle with respect to the host vehicle and the positional relationship of the merged lane in which the host vehicle is traveling with respect to the main lane Accordingly, the display position of the vehicle mark on the display image is determined so that a large number of images of a region where the driver needs to be particularly careful when joining the vehicle can be displayed. Therefore, according to the merging support device of the present embodiment, an optimal display image can be displayed on the display device 9 in the current traveling environment of the host vehicle, and the driving operation by the driver of the host vehicle is effectively supported. It becomes possible.

[Second Embodiment]
Next, a merging support apparatus according to a second embodiment to which the present invention is applied will be described. The merge support device of this embodiment is an example of determining the display position of the own vehicle mark on the display image using the position of the own vehicle with respect to the merge point where the merge lane and the main lane intersect. That is, the joining support device of the present embodiment determines the display position of the host vehicle mark on the display image based on the parameter representing the current traveling environment of the host vehicle, as in the first embodiment described above. However, in the first embodiment described above, the display position of the vehicle mark on the display image is determined mainly using the collision allowance time TTC between the vehicle and the surrounding vehicle as a parameter. In this embodiment, the display position of the host vehicle mark on the display image is determined using the position of the host vehicle with respect to the merge point as a parameter. In the following, the description will focus on the parts characteristic of the present embodiment, and the same parts as those in the first embodiment will be denoted by the same reference numerals, and redundant description will be omitted.

<Device configuration>
A schematic configuration of the merging support apparatus of the present embodiment is shown in FIG. As shown in FIG. 10, this merging support apparatus has a basic configuration similar to that of the merging support apparatus of the first embodiment (see FIG. 1), and includes a controller 20 instead of the controller 1 in the first embodiment. ing. Similar to the controller 1 in the first embodiment, the controller 20 is mainly configured by a microcomputer having a built-in control program. When the control program is executed by the microcomputer, the own vehicle grasping means 11 and the surrounding vehicles are grasped. The functional configurations of the means 12, the road environment grasping means 13, the display mode determining means 21, and the display image creating means 15 are realized. That is, the controller 20 realizes the function of the display mode determination unit 21 instead of the TTC calculation unit 14 realized by the controller 1 in the first embodiment as a functional configuration characteristic of the present embodiment. .

  The display mode determining unit 21 actually joins the own vehicle based on the current position of the own vehicle grasped by the own vehicle grasping unit 11 and the road environment around the own vehicle grasped by the road environment grasping unit 13. It is determined whether or not it is a scene to be performed, and accordingly, the mode of the display image displayed on the display device 5 is set to the own vehicle fixing mode for fixing the display position of the own vehicle mark on the display image, or Then, an enlarged map image representing the road environment around the host vehicle is fixed, and it is determined whether the map fixing mode in which the host vehicle mark moves on the map image is set. Specifically, the display mode determination unit 21 obtains the position of the intermediate point between the merging start point and the merging end point at the merging point based on the information from the road environment grasping unit 13, for example, and displays the position of the intermediate point. It is determined whether or not the current position of the host vehicle grasped by the own vehicle grasping means 11 is a position included in the image area of the display image when the image center is taken. Then, the display mode determination means 21 is a position where the current position of the host vehicle is outside the image area of the display image when the intermediate point between the merge start point and the merge end point at the merge point is the image center of the display image. If it is determined, the display mode of the display image is determined as the own vehicle fixed mode, and if it is determined that the current position of the host vehicle is within the display area of the display image, the display mode of the display image is set. It decides to map fixed mode.

  When the display mode determining unit 21 determines that the display mode of the display image is the own vehicle fixed mode, the display image creating unit 15 determines the display position of the own vehicle mark on the display image as the image center, and An enlarged map image is drawn on the basis of the current position of the vehicle. The own vehicle mark is drawn at the center of the enlarged map image, and the surrounding vehicle mark is placed at a position corresponding to the current position of the surrounding vehicle grasped by the surrounding vehicle grasping means 12. The images are superimposed and output to the display device 9 as a display image.

  Further, when the display mode determination unit 21 determines that the display mode of the display image is the map fixing mode, the display image creation unit 15 determines that the intermediate point between the merging start point and the merging end point at the merging point is the image center of the display image. The enlarged map image is drawn so that the own vehicle mark and the surrounding vehicle grasping means 12 grasp the position on the enlarged map image at a position corresponding to the current position of the own vehicle grasped by the own vehicle grasping means 11. The surrounding vehicle mark is superimposed on the position corresponding to the current position of the surrounding vehicle, and is output to the display device 9 as a display image. That is, when creating a display image in the map fixing mode, the display image creating means 15 determines the display position of the own vehicle mark on the display image based on the positional relationship of the own vehicle with respect to the junction.

  Also in the merge support apparatus of this embodiment, the creation of the display image by the display image creation means 15 and the output to the display device 9 are repeated at a predetermined processing cycle of, for example, about 100 msec. Thereby, in the case of the own vehicle fixing mode, the display device 9 displays a moving image in which the own vehicle mark is fixed at the center of the screen and the surrounding road and the surrounding vehicle mark move. In the case of the map fixing mode, A moving image in which the own vehicle mark and surrounding vehicle marks move on the enlarged map image is displayed.

<Specific example of operation>
Next, an example of the operation of the merging support apparatus of the present embodiment configured as described above will be specifically described with reference to FIGS. 11 to 13.

  FIG. 11 is a flowchart showing a flow of a series of processes executed by the controller 20 while the host vehicle is traveling on the merge lane in the merge support apparatus of the present embodiment. As shown in the flowchart of FIG. 11, when the process is started, the controller 20 first grasps the current position of the host vehicle in step S21 and grasps the road environment around the host vehicle in step S22. In S23, it is determined whether or not the host vehicle has reached a predetermined distance (for example, 500 m) from the merge start point on the merge lane. In addition, a certain position of the merging start point and the merging end point on the merging lane can be obtained by detecting a node to which three or more links are connected in the map data representing the road environment in the vicinity of the host vehicle, Further, the detailed position can be obtained from information acquired by road-to-vehicle communication, for example. The processes in steps S21 to S23 are repeated until the host vehicle reaches a predetermined distance from the merge start point on the merge lane, and the host vehicle reaches a predetermined distance from the merge start point on the merge lane. Proceed to S24.

  Next, in step S24, the controller 20 calculates the position of the intermediate point between the merging start point and the merging end point on the merging lane, grasps the current position of the host vehicle in step S25, and in step S26, in step S24. Whether or not the current position of the host vehicle grasped in step S25 is included in the image area of the display image when the calculated intermediate point position between the merging start point and the merging end point is set as the image center of the display image. Determine. If the controller 20 determines that the current position of the host vehicle is included in the image area of the display image centered at the position of the intermediate point between the merge start point and the merge end point, the display image is displayed in step S27. The display mode of is determined as the map fixing mode. On the other hand, if the controller 20 determines that the current position of the host vehicle is not included in the image area of the display image centered at the position of the intermediate point between the merging start point and the merging end point, the display is displayed in step S28. The display mode of the image is determined to be the own vehicle fixing mode.

  Next, in step S29, the controller 20 grasps the current position of each surrounding vehicle that travels around the host vehicle. In step S30, the controller 20 represents the host vehicle on the enlarged map image representing the road environment around the host vehicle. A display image in which a mark or a surrounding vehicle mark representing the surrounding vehicle is superimposed is created and output to the display device 9. At this time, when the display mode of the display image is determined to be the map fixing mode in step S27, the controller 20 sets the intermediate point between the merging start point and the merging end point calculated in step S24 to be the image center of the display image. An enlarged map image is drawn, and on this enlarged map image, the host vehicle mark is displayed at the position corresponding to the current position of the host vehicle grasped at step S25, and the position around the position corresponding to the current position of the surrounding vehicle grasped at step S29 is displayed. A vehicle image is superimposed on each other to form a display image. On the other hand, when the display mode of the display image is determined to be the own vehicle fixing mode in step S28, the controller 20 determines the display position of the own vehicle mark on the display image as the center of the image, and the self grasped in step S25. The enlarged map image is drawn based on the current position of the vehicle, and the own vehicle mark is displayed at the center of the enlarged map image, and the surrounding vehicle mark is displayed at a position corresponding to the current position of the surrounding vehicle grasped in step S29. An image.

  Next, in step S31, the controller 20 determines whether or not the host vehicle has passed through the merge end point on the merge lane and has reached a predetermined distance (for example, 300 m) from the merge end point. The processes in steps S25 to S31 are repeated until the host vehicle passes through the merge end point on the merge lane and reaches a predetermined distance, and in step S31 the host vehicle passes the merge end point on the merge lane. When it is determined that the vehicle has reached a predetermined distance, the above series of processing ends. As a result, the host vehicle passes through a point on the merging lane that is a predetermined distance (for example, 500 m) before the merging start point, merges with the main lane, and then moves away from the merging end point by a predetermined distance (for example, 300 m). In the display device 9, for example, FIG. 12 (a) → FIG. 12 (b) → FIG. 12 (c) → FIG. 13 (a) → FIG. 13 (b) → FIG. A display image that transitions in this order is displayed as a moving image. In FIGS. 12A to 12C and FIGS. 13A to 13C, the inside of the frame F is an image area displayed on the display device 9 as a display image. Vehicle marks, VM2 and VM3 are surrounding vehicle marks, P1 is a merge start point, P2 is a merge end point, and P3 is an intermediate point between the merge start point and merge end point. FIGS. 12A and 12B are display examples when the display mode of the display image is determined to be the own vehicle fixing mode, FIGS. 12C, 13A, and 13B. ) Is the case where the own vehicle exists in the image area of the display image centered at the position of the intermediate point between the merging start point and the merging end point, and the display mode of the display image is determined to be the own vehicle fixing mode. In the display example, FIG. 13C, the position of the host vehicle deviates from the image area of the display image centered at the position of the intermediate point between the merging start point and the merging end point, and the display mode of the display image is fixed to the host vehicle. It is an example of a display when returning to the mode.

  In the above example, when the display mode of the display image is determined to be the own vehicle fixing mode, the display position of the own vehicle mark is fixed to the image center of the display image. As in the embodiment, there are many images of areas that require special attention based on the collision allowance time TTC of each surrounding vehicle that travels around the host vehicle, the positional relationship of the merged lane with respect to the main lane, and the like. The display position of the vehicle mark on the display image may be fixed at a position shifted from the center of the image so that it can be displayed.

<Effect>
As described above in detail with reference to specific examples, in the merging support device of the present embodiment, the position and behavior of the host vehicle traveling in the merging lane, and the surroundings of the host vehicle are processed by the controller 20. Based on the position and behavior of surrounding vehicles traveling around the vehicle and the surrounding road environment of the own vehicle, the vehicle mark indicating the own vehicle and the surrounding area representing the surrounding vehicle on the enlarged map image representing the road environment around the own vehicle A display image in which the vehicle mark is superimposed is created. Then, when the controller 20 creates the display image, the display mode of the display image is set to the own vehicle fixing mode and the map fixing mode according to the positional relationship of the own vehicle with respect to the joining point where the joining lane and the main lane intersect. While the vehicle is driving near the merge point, the map image is displayed on the map image so that the driver of the vehicle can intuitively grasp the behavior change of the vehicle according to the driving operation from the display image. A map image in the map fixing mode in which the own vehicle mark moves is displayed on the display device 9. Therefore, according to the merging support device of the present embodiment, an optimal display image can be displayed on the display device 9 in the current traveling environment of the host vehicle, and the driving operation by the driver of the host vehicle is effectively supported. It becomes possible.

  The merging support apparatus described above exemplifies an embodiment of the present invention, and the technical scope of the present invention is not limited to the contents disclosed in the description of each of the above embodiments. Of course, various alternative techniques that can be easily derived from these disclosures are also included.

It is a schematic block diagram of the confluence | merging assistance apparatus of 1st Embodiment to which this invention is applied. It is a figure which shows an example of the display image produced by the controller and displayed on a display apparatus in the confluence | merging assistance apparatus of 1st Embodiment. It is a figure which shows the other example of the display image produced by the controller and displayed on a display apparatus in the confluence | merging assistance apparatus of 1st Embodiment. 4 is a flowchart illustrating a flow of a series of processes executed by a controller while the host vehicle is traveling on a merge lane in the merge support apparatus according to the first embodiment. It is a flowchart which shows the detail of the process in which the controller of the confluence | merging assistance apparatus of 1st Embodiment determines the display position of the own vehicle mark on a display image. It is a figure which shows an example of the display image produced by a controller, when the display position of the own vehicle mark in the direction along the own vehicle advancing direction on a display image is determined to a position substantially equal to the image center, (a) → It is a figure which shows the example of a transition of the display image which changes in order of (b)-> (c). It is a figure which shows an example of the display image produced by a controller, when the display position of the own vehicle mark in the direction along the own vehicle advancing direction on a display image is determined behind the own vehicle advancing direction rather than the image center. FIG. 6 is a diagram illustrating a transition example of a display image that transitions in the order of (a) → (b) → (c). It is a figure which shows an example of the display image produced by a controller, when the display position of the own vehicle mark in the direction along the own vehicle advancing direction on a display image is determined ahead of the own vehicle advancing direction rather than the image center. FIG. 6 is a diagram illustrating a transition example of a display image that transitions in the order of (a) → (b) → (c). It is a figure which shows an example of the display image produced by a controller, when the display position of the own vehicle mark on a display image is determined according to the position of the own vehicle with respect to a junction, (a)-> (b)-> (c It is a figure which shows the example of a transition of the display image which changes in order of (). It is a schematic block diagram of the confluence | merging assistance apparatus of 2nd Embodiment to which this invention is applied. In the merge support apparatus of 2nd Embodiment, it is a flowchart which shows the flow of a series of processes performed by a controller, while the own vehicle is drive | working on a merge lane. In the confluence | merging assistance apparatus of 2nd Embodiment, it is a figure which shows an example of the display image produced by a controller, and is a figure which shows the example of a transition of the display image which changes in order of (a)-> (b)-> (c) It is. In the confluence | merging assistance apparatus of 2nd Embodiment, it is a figure which shows an example of the display image produced by a controller, and is a figure which shows the example of a transition of the display image which changes in order of (a)-> (b)-> (c) It is.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Controller 9 Display apparatus 11 Own vehicle grasping means 12 Surrounding vehicle grasping means 13 Road environment grasping means 14 TTC calculating means 15 Display image creating means 20 Controller 21 Display mode determining means VM1 Own vehicle mark VM2, VM3 Surrounding vehicle mark

Claims (12)

In the merging support device that supports the driving operation by the driver when the own vehicle traveling in the merging lane joins the main lane,
A display image for creating a display image in which an own vehicle mark representing the own vehicle and a surrounding vehicle mark representing a surrounding vehicle traveling around the own vehicle are superimposed on an enlarged map image representing the road environment around the own vehicle Creating means;
Display means for displaying the display image created by the display image creation means,
The merging support apparatus, wherein the display image creating means determines a display position of the host vehicle mark on the display image based on a parameter indicating a current traveling environment of the host vehicle.   The display image creation means indicates a current marginal time between the own vehicle and each surrounding vehicle, or a position of the own vehicle with respect to a merge point where the merge lane and the main lane intersect, The merge support apparatus according to claim 1, wherein a display position of the vehicle mark on the display image is determined as a parameter. In the merging support device that supports the driving operation by the driver when the own vehicle traveling in the merging lane joins the main lane,
Own vehicle grasping means for grasping the position and behavior of the own vehicle;
Surrounding vehicle grasping means for grasping the position and behavior of surrounding vehicles traveling around the own vehicle;
A collision allowance time calculating means for calculating a collision allowance time between the own vehicle and each surrounding vehicle based on information from the own vehicle grasping means and information from the surrounding vehicle grasping means;
Display image creating means for creating a display image in which an own vehicle mark representing the own vehicle and an surrounding vehicle mark representing the surrounding vehicle are superimposed on an enlarged map image representing the road environment around the own vehicle;
Display means for displaying the display image created by the display image creation means,
The display image creating means determines the display position of the own vehicle mark on the display image based on the collision allowance time between the own vehicle and each surrounding vehicle calculated by the collision allowance time calculating means. A special merge support device.   The display image creating means is configured to display the display based on a collision margin time of the surrounding vehicle traveling ahead of the host vehicle with respect to the host vehicle and a margin margin time of the surrounding vehicle traveling behind the host vehicle on the main lane with respect to the host vehicle. 4. The merge support apparatus according to claim 3, wherein a display position of the own vehicle mark in a direction along the traveling direction of the own vehicle on the image is determined.   The display image creation means, when the collision margin time for the host vehicle of the surrounding vehicle traveling behind the host vehicle on the main lane is shorter than the collision margin time for the host vehicle of the surrounding vehicle traveling in front of the host vehicle, 5. The display position of the host vehicle mark in a direction along the traveling direction of the host vehicle on the display image is determined as a position on the front side in the traveling direction of the host vehicle from the center of the image. Merge support device.   The display image creation means, when the collision margin time for the surrounding vehicle traveling in front of the host vehicle is shorter than the collision margin time for the surrounding vehicle traveling behind the host vehicle on the main lane, 5. The display position of the host vehicle mark in a direction along the traveling direction of the host vehicle on the display image is determined as a position on the rear side in the traveling direction of the host vehicle from the center of the image. Merge support device.   The display image creating means has both predetermined collision allowance time for surrounding vehicles traveling in front of the own vehicle and collision allowance time for surrounding vehicles traveling in the rear of the main vehicle lane with respect to the own vehicle. The display position of the own vehicle mark in a direction along the traveling direction of the own vehicle on the display image is determined as a position substantially equal to the center of the image when the display value is shorter than the reference value of 1. 4. The merge support apparatus according to 4.   The display image creating means has both predetermined collision allowance time for surrounding vehicles traveling in front of the own vehicle and collision allowance time for surrounding vehicles traveling in the rear of the main vehicle lane with respect to the own vehicle. If it is longer than the reference value of 2, the display position of the own vehicle mark in the direction along the traveling direction of the own vehicle on the display image is set to the position of the own vehicle with respect to the merge point where the merge lane and the main lane intersect. The merging support apparatus according to claim 4, wherein the merging support apparatus is changed in accordance with the change.   The display image creation means determines a display position of the host vehicle mark in a direction orthogonal to the traveling direction of the host vehicle on the display image, based on a positional relationship of the merged lane in which the host vehicle is traveling with respect to the main lane. The merging support apparatus according to any one of claims 3 to 8, In the merging support device that supports the driving operation by the driver when the own vehicle traveling in the merging lane joins the main lane,
Own vehicle grasping means for grasping the position and behavior of the own vehicle;
Surrounding vehicle grasping means for grasping the position and behavior of surrounding vehicles traveling around the own vehicle;
Road environment grasping means for grasping the road environment around the own vehicle;
Display image creating means for creating a display image in which an own vehicle mark representing the own vehicle and an surrounding vehicle mark representing the surrounding vehicle are superimposed on an enlarged map image representing the road environment around the own vehicle;
Display means for displaying the display image created by the display image creation means,
The merging support apparatus, wherein the display image creating means determines a display position of the own vehicle mark on the display image according to a position of the own vehicle with respect to a merging point where the merging lane and the main lane intersect.   The display image creation means fixes the display position of the host vehicle position mark on the display image at a predetermined position in the display image until the host vehicle reaches the vicinity of the junction. 11. The vehicle according to claim 10, wherein when the vehicle is traveling near the merge point, the display position of the vehicle position mark on the display image is changed according to the position of the vehicle relative to the merge point. Merge support device. In the merging support method for supporting the driving operation by the driver when the own vehicle traveling in the merging lane joins the main lane,
A display image for creating a display image in which an own vehicle mark representing the own vehicle and a surrounding vehicle mark representing a surrounding vehicle traveling around the own vehicle are superimposed on an enlarged map image representing the road environment around the own vehicle Creation steps,
A display step for displaying the display image created in the display image creation step,
In the display image creation step, the display position of the host vehicle mark on the display image is determined based on a parameter indicating the current traveling environment of the host vehicle.

Images