JP2008094292A - Vehicle display device and information display method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle display device and an information display method capable of easily grasping a situation in the advancing direction of a traveling vehicle. <P>SOLUTION: A display screen of a display 1 is installed in a visual field peripheral portion separated from a central visual field when a driver gazes an information presentation gaze object (side mirror 5) for grasping the surrounding situation of the vehicle in the vehicle advancing direction. Based on information from an external environment detection device 3, a display control device 2 displays information indicating other vehicles traveling in approximately the same advancing directions as that of the vehicle on approximately the same vector as the advancing direction of the vehicle on the display screen. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle display device and an information display method for displaying a situation around a vehicle.

  Conventionally, as a technique for presenting the movement of another vehicle relative to the host vehicle, a relative position display device described in Patent Document 1 below is known.

  The relative position display device sequentially acquires own vehicle travel information including the travel position, travel direction, and travel speed of the host vehicle, while the travel position, travel direction, and travel speed of other vehicles are obtained. The other vehicle driving information including it is acquired sequentially. Then, the relative position display device obtains a relative positional relationship based on the own vehicle traveling information and the other vehicle traveling information, and presents the relative positional relationship in a predetermined display mode. At this time, the relative position display device calculates a relative positional relationship between the host vehicle and the other vehicle, and determines a predetermined display mode with reference to correspondence information that associates the relative positional relationship with the display mode. .

In addition, as another conventionally known technique, by sensing the road shape based on the position of the host vehicle and surrounding vehicle conditions, and displaying the surrounding vehicle (icon) superimposed on the navigation screen, There is one that enables comprehensive information on the surrounding environment to be grasped on one screen.
JP 2005-43187 A

  By the way, the driving behavior of the driver is several kinds of hierarchical small behaviors, surrounding information grasping behavior, judgment behavior, operation behavior, direct viewing behavior under viewing behavior, indirect (mirror) viewing behavior, location information in surrounding information grasping It is necessary to flexibly switch the accuracy / speed grasp behavior in the speed information and the position / speed information, and execute them by connecting them. However, in the above-described technology, the load resistance (transition resistance, transduction resistance) at the time of switching between visual recognition of the display and visual recognition of the side mirror and at the time of switching the acquisition information accuracy of the relative position and relative speed is high. Especially in the driving environment where the execution time is limited like at the time of merging, there is a problem that even if the information is easy to grasp by single execution of small actions, it is difficult to execute in the actual driving scene .

  Accordingly, the present invention has been proposed in view of the above-described circumstances, and an object thereof is to provide a vehicle display device and an information display method capable of easily grasping a situation in a traveling direction in which the host vehicle travels. And

  The vehicle display device and the information display method according to the present invention display an information presenting gaze object for grasping the situation around the host vehicle in the traveling direction of the host vehicle in a region around the field of view away from the central field of view when the driver is gazing. The above-described problem is solved by installing a screen and displaying information indicating another vehicle that travels in substantially the same traveling direction as that of the host vehicle on the same vector as the traveling direction of the host vehicle on the display screen.

  According to the vehicle display device and the information display method according to the present invention, the visual field peripheral part away from the central visual field when the driver is gazing at the information presenting gaze object for grasping the situation around the own vehicle in the traveling direction of the own vehicle. On the display screen, information indicating another vehicle that travels in substantially the same traveling direction as the host vehicle is displayed on substantially the same vector as the traveling direction of the host vehicle. Thus, the information on the display screen can be grasped and the information in the traveling direction of the own vehicle can be grasped, so that it is possible to easily grasp the situation in the traveling direction in which the own vehicle travels.

  Embodiments of the present invention will be described below with reference to the drawings.

  The present invention is applied, for example, to a vehicle display device configured as shown in FIG. In this vehicle display device, a display screen is displayed at a peripheral portion of the visual field that is distant from the central visual field when the driver is gazing at the side mirror 5 that is an information presenting object that grasps the situation around the host vehicle in the traveling direction of the host vehicle. An installed display 1 is provided. The display 1 is installed in the effective visual field when the display screen visually recognizes the side mirror 5. As the display 1, various displays such as a liquid crystal display can be used, and in the case where information is presented in a dotted form instead of an image, an LED (Light Emitting Diode) may be integrated.

  Further, the vehicle display device includes a display control device 2 that creates an image to be displayed on the display 1 and an external environment detection device 3 that acquires information for creating an image by the display control device 2. The display control device 2 displays information indicating another vehicle that travels in substantially the same traveling direction as that of the host vehicle on a vector that is substantially the same as the traveling direction of the host vehicle on the display screen of the display 1.

  The image displayed on the display 1 by the vehicle display device is a plan view image in which the relative positional relationship between the host vehicle and the rear vehicle is viewed from above, including other vehicles existing behind the host vehicle. For example, as shown in FIG. 2 (a), when there is another vehicle behind the vehicle traveling in the adjacent lane adjacent to the traveling lane of the own vehicle, the display image on the display 1 shown in FIG. 2 (b) As in 100, the relative position relationship between the own vehicle and the other vehicle can be displayed by adjusting the distance in the display screen between the own vehicle position image 102 and the other vehicle image 101 at the fixed position. Further, when displaying the host vehicle and another vehicle traveling in the same lane as the host vehicle and another vehicle in the adjacent lane, as shown in the display image 100 of FIG. A front other vehicle image 101c in front of the host vehicle traveling in the lane, a rear other vehicle image 101a in the rear of the host vehicle traveling in the adjacent lane, and a rear other vehicle image 101b in the rear of the host vehicle traveling in the same lane can be displayed.

  Note that the display video 100 shown in FIGS. 2B and 2C is obtained by performing filtering processing on the spatial frequency and / or the time frequency of the display video 100, as will be described in detail later. By this filtering process, when the driver gazes at the side mirror 5 in order to confirm the situation behind the host vehicle, the display image 100 that does not induce eye movement due to the display content of the display 1 being obstructive for the driver. it's shown.

  In this way, in contrast to displaying the display image 100 on the same vector as the actual traveling direction of the host vehicle, the host vehicle and the other vehicle are displayed on the center display 4 mounted on the host vehicle, as shown in FIG. Is displayed, the vehicle traveling direction displayed in the center display 4 is different from the actual traveling direction of the host vehicle. In the vehicle display device to which the present invention is applied, since the display screen of the display 1 is formed directly under the side glass of the own vehicle, the longitudinal direction of the display 1 and the actual traveling direction of the own vehicle are the same vector. Have been able to.

  Next, a detailed configuration of the vehicle display device to which the present invention is applied will be described with reference to FIG.

  The external environment detection device 3 includes a surrounding vehicle position detection device 11 and a surrounding road shape detection device 12. This external environment detection device 3 grasps the external environment surrounding the host vehicle, that is, the position of other surrounding vehicles and the road shape, and parameters and various information for creating an image displayed on the display 1 by the display control device 2 Is obtained and output.

  Examples of the surrounding vehicle position detection device 11 include a distance measuring sensor, a camera and an image analysis device, a vehicle-to-vehicle communication device, and a road-to-vehicle communication device. As a configuration for detecting a relative position of the surrounding other vehicle with respect to the host vehicle, the surrounding vehicle position detection device 11, for example, captures a surrounding image by a camera and performs image analysis such as edge detection on the captured surrounding image. The distance of the other vehicle to the own vehicle is detected, or the distance of the other vehicle to the own vehicle is directly measured like a laser radar or an ultrasonic sensor. Further, the surrounding vehicle position detection device 11 obtains distance information by communicating coordinate signals with other surrounding vehicles by the inter-vehicle communication device, or the surrounding other vehicle on the road infrastructure by the road-to-vehicle communication device. Position data may be obtained. The relative position information of the other vehicle with respect to the host vehicle detected by the surrounding vehicle position detection device 11 is output to the display control device 2 at a preset sampling cycle.

  For example, the surrounding road shape detection device 12 extracts the shape of the road on which the host vehicle is traveling from the map data of the navigation system based on the host vehicle coordinates obtained from the GPS (Global Positioning System) of the navigation system. I do. Note that the host vehicle coordinates may be supplemented by data obtained by imaging and image analysis by a camera, steering signals, vehicle speed data, and the like. In addition, the surrounding road shape detection device 12 may perform a process of capturing the shape of a road that is actually running with a camera and detecting the road shape by image analysis such as edge detection. The surrounding road shape information detected by the surrounding road shape detection device 12 is output to the display control device 2 at a preset sampling cycle.

  The display control device 2 creates a display video 100 to be presented to the driver based on the relative position information and surrounding road shape information obtained from the external environment detection device 3. The display control device 2 converts the distance between the host vehicle and the other vehicle into a preset scale based on the relative position information, and is a display form that can be grasped by the driver during the driving action. Is processed into a display image 100 having an information amount that does not attract the line of sight to the display 1. Thereby, when the display control apparatus 2 displays the display image 100 on the display 1, the display control apparatus 2 presents the information of the other vehicle in a direction substantially coinciding with the traveling direction of the host vehicle. Further, the display control device 2 is performed in real time in the same manner as the external environment detection device 3, and creates a display image 100 corresponding to other vehicle positions around the actual own vehicle.

  In the vehicle display device shown in FIG. 3, a presentation information setting operation device 6 is connected to the display control device 2. The presentation information setting operation device 6 includes an operation interface that is operated when inputting display setting information indicating specifications that the driver wants to present information. As this operation interface, an independent switch or a multifunction switch incorporated in the navigation switch can be used. Here, since the amount of information that can be used by the driver during driving varies depending on the driving skill and the driving execution model (mental model) learned by the driver, it is desirable that the driver can set necessary information. A presentation information setting operation device 6 for setting the display video 100 to be displayed on the display 1 is provided.

  The display setting information input by the presentation information setting operation device 6 includes priority setting information indicating a driving scene in which the display image 100 is preferentially displayed on the display 1, and road shape correction setting for correcting and displaying the road shape. Information, display range setting information for setting how far the other vehicle is displayed from the own vehicle, filtering setting information for setting the filtering characteristics of the spatial frequency and the time frequency of the display image 100, and the actual other vehicle Corresponding vehicle display setting information for setting a correspondence relationship and surrounding vehicle state display setting information are included. The display setting information is stored and updated by the driver setting information storage unit 21 of the display control device 2. The priority setting information is stored in the priority information setting storage unit 31, the road shape correction setting information is stored in the road shape correction setting storage unit 32, the display range setting information is stored in the display range setting storage 33, and the filtering setting information is filtered. The corresponding vehicle display setting information is stored in the setting storage unit 34, the corresponding vehicle display setting information is stored in the corresponding vehicle display setting storage unit 35, and the surrounding vehicle state display setting information is stored in the surrounding vehicle state information display setting storage unit 36.

  The priority setting information stored in the priority information setting storage unit 31 indicates where the information about the merging main line is presented when the host vehicle approaches the merging point, or when there are a plurality of lanes in the acceleration lane This is information such as at which point the main line side information is provided and at which point the information in the acceleration lane is provided.

  The road shape correction setting information stored in the road shape correction setting storage unit 32 indicates whether or not to perform a relative distance correction process according to the road shape set by the driver.

  The display range setting information stored in the display range setting storage 33 stores the display range of the distance for displaying other vehicles set by the driver. Specifically, since the display range varies depending on the driving skill of the driver when the driver can use it, the distance in the front-rear direction and the number of lanes in the horizontal direction are set.

  The filtering setting information stored in the filtering setting storage unit 34 stores the spatial frequency and temporal frequency filtering characteristics set by the driver and the default filtering characteristics. The characteristics that allow grasping information in the peripheral vision are affected not only by the physiological characteristics of human beings but also by the driving model characteristics of the driver. Can be set.

  Corresponding vehicle display setting information stored in the corresponding vehicle display setting storage unit 35 includes a visual object in a visual information device (side mirror 5) visually recognized by central vision and a visual information device (display) visually recognized in the peripheral visual field. 1) Information that is set by the driver as to whether or not to perform superimposed display for easily recognizing that the visual object in the figure is a corresponding visual object.

  The surrounding vehicle state information stored in the surrounding vehicle state information display setting storage unit 36 is based on the running state of the surrounding vehicle and whether or not the surrounding vehicle state information for improving the graspability is displayed in a superimposed manner. The setting specification when the display is performed is information set by the driver.

  The display control device 2 temporarily stores the relative position information sent from the surrounding vehicle position detection device 11 in the surrounding vehicle position temporary storage unit 22 and transmits it to the surrounding vehicle selection unit 24. Further, the display control device 2 temporarily stores the surrounding road shape information sent from the surrounding road shape detection device 12 in the surrounding road shape temporary storage unit 23, so that the driving scene determination unit 25 and the surrounding vehicle running state calculation unit 28. The relative position information transmitted from the surrounding vehicle position detection device 11 and the surrounding road shape information transmitted from the surrounding road shape detection device 12 are transmitted in synchronization.

  The driving scene determination unit 25 determines the driving scene that the host vehicle currently faces based on the surrounding road shape information stored in the surrounding road shape temporary storage unit 23. The driving scene determination unit 25 determines the driving scene of the host vehicle such as a merge point and a normal straight traveling state from the road shape within a preset range based on the host vehicle. For example, when the priority setting information stored in the priority information setting storage unit 31 is set to display on the display 1 with priority at the junction, it is easy to determine the junction. The driving scene information determined by the driving scene determination unit 25 is supplied to the surrounding vehicle selection unit 24 and the distance calculation unit 26 on the road alignment.

  Based on the current driving scene determined by the driving scene determination unit 25 and the display range setting information stored in the display range setting storage 33, the surrounding vehicle selection unit 24 displays among other vehicles that travel around the host vehicle. The necessary information indicating the selection result of other vehicles that need to be selected is selected. For example, when the driving scene of the host vehicle is a general road, other vehicles around that are required to present information are displayed within the distance specified in the display range and other vehicles that are traveling on the same road. Create the necessary information. Also, in the driving scene where the host vehicle is approaching the junction, the other vehicle that needs to be displayed is not the road (ramp, acceleration lane) on which the host vehicle is traveling, but is specified in the display range among the other vehicles on the main line side The necessary information for displaying other vehicles existing within the specified distance is created. This necessary information is supplied to the distance calculation unit 26 on the road alignment as the relative position information of the selected other vehicle.

  When the road shape correction setting information stored in the road shape correction setting storage unit 32 corrects the distance according to the road shape, the distance calculation unit 26 on the road alignment determines other distances depending on the road shape. In order to correct the vehicle display, the relative distance error due to the road shape is reduced. The distance calculation unit 26 on the road alignment is selected by the surrounding vehicle selection unit 24 based on the road shape correction setting information stored in the road shape correction setting storage unit 32 and the driving scene determined by the driving scene determination unit 25. From the relative position information (included in the necessary information) of the other vehicle thus calculated, the relative distance (distance of the journey) between the host vehicle and the other vehicle on the road alignment is calculated. This is because when the vehicle position image creation unit 41 creates an image that is the basis of the display video 100, the road shape is corrected and converted into a straight state, and then the image is created. The reason for converting the road to a straight line state is that the width direction of the display screen of the display 1 is limited. Therefore, when the road is displayed in a curved shape in accordance with the actual road shape, it is not within the displayable range. This is to prevent it. Also, not only when the road shape is curved, but when it is a merging scene, the acceleration lane (including the ramp) and the travel direction of the main line have an angle, so the distance between the host vehicle and other vehicles is corrected. Is required.

  Depending on the display range (rear range to be displayed) set by the driver, the road shape may not be corrected. If the road shape is not corrected, the lateral information may also be effective information for driving. In this embodiment, whether or not the road shape is corrected is determined by the driver as to whether the road information is corrected or not. Setting by the driver is enabled by the shape correction setting storage unit 32. When the information in the lateral direction of the road shape is also effective information for driving, when the information presentation range is the vehicle proximity part, by providing the display 1 in the peripheral part of the side mirror 5 as in this embodiment, This is a case where the rear side vehicle grasped by the side mirror 5 and the vehicle position information presented by the display 1 can be easily handled. In this way, the lateral information of the road shape is also displayed on the display 1 so that the display 1 is updated in synchronization with the behavior of the other vehicle seen through the side mirror 5 in the left-right direction. Improve.

  In this way, the relative position information for each other vehicle according to the road shape calculated by the road linear distance calculation unit 26 is sent to the vehicle position image creation unit 41 of the image processing unit 27.

  The vehicle position image creation unit 41 creates an image in which the relative positions of surrounding vehicles are marked (icon placement at the vehicle position) based on the own vehicle position based on the relative position information for each other vehicle according to the road shape. To do. The image creation range of this image is determined based on the display range setting information stored in the display range setting storage 33 in the traveling direction of the host vehicle. This image is an image in a line-of-sight direction orthogonal to the line-of-sight direction when the side mirror 5 is viewed in order to display the display image 100 in the peripheral vision of the driver when the side mirror 5 is viewed. The image data created by the vehicle position image creation unit 41 is sent to the frequency filtering processing unit 42.

  The frequency filtering processing unit 42 has a temporal frequency and a spatial frequency at which contrast sensitivity can be obtained for the driver in a region around the visual field when the driver gazes at the side mirror 5 with respect to the image generated by the vehicle position image generating unit 41. In this case, filtering processing is performed that includes frequency components in the range of temporal frequency and spatial frequency without temporal edges and spatial edges.

  Here, when there is visual information (image) that moves around the visual field as human visual characteristics, if there is visual information with a high spatial frequency within a specific time frequency band, attention is drawn to the visual information. Usually, when there is no other object to which attention is directed in the line-of-sight direction, the portion attracting the attention and the line-of-sight movement direction substantially coincide with each other, and the line-of-sight movement is induced in the information. In other words, the location where the line of sight is directed changes depending on the relative balance between the strength of the driver's active attention (the degree of attractiveness) and the strength of the passive attention, and pay attention to the periphery of the visual field. If there is visual information that is drawn, it means that it becomes a distraction for the visual act of actively trying to obtain visual information.

  Therefore, when viewing the side mirror 5 with the driver's central vision, if the display contents of the display 1 are grasped in the peripheral visual field without attracting the display 1 to the gaze, the gaze movement to the display 1 is not induced. It is necessary to control the intensity of information provision provided in the peripheral vision. In this vehicle display device, a spatial frequency filtering process in the display video 100 is performed in order to control the intensity of information provision.

  The frequency filtering processing unit 42 performs a filtering process on the display image 100 to be displayed on the display 1 according to the contrast sensitivity characteristic indicating the sensitivity of the spatial frequency and the time frequency in the driver's peripheral visual field. Control the strength of information provision. Also in this filtering process, the filtering setting can be changed based on the filtering setting information stored in the filtering setting storage unit 34 so that the setting can be changed according to the skill and preference of the driver. The filtering process by the frequency filtering processor 42 will be described in detail later. The filtered image is sent to the corresponding vehicle auxiliary information superimposing unit 43.

  Corresponding vehicle auxiliary information superimposing processing unit 43, in the image sent from corresponding vehicle auxiliary information superimposing processing unit 43, the visual recognition object of side mirror 5 visually recognized by central vision and the visual recognition of display 1 visually recognized by peripheral vision. Identification information for easily recognizing that the object is a corresponding visual object is displayed in a superimposed manner. The corresponding vehicle auxiliary information superimposing processing unit 43 operates when the vehicle display setting information stored in the corresponding vehicle display setting storage unit 35 is set to display the correspondence relationship.

  For example, the corresponding vehicle auxiliary information superimposing processing unit 43 uses, as identification information, an image in which the same visual target (other vehicle) presented on the side mirror 5 and the display 1 is matched in color, shape (pattern), and the like. Superimpose. The image on which the identification information indicating the correspondence relationship is superimposed by the corresponding vehicle auxiliary information superimposing unit 43 is sent to the surrounding vehicle state information superimposing unit 44. In addition, the corresponding vehicle auxiliary information superimposing processing unit 43 refers to the corresponding vehicle display setting information stored in the corresponding vehicle display setting storage unit 35 in advance, and the other vehicle visually recognized by the side mirror 5 and the other in the display 1. The display form of the identification information indicating the correspondence of the vehicle is changed.

  Further, the correspondence between the other vehicle visually recognized by the driver by the side mirror 5 and the other vehicle displayed on the display 1 may be displayed on the mirror type display in the side mirror 5. This will be described in detail later.

  The surrounding vehicle traveling state calculation unit 28 calculates the traveling state of other surrounding vehicles from the relative position information on the road alignment calculated by the distance calculation unit 26 on the road alignment. The traveling state of the other vehicle includes a relative vehicle speed between the host vehicle and the other vehicle, an inter-vehicle distance, a TTC (time-to-collision) obtained by dividing the inter-vehicle distance by the relative vehicle speed, and an inter-vehicle time THW (time- headway) and vehicle type. For example, the surrounding vehicle running state calculation unit 28 determines the relative distance from the distance at each sampling time at which the relative distance is calculated by the distance calculation unit 26 on the road alignment, and calculates the relative speed based on the difference value. Determine TTC based on relative distance and relative speed.

  The surrounding vehicle state information superimposing processing unit 44 supports the understanding of the surrounding vehicle state according to the traveling state in order to make it easy to grasp the traveling state of the surrounding vehicle in the image from the corresponding vehicle auxiliary information superimposing processing unit 43. The surrounding vehicle state information is superimposed. The surrounding vehicle state information superimposing unit 44 operates when the surrounding vehicle state information stored in the surrounding vehicle state information display setting storage unit 36 is set to display the surrounding vehicle state information.

  As surrounding vehicle state information, information representing relative vehicle speed, inter-vehicle distance, TTC, THW, vehicle type, and the like is superimposed on the image. The display video 100 that is an image in which the surrounding vehicle state information is superimposed by the surrounding vehicle state information superimposing unit 44 is sent to the image output unit 29. Since these surrounding vehicle state information may or may not be required by the driver, which information is to be presented depends on the surrounding vehicle state display stored in the surrounding vehicle state information display setting storage unit 36. It can be set by the driver according to the setting information. For example, depending on the skill of the driver, the driving method may be determined by grasping only the inter-vehicle distance at the time of a merge scene or a lane change scene, or the driving method may be determined mainly by grasping vehicle speed information. In addition, a driver with high driving skill determines the driving method by TTC combining the relative vehicle speed and the inter-vehicle distance, and a driver with high driving skill grasps the vehicle type of the rear side vehicle, Driving is executed by predicting the change in acceleration / deceleration according to the vehicle type. For drivers with high driving skills, for example, there is a possibility of rapid acceleration in sports-type models, so more attention can be paid, and it is possible to join even in situations where TTC is low in models that cannot perform rapid acceleration such as trucks It can be judged.

  The image output unit 29 converts the display video 100 sent from the surrounding vehicle state information superimposing processing unit 44 of the image processing unit 27 into a signal form that can be displayed on the display 1, and outputs the signal to the display 1 to display the display video 100. Display.

  Next, a processing procedure for displaying the display image 100 on the display 1 by the vehicle display device configured as described above will be described with reference to the flowchart of the main routine of FIG. 4 and the flowcharts of the subroutines of FIGS. explain.

  When the vehicle display device is activated and the host vehicle is traveling, the vehicle display device executes the processes of step S1 to step S11 every predetermined period.

  First, in step S1, the vehicle display device inputs the relative position information (relative position coordinates) from the surrounding vehicle position detection device 11 in real time by the surrounding vehicle position temporary storage unit 22, and in step S2, the surrounding road shape The temporary storage unit 23 inputs the surrounding road shape information from the surrounding road shape detection device 12 in real time. At this time, the surrounding vehicle position detection device 11 and the surrounding road shape detection device 12 are triggered almost simultaneously, and the relative position information and the surrounding road shape information are input at the same time.

  Next, in response to the input of the relative position information and surrounding road shape information at the same time in steps S1 and S2, the vehicle display device receives various information from the presentation information setting operation device 6 in step S3. Are read from the presentation information setting operation device 6 and stored.

  Next, the vehicle display device is a driving scene in which the display image 100 is displayed on the display 1 from the surrounding road shape information input in step S2 and the priority setting information stored in the priority information setting storage unit 31 in step S4. It is determined by the driving scene determination unit 25 that the display image 100 included in the display range set in the display range setting storage 33 among the relative position information input by the surrounding vehicle selection unit 24 in step S1. Only the relative position information of other vehicles to be displayed is extracted.

  Next, in step S5, the vehicle display device, based on the surrounding road shape input in step S2, from the necessary relative position information extracted in step S4 by the road linear distance calculation unit 26, Calculate the distance on the road shape.

  Next, in step S6, the vehicle display device creates a road image as a background of the display video 100 based on the surrounding road shape information input in step S2, by the vehicle position image creation unit 41, and in step S5. An image is created in which icons of surrounding vehicles are placed at a distance (position in the display image 100) on the obtained road shape.

  Next, in step S7, the vehicular display device performs a filtering process on the image created in step S6 with the spatial frequency and the temporal frequency set in the filtering setting storage unit 34 by the frequency filtering processing unit 42, The amount of visual information presented on the display 1 placed in the field of view is controlled.

  Next, in step S8, the vehicle display device is visually recognized by the corresponding vehicle auxiliary information superimposing unit 43 in the central view among other vehicles (visual objects) in the image subjected to the filtering process in step S7. The identification information is superimposed on the other vehicle that coincides with the visually recognized object in the side mirror 5.

  Next, in step S <b> 9, the vehicle display device uses the surrounding vehicle state information superimposing unit 44 to calculate the surroundings calculated by the surrounding vehicle running state calculating unit 28 on the image sent from the corresponding vehicle auxiliary information superimposing unit 43. The surrounding road shape information is superimposed depending on the traveling state of the vehicle.

  Next, in step S <b> 10, the vehicular display device outputs an image signal of the display video 100 sent from the surrounding vehicle state information superimposing unit 44 by the image output unit 29 and sends out a signal that can be displayed on the display 1. .

  Next, in step S11, the vehicular display device determines whether or not the vehicular display device is continuously used from the power supply state. If the vehicular display device is being used continuously, the vehicular display device goes to step S1. The processing is returned, and the processing is ended when the power source of the vehicle display device is off.

  Next, a subroutine for storing the driver setting information in step S3 in the main routine in the driver setting information storage unit 21 will be described with reference to FIG.

  First, in step S21, the driver setting information storage unit 21 reads information from the presentation information setting operation device 6. In step S22, the driver setting information storage unit 21 first sets the setting information immediately after the vehicle display device is started. It is determined whether or not is read. If it is the first reading, the process proceeds to step S24. On the other hand, if it is not the first reading, it is determined in step S23 whether the setting information read in step S21 has been changed with respect to the setting information already stored in the driver setting information storage unit 21. In step S23 in which it is determined that the setting information has been changed by the operation of the presentation information setting operation device 6 while the vehicle display device is being used, the driver setting information storage unit 21 performs a step for storing the changed setting information. The process proceeds to S24, and if the setting information has not been changed, the process ends.

  In the next step S24, the driver setting information storage unit 21 gives priority to the host vehicle travel lane information from the setting information set by the presentation information setting operation device 6 or near the junction point, or the main line. The setting information on whether to give priority to the traveling vehicle is extracted, and the extracted setting information is stored in the priority information setting storage unit 31.

  In the next step S25, the driver setting information storage unit 21 determines the road shape when the linear shape of the road has a curvature instead of a straight line from the setting information set by the presentation information setting operation device 6. Road shape correction setting information about whether to correct the road shape or to correct the road shape along the road shape at the junction point, and extract the extracted road shape correction setting information to the road shape correction setting storage unit 32. To remember.

  In the next step S26, the driver setting information storage unit 21 sets the number of adjacent lanes to be displayed and the distance in the front-rear direction to be displayed from the setting information set by the presentation information setting operation device 6. Range setting information is extracted, and the extracted setting information is stored in the display range setting storage 33.

  In the next step S27, the driver setting information storage unit 21 sets the presence / absence of filtering processing for the image, the spatial frequency filtering characteristics, and the time frequency filtering characteristics from the setting information set by the presentation information setting operation device 6. The setting information is extracted, and the extracted setting information is stored in the filtering setting storage unit 34.

  In the next step S28, the driver setting information storage unit 21 includes the visual recognition object in the side mirror 5 that is visually recognized by the driver's central vision from the setting information set by the presentation information setting operation device 6. Extraction of setting information about whether to present information for easily recognizing that the visual target in the display 1 viewed in the peripheral visual field is the corresponding visual target, and corresponds to the extracted setting information This is stored in the vehicle display setting storage unit 35.

  In the next step S29, the driver setting information storage unit 21 extracts setting information on whether to perform visual auxiliary display according to the traveling state of the vehicle from the setting information set by the presentation information setting operation device 6. Then, the extracted setting information is stored in the surrounding vehicle state information display setting storage unit 36.

  In this way, by performing the processing of step S21 to step S29 by the driver setting information storage unit 21, the setting of each storage unit 31 to 36 is performed in response to the setting information being generated by the presentation information setting operation device 6. Information can be updated.

  Next, a subroutine for selecting relative position information (necessary vehicle data) of other vehicles that need to be displayed based on the road shape in step S4 in the main routine described above will be described with reference to FIG.

  First, in step S <b> 31, the surrounding vehicle selection unit 24 calls the setting information on the number of adjacent lanes to be displayed and the range in the front-rear direction stored in the display range setting storage 33.

  In the next step S32, the surrounding vehicle selection unit 24 inputs the driving scene determination result from the driving scene determination unit 25, and determines whether or not there is a meeting point within the range (distance) called in step S31. . If there is a meeting point, the process proceeds to step S33, and if not, the process proceeds to step S37.

  In step S <b> 33, the surrounding vehicle selection unit 24 determines whether the acceleration lane in which the host vehicle is traveling is a one-lane road or a multi-lane road when there is a merging point. In order to make a decision when the host vehicle is traveling on a multi-lane road, it may be desired to present information on surrounding vehicles on the same road (acceleration lane) even near the junction. The process proceeds to step S34. On the other hand, if the acceleration lane in which the host vehicle is traveling is a one-lane road, it is determined that the display image 100 on the main road is to be displayed, and the process proceeds to step S36.

  In step S34, the driving scene determination unit 25 gives priority to the display video 100 including the accelerating lane side or the main line side (the main lane side) because the driving lane determining unit 25 and the accelerating lane (ramp) are multi-lane roads. Priority setting information on whether to prioritize the display image 100 including the junction road is called from the priority information setting storage unit 31.

  In step S35, the driving scene determination unit 25 determines priority setting information based on the setting information called in step S34, and displays other vehicles traveling on the main line with priority on the display video 100. The process proceeds to step S36, and when the other vehicle on the road on which the host vehicle is traveling is preferentially displayed on the display image 100, the process proceeds to step S37.

  In step S36, the surrounding vehicle selection unit 24 receives the other information sent from the surrounding vehicle position temporary storage unit 22 in order to select the relative position information of other vehicles traveling on the main line (joining destination) road at the joining point. Among the relative position information of the vehicle, the relative position information of the main line adjacent to the acceleration lane in which the host vehicle is traveling is selected.

  In step S37, the surrounding vehicle selection unit 24 selects relative position information of other vehicles traveling on the same road or acceleration lane as the host vehicle.

  As described above, the surrounding vehicle selection unit 24 includes the display information 100 in accordance with the setting information stored in the priority information setting storage unit 31 and the display range setting storage 33 and the driving scene determined by the driving scene determination unit 25. The relative position information of other vehicles to be displayed with priority can be selected.

  Next, a subroutine for correcting the distance from the other vehicle based on the road shape in step S5 in the main routine will be described with reference to FIG.

  First, in step S41, the road linear distance calculation unit 26 calls road shape correction setting information for road shape correction from the road shape correction setting storage unit 32.

  In the next step S42, the road linear distance calculation unit 26 uses the setting information called in step S41 to determine whether or not to perform distance correction according to the road shape. When the distance correction according to the road shape is performed, the process proceeds to step S43, and when the distance correction according to the road shape is not performed, the subroutine is terminated.

  In step S <b> 43, the road linear distance calculation unit 26 calls display range (distance) setting information from the display range setting storage 33.

  In the next step S44, the road linear distance calculation unit 26 inputs the determination result of the driving scene from the driving scene determination unit 25, and whether there is a merging point within the range (distance) called in step S43. Judging. If there is a meeting point, the process proceeds to step S45, and if not, the process proceeds to step S52.

  In step S45, the distance calculation unit 26 on the road alignment determines whether the acceleration lane in which the host vehicle is traveling is a one-lane road or a multi-lane road when there is a merging point. In order to make a decision when the host vehicle is traveling on a multi-lane road, it may be desired to present information on surrounding vehicles on the same road (acceleration lane) even near the junction. The process proceeds to step S46. On the other hand, if the acceleration lane in which the host vehicle is traveling is a one-lane road, it is determined that the display image 100 on the main road is to be displayed, and the process proceeds to step S48.

  In step S46, the driving scene determination unit 25 gives priority to the display image 100 including the accelerating lane side or the main line side (the main lane side (ramp) because the accelerating lane (ramp) is a multi-lane road. Setting information on whether to prioritize the display video 100 including the junction road is called from the priority information setting storage unit 31.

  In step S47, the driving scene determination unit 25 determines priority setting information based on the setting information called in step S46, and displays the display image 100 with priority given to other vehicles traveling on the main line. The process proceeds to step S48, and when the other vehicle on the road on which the host vehicle is traveling is preferentially displayed on the display image 100, the process proceeds to step S52.

  In step S48, the distance calculation unit 26 on the road alignment determines whether the road shape at the merge point is the parallel type shown in FIG. 12 (a) or the direct type shown in FIG. 12 (b). In the case of the parallel merging point shown in FIG. 12A, the host vehicle 50 at time T1 travels in parallel with the main line and enters the main line before the end point of the acceleration lane at time T2. On the other hand, in the case of the linear joining point shown in FIG. 12B, the host vehicle 50 at time T1 travels obliquely with respect to the main line and enters the main line before the end point of the acceleration lane at time T2. To do. If it is a parallel type at the merge point, the process proceeds to step S49. If it is not a parallel type but a direct type, the process proceeds to step S50.

  In step S49, the distance calculation unit 26 on the road alignment calculates the distance from the other vehicle on the road alignment based on the road shape of the junction at the parallel type. As shown in FIG. 12 (a), the main line and the acceleration lane are defined with reference to a point where the main line into which the host vehicle enters and the acceleration lane (confluence lane) in which the host vehicle travels are parallel to each other. The relative distance (coordinates) is calculated. That is, the distance between the host vehicle 50 and the rear lanes 51 and 52 is corrected using a line orthogonal to the point where the host vehicle 50 is located at time T1 as a reference position for distance correction.

  In step S50, the distance calculation unit 26 on the road alignment calculates the distance from the other vehicle on the road alignment based on the shape of the merged road in the direct formula. As shown in FIG. 12B, the relative distance (coordinates) between the main line and the acceleration lane with a reference point as a point where the main line where the own vehicle enters and the acceleration lane (merging lane) where the own vehicle is traveling intersect. Is calculated. In other words, the distance between the host vehicle 50 and the rear lanes 51 and 52 is corrected using a line orthogonal to a point where the merge lane and the main line intersect as a reference position for distance correction.

  In step S51 subsequent to step S49 or step S50, the road linear distance calculation unit 26 sends the relative distance sent from the surrounding vehicle selection unit 24 based on the relative position (coordinates) calculated in step S49 or step S50. Correct location information.

  In step S52, the distance calculation unit 26 on the road alignment aligns the distance of surrounding vehicles with the linear shape of the road (on the acceleration lane) on which the host vehicle is traveling, as shown in FIG. Make corrections. That is, when the vehicle is traveling on a curved road, the distance from the straight line to the surrounding vehicle is corrected to the distance on the road line according to the actual road shape.

  As described above, the distance calculation unit 26 on the road alignment corrects the relative position information in accordance with the road shape such as the merge point, the number of lanes of the acceleration lane, the shape of the acceleration lane, and the like in the one-dimensional display 1. It can be the relative position of the vehicle.

  Next, a subroutine for creating an image to be presented on the display 1 in step S6 in the above main routine will be described with reference to FIG.

  First, in step S61, the vehicle position image creation unit 41 of the image processing unit 27 calls the display range setting information from the display range setting storage 33. In the next step S62, the vehicle position image creation unit 41 calls the road shape correction setting storage unit 32 according to the road shape. Call the correction road shape correction setting information.

  In the next step S63, whether the vehicle position image creation unit 41 corrects and displays the road shape in a straight line based on the setting information for correction based on the road shape called in step S62, or displays without correction. Judging. If the road shape is corrected and displayed, the process proceeds to step S64. If the road shape is corrected and not displayed, the process proceeds to step S66.

  In step S64, the vehicle position image creation unit 41 corrects the surrounding road shape information from the surrounding road shape temporary storage unit 23 to a straight line within the display range called in step S61, and sets the surrounding road shape as a source. The image data of the road shape is created.

  In the next step S65, the vehicle position image creation unit 41 adds the image data corresponding to the relative position information of surrounding vehicles corrected by the distance calculation unit 26 on the road alignment to the road shape image data created in step S64. Image processing is performed to place another vehicle at the position.

  In step S66, the vehicle position image creation unit 41 creates road shape image data from which the surrounding road shape is placed within the display range called in step S61. In this case, since it is determined in step S63 that the road shape is not corrected, the vehicle position image creation unit 41 uses the surrounding road shape information stored in the surrounding road shape temporary storage unit 23 in the actual environment. Image data indicating the road shape is created.

  In the next step S67, the vehicle position image creation unit 41 places the vehicle position image data at the position in the image based on the sensed position information of the surrounding vehicle in the road shape image data created in step S64.

  As described above, the vehicle position image creation unit 41 creates image data corrected so that the surrounding road shape information stored in the surrounding road shape temporary storage unit 23 is displayed in a straight line on the display 1, and the image data It is possible to superimpose an image showing another vehicle corresponding to the relative position information.

  Next, a subroutine for performing the filtering in step S7 in the above main routine will be described with reference to FIG.

  First, in step S <b> 71, the frequency filtering processing unit 42 calls the filtering processing setting information from the filtering setting storage unit 34.

  In the next step S72, the frequency filtering processing unit 42 determines whether or not to perform filtering processing on the image data created by the vehicle position image creating unit 41 from the setting information of the filtering processing called in step S71. When the filtering process is performed, the process proceeds to step S73, and when the process is not performed, the subroutine is terminated.

  In step S73, the frequency filtering processing unit 42 determines whether or not the spatial frequency filter characteristic is set from the setting information of the filtering process called in step S71. When the spatial frequency filtering characteristic is set, the process proceeds to step S74, and the spatial frequency filtering process corresponding to the spatial frequency filtering characteristic is performed. When the spatial frequency filtering characteristic is not set, the process proceeds to step S75, and the spatial frequency filtering process using the default value is performed. I do.

  In step S76, the frequency filtering processing unit 42 determines whether or not the time frequency filter characteristic is set from the setting information of the filtering process called in step S71. If the time frequency filtering characteristic is set, the process proceeds to step S77, and the filtering process according to the time frequency filtering characteristic is performed. If the time frequency filtering characteristic is not set, the process proceeds to step S78, and the time frequency filtering process using the default value is performed. Do.

  According to such a filtering process, for example, when an image as illustrated in FIG. 14A is created by the vehicle position image creation unit 41, spatial frequency filtering and temporal frequency filtering are performed to perform FIG. 14B. The image data is as shown in FIG.

  In the filtering process, the driver can recognize the visual resolution of how much information the driver can recognize as the information with respect to the spatial frequency included in the display image 100 in the peripheral region of the visual field, and the time frequency in the peripheral region of the visual field of the display video 100. It uses the visual resolution of how much can be recognized as. In other words, the filtering process utilizes the fact that the visual field range that the driver can read as information changes depending on the spatial frequency and temporal frequency of the display image 100, and thus the spatial frequency and temporal frequency that can be determined to be readable at the peripheral region of the visual field. Set the range. The display image 100 corresponding to the spatial frequency and time frequency ranges is displayed in the driver's peripheral vision and transmitted as information.

  As a result, when it is desired to present information in a driving scene where it is not desirable to induce eye movement that requires the driver to gaze ahead in the vehicle traveling direction, a time frequency that satisfies the above-mentioned conditions and A spatial frequency display image 100 is displayed.

  Next, the difference in visual characteristics that changes depending on the region of the visual field range will be described.

  When the temporal frequency changes to 0.57 Hz, 2.28 Hz, and 9.12 Hz, how the contrast sensitivity to the spatial frequency changes for each upward eccentric angle (0 to 50 degrees) from the center of the visual field FIG. 15 (a), FIG. 15 (b), and FIG. In addition, when the time frequency is changed to 0.57 Hz, 2.28 Hz, and 9.12 Hz, how the contrast sensitivity with respect to the spatial frequency is changed for each eccentric angle (0 to 50 degrees) in the left-right direction from the center of the visual field. FIG. 16 (a), FIG. 16 (b), and FIG. Further, when the temporal frequency is changed to 0.57 Hz, 2.28 Hz, and 9.12 Hz, how the contrast sensitivity with respect to the spatial frequency is different for each downward eccentric angle (0 to 50 degrees) from the center of the visual field. FIG. 17 (a), FIG. 17 (b), and FIG.

  FIGS. 15 to 17 are based on the actual measurement results by the driver. The two drivers are presented with a display image having the same brightness, the contrast sensitivity is measured, and the maximum contrast sensitivity is measured for each driver. Normalized by value, and spatial frequency is standardized at the maximum spatial frequency with standardized contrast sensitivity of 0.01, and then obtained for each eccentric angle under the assumption that the contrast sensitivity due to the peripheral area of the visual field changes continuously. It is a regression curve. Further, the eccentric angle is 0 degree as the center of the visual field, and increases as 5 degrees, 10 degrees, 20 degrees, 30 degrees, 50 degrees, 70 degrees, and 90 degrees as the distance from the visual field center increases.

  The horizontal axis in FIGS. 15 to 17 is the spatial frequency and represents the roughness and fineness of the spatial luminance change in one display image 100. The time frequency represents the speed of luminance change at an arbitrary position in the display video 100, and depends on the switching interval (frame interval) of the display video 100.

  The vertical axis in FIGS. 15 to 17 is contrast sensitivity, and the minimum contrast ((maximum luminance−minimum) in which the luminance change can be visually recognized in the display video 100 in which the luminance changes sinusoidally in the space of each display video 100. Luminance) / (maximum luminance + minimum luminance)).

  Further, in FIG. 15 to FIG. 17, the numerical values on the vertical axis are standardized values with the contrast sensitivity of the maximum value obtained by the reciprocal of the contrast ((maximum luminance−minimum luminance) / (maximum luminance + minimum luminance)) being standardized as 1. is there. The numerical value on the horizontal axis is a numerical value that is standardized with 1 being the highest spatial frequency (maximum value of the cut-off frequency) detected as the contrast sensitivity.

  15 to 17, when the time frequency is low (0.57 Hz) and the central view (eccentric angle is 0 degree), the contrast sensitivity is a bandpass type with respect to the spatial frequency. It has become a characteristic. On the other hand, when the time frequency is a medium condition (2.28 Hz) and the time frequency is a high condition (9.12 Hz), and when the eccentric angle is not a central vision (5 degrees to 90 degrees). The contrast sensitivity has a low-pass characteristic with respect to the spatial frequency.

  That is, there is a peak value of contrast sensitivity with respect to the spatial frequency only under the condition where the temporal frequency is low and the central vision is used, and under other conditions, the contrast sensitivity is higher as the spatial frequency is lower. In other words, when the speed of the luminance change of the display image 100 displayed at the center of the visual field of the driver is slow, there is a spatial frequency band where the display image 100 is most accurately visually recognized by the driver.

  Further, in FIGS. 15 to 17, as the eccentric angle increases, the cut-off frequency, which is the spatial frequency at which the contrast sensitivity value is 0.01, decreases in all directions (decrease in visual acuity). That is, regardless of the orientation from the center of the visual field, the display image 100 with a higher spatial frequency and a finer luminance change becomes less visible as it is displayed at a position farther from the visual field center.

  Further, in FIGS. 15 to 17, as the eccentric angle increases, the maximum decrease in contrast sensitivity occurs in all directions. In other words, regardless of the orientation from the center of the visual field, the display image 100 having a lower spatial frequency becomes less visible as it is displayed at a position farther from the visual field center.

  Next, as shown in FIG. 15 to FIG. 17 based on the actual measurement value, when the time frequency is changed, the contrast sensitivity with respect to the spatial frequency is changed every eccentric angle (0 to 90 degrees) in the vertical and horizontal directions from the center of the visual field. It can be calculated by calculation.

As this calculation method, low-pass characteristics are calculated excluding band-pass characteristics with a low time frequency and an eccentric angle of 0 degrees. The function for obtaining the characteristics of this low-pass type contrast sensitivity is as shown in Equation 1 below.
S = 1−EXP (−EXP (− (Fs−Pp) / Sp)) (Formula 1)
It is expressed by In Equation 1, S (Contrast Sensitivity) indicates contrast sensitivity, and Fs (Spatial Frequency) is a spatial frequency. In addition, the parameter Sp (Spread Parameter) in Expression 1 is expressed by Expression 2, and the parameter Pp (Position Parameter) is expressed by Expression 2.

Sp = (S1 + S2) × Ec ^ S3 (Formula 2)
Pp = (P1 + P2) × Ec ^ P3 (Formula 3)
Here, Ec (Eccentricity) in Equations 2 and 3 is the retinal eccentric angle [Deg], and S1, S2, S3 and P1, P2, and P3 are substituted with values determined by the time frequency and the orientation with respect to the center of the visual field. The

  Then, by obtaining the contrast sensitivity S by continuously changing the value of the eccentric angle Ec, the eccentric angle that does not exist in FIGS. 15 to 17 with respect to the contrast sensitivity characteristic for each eccentric angle in FIGS. The contrast sensitivity value with respect to the spatial frequency can be interpolated.

Note that a calculation method for obtaining a band-pass type characteristic with a low time frequency and an eccentric angle of 0 degree is as shown in the following Equation 4.
S = -0.015777 + 0.8141 x EXP (-POWER (LOG ₁₀ (Fs) +1.513,2) / POWER (0.815,2)) (Formula 4)
It is expressed by In Equation 4, the spatial frequency Fs is a spatial frequency corresponding to the visual acuity of central vision, and the contrast sensitivity S can be calculated as a numerical value standardized with the maximum sensitivity being 1.

  Next, in FIGS. 18A to 18C, when the time frequency is 0.57 Hz, 2.28 Hz, and 9.12 Hz, the visual field range having the contrast sensitivity of 10% of the maximum sensitivity is shown for each spatial frequency. Shown in

  The vertical axis and horizontal axis in FIG. 18 correspond to the vertical axis and horizontal axis of the field of view, and represent the eccentric angle corresponding to the distance between the display 1 and the side mirror 5. Further, in FIG. 18, similarly to FIG. 15, the spatial frequency value (minimum value 0.025) standardized in the range of 0 to 1 is shown. Note that the numerical value of the spatial frequency in FIG. 18 is a value when the spatial frequency Fa that can be visually recognized by the driver corresponding to the visual acuity Va of central vision (the reciprocal of the minimum separation value marked by the visual angle) is 1. . Here, since the spatial frequency Fa = 30 Va (Visual Acuiy: visual acuity), when the visual acuity is 0.7, the spatial frequency Fa = 21 cpd (cycles per degree) that the driver can visually recognize. In addition, when the numerical value in FIG. 18 is 0.025, it represents 0.025 × 21 = 0.53 cpd.

  Further, the change in the visual field range shown in FIG. 18 is also based on the actual measurement value with respect to the change in the visual field range by the driver, and for an azimuth having no actual measurement value, an ellipse is regressed between adjacent azimuths.

  18A, 18B, and 18C, the range in which the contrast sensitivity of 10% is obtained in the upward visual field is narrow regardless of the change in the time frequency. From FIG. 18, the visual field range that can be visually recognized with respect to the spatial frequency can be estimated. That is, as shown in FIGS. 18A to 18C, the spatial frequency visible at the center of the visual field decreases to 0.40, 0.24, and 0.16 as the time frequency increases. The low spatial frequency that can be visually recognized in the area is a medium time frequency condition (2.28 Hz), and is visible in the widest range.

  Thus, the visual recognition range changes depending on the time frequency condition and the spatial frequency condition. FIG. 19 shows a result of estimating for each spatial frequency how the eccentric angle, which is a visible range, changes due to the change of the time frequency. In FIG. 19, the horizontal axis is the time frequency, and the vertical axis is the eccentric angle. From FIG. 19, it can be seen that as the spatial frequency decreases, the eccentric angle at which the contrast sensitivity is obtained increases, and the visible field range in which the contrast sensitivity can be obtained is widened. The lower the spatial frequency is, the peak value of the eccentric angle becomes. The corresponding optimal time frequency tends to be high.

  As described above, when the visual field range visible to the driver is set based on the visual characteristics shown in FIGS. 15 to 19, the combination of the time frequency condition and the spatial frequency condition of the display image 100 is determined. Can do.

  That is, in any part of the driver's visual field range, the spatial frequency lower than the highest spatial frequency (cutoff frequency) having contrast sensitivity as shown in FIG. 15 and the time frequency with respect to the spatial frequency are shown in FIG. Determine a time frequency in the range of ± 0.5 logunit from the optimum time frequency shown. Then, by displaying the display image 100 composed of temporal and spatial luminance changes (Fourier components) based on a sine wave, the display image 100 that can be seen in any part of the driver's visual field range is presented. be able to.

  In other words, ± 0 from the condition of the spatial frequency component equal to or lower than the spatial frequency of the cutoff frequency in a specific visual field peripheral region (see FIG. 15) and the optimal time frequency at which the peak value of the eccentric angle at the spatial frequency is obtained. The frequency filtering processing unit 42 performs a filtering process for generating the display video 100 that satisfies both the time frequency condition (see FIG. 19) that is within the range of .5 logunit.

  Thus, when transmitting information by presenting an image to the driver, the frequency filtering processing unit 42 applies the visual field to a peripheral part of the visual field that is away from the central visual field of the driver when in a standard posture. A display image 100 which is a time frequency and a spatial frequency at which a driver's contrast sensitivity can be obtained in a peripheral region, and which is an image composed of frequency components in the range of a time frequency and a spatial frequency without a temporal edge and a spatial edge. Display.

  That is, the space of each image when the display image 100 is displayed by continuously switching a plurality of images whose luminance is changed sinusoidally in the vertical direction, the horizontal direction, or an arbitrary oblique direction in the display image 100 according to the time frequency. The frequency is set to a range equal to or lower than a cut-off frequency at which the contrast sensitivity of the driver in the region around the visual field is reduced to a predetermined value such as 0.01. At the same time, the time frequency is set to a range of ± 0.5 logunit from the optimum time frequency at which the peripheral portion of the visual field far from the driver's central visual field becomes the widest.

  Thus, the frequency filtering processing unit 42 attracts the driver from the side mirror 5 to the display 1 based on the positional relationship between the viewpoint when the driver is viewing the side mirror 5 and the position of the display 1. The display image 100 can be filtered so as not to include the spatial frequency component and the temporal frequency component. Further, as shown in FIG. 14B, in the display 1 portion where the distance from the side mirror 5 is small and the eccentric angle is small within the range where the driver's attractiveness is low, the contrast is high (spatial frequency: high). The other vehicle display 111 is performed, and the other vehicle display 112 in a state where the contrast is low (spatial frequency: low) can be performed on the display 1 portion having a large distance from the side mirror 5 and a large eccentric angle. In addition, in the display image 100 shown in FIG. 14B, temporal frequency filtering corresponding to the spatial frequency for the display 1 portion can be performed according to the relationship between the spatial frequency and the temporal frequency shown in FIG.

  Next, a subroutine for superimposing auxiliary information on the corresponding vehicle in step S8 in the above main routine will be described with reference to FIG.

  First, in step S <b> 81, the corresponding vehicle auxiliary information superimposing processing unit 43 reads the corresponding vehicle display setting information from the corresponding vehicle display setting storage unit 35.

  In the next step S82, the corresponding vehicle auxiliary information superimposing processing unit 43 determines whether or not to perform the corresponding vehicle auxiliary display based on the corresponding vehicle display setting information read in step S81, and performs the corresponding vehicle auxiliary display. Advances to step S83, and if not, ends the subroutine.

  In step S <b> 83, the corresponding vehicle auxiliary information superimposing processing unit 43 reads the relative position information of other vehicles from the surrounding vehicle position temporary storage unit 22.

  In step S84, the corresponding vehicle auxiliary information superimposition processing unit 43 identifies near the same position as the other vehicle in the image subjected to the filtering process by the frequency filtering processing unit 42 based on the relative position information read in step S83. Superimpose information.

  In the next step S85, the corresponding vehicle auxiliary information superimposing unit 43 calls the surrounding road shape information from the surrounding road shape temporary storage unit 23.

  In the next step S86, the corresponding vehicle auxiliary information superimposition processing unit 43 determines whether or not each surrounding vehicle is visible with the side mirror 5 from the surrounding road shape information called in step S85. In this case, the corresponding vehicle auxiliary information superimposing processing unit 43 uses the angle of the side mirror 5, the surrounding road shape information, and the relative position information read out in step S83 to determine the other vehicle currently being viewed by the side mirror 5. When the relative position information is acquired and there is another vehicle visually recognized by the side mirror 5, the process proceeds to step S87, and when there is no other vehicle visually recognized by the side mirror 5, the subroutine is terminated.

  In step S <b> 87, the corresponding vehicle auxiliary information superimposing unit 43 selects the relative position information of the other vehicle that is visually recognized by the side mirror 5.

  In the next step S88, the corresponding vehicle auxiliary information superimposing unit 43 creates the same type of identification information as the identification information superimposed and displayed on the side mirror 5 corresponding to the other vehicle selected in step S87.

  In step S89, the corresponding vehicle auxiliary information superimposing unit 43 sends the image including the identification information created in step S88 to the surrounding vehicle state information superimposing unit 44.

  In this way, the corresponding vehicle auxiliary information superimposing processing unit 43 grasps the correspondence relationship between the other vehicle included in the image subjected to the filtering process by the frequency filtering processing unit 42 and the other vehicle visually recognized by the side mirror 5. The identification information to be superimposed can be superimposed on the image. For example, when the vehicle color of the other vehicle visually recognized by the side mirror 5 is red, the correspondence relationship is easily grasped by converting the image showing the other vehicle to red.

  Next, a subroutine for superimposing auxiliary information on the running state of surrounding vehicles in step S9 in the main routine described above on an image will be described with reference to FIG.

  First, in step S91, the surrounding vehicle state information superimposing unit 44 superimposes and displays surrounding vehicle state information for improving the graspability based on the traveling state of the surrounding vehicle from the surrounding vehicle state information display setting storage unit 36. Whether or not, and the surrounding vehicle state information indicating the setting specification when the superimposed display is performed is read out.

  In the next step S92, the surrounding vehicle state information superimposition processing unit 44 refers to the surrounding vehicle state information called in step S91 to determine whether or not to perform the surrounding vehicle state auxiliary display. In step S93, if not, the subroutine is terminated.

  In step S93, the surrounding vehicle state information superimposition processing unit 44 calls the relative position information whose distance is corrected by the distance calculation unit 26 on the road alignment.

  In the next step S94, the surrounding vehicle state information superimposition processing unit 44 determines whether or not to perform auxiliary display according to the inter-vehicle distance based on the surrounding vehicle state information called in step S91, and performs auxiliary display. If yes, go to Step S95, otherwise go to Step S97.

  In step S95, the surrounding vehicle state information superimposition processing unit 44 determines to perform auxiliary display of specifications indicating the vehicle position (inter-vehicle distance) based on the relative position information read in step S93. In the next step S96, the surrounding vehicle state information superimposing unit 44 displays the inter-vehicle distance determined in step S95 in a superimposed manner at the corresponding position between the host vehicle and the other vehicle.

In the next step S97, the surrounding vehicle state information superimposing unit 44 determines whether or not to perform auxiliary display of the vehicle speed based on the surrounding vehicle state information called in step S91. When the auxiliary display of the vehicle speed is performed, the process proceeds to step S98, and when the auxiliary display of the vehicle speed is not performed, the process proceeds to step S101. In step S98, the surrounding vehicle state information superimposing unit 44 calculates the vehicle speed from the time series change of the vehicle position. calculate. In the next step S99, the surrounding vehicle state information superimposition processing unit 44 determines that the specification corresponding to the vehicle speed is displayed based on the vehicle speed information calculated in step S98, and in step S100, according to the display specification selected in step S99. The vehicle speed information is superimposed so as to overlap the host vehicle.

  In step S101, the surrounding vehicle state information superimposition processing unit 44 determines whether or not to perform TTC auxiliary display based on the surrounding vehicle state information called in step S91, and when performing TTC auxiliary display. The process proceeds to step S102, and if not, the process proceeds to step S105.

  The surrounding vehicle state information superimposing unit 44 calculates TTC from the relative position and the relative vehicle speed in step S102, and determines in step S103 that the specification corresponding to the TTC is displayed based on the TTC information calculated in step S102. In step S104, the TTC is superimposed so as to overlap the host vehicle in accordance with the display specification selected in step S103.

  In step S105, the surrounding vehicle state information superimposition processing unit 44 determines whether or not to perform auxiliary display indicating THW based on the surrounding vehicle state information called in step S91, and performs auxiliary display indicating THW. In step S106, if the auxiliary display indicating THW is not performed, the process proceeds to step S109.

  In step S106, the surrounding vehicle state information superimposing processing unit 44 calculates THW from the relative position and the vehicle speed of the surrounding vehicle, and in step S107, displays the specification corresponding to the THW based on the THW information calculated in step S106. In step S108, an auxiliary display indicating THW is superimposed so as to overlap with the vehicle according to the display specification selected in step S107.

  In step S109, the surrounding vehicle state information superimposition processing unit 44 determines whether or not to perform the auxiliary display of the risk level based on the surrounding vehicle state information called in step S91, and performs the auxiliary display of the risk level. In step S110, if the auxiliary display of the risk level is not performed, the subroutine is terminated.

  In step S110, the surrounding vehicle state information superimposition processing unit 44 calculates the risk level from TTC and THW, and in step S111, determines that the specification corresponding to the risk level calculated in step S110 is displayed, and in step S112. In accordance with the display specification selected in step S111, an auxiliary display indicating the degree of risk is superimposed so as to overlap with the host vehicle.

  In this way, the image on which the auxiliary display is superimposed by the surrounding vehicle state information superimposing unit 44 is output to the image output unit 29 as the display video 100 and displayed on the display 1.

  Next, another embodiment of the vehicle display device described above will be described.

  As shown in FIG. 1, since the display screen of the display 1 is formed directly under the side glass, the vehicle display device displays the display image 100 shown in FIG. In the case where the display image 100 is visually recognized with the peripheral visual field at the time, the display 1 is provided below the display 1 shown in FIG. 1 and above the door knob, as shown in FIG. The relative relationship between the host vehicle and the other vehicle may be displayed in a side view format. For example, as shown in FIG. 20, when another vehicle exists behind the host vehicle, an image as shown in FIG. 20B is created and subjected to a filtering process, as shown in FIG. 20C. Such a display image 100 can be created.

  Even in the display image 100 shown in FIG. 20C, the longitudinal direction of the display 1 and the actual traveling direction of the host vehicle can be set to the same vector.

  Moreover, although the display apparatus for vehicles demonstrated the case where the identification display which grasps | ascertains the correspondence of the other vehicle currently visually recognized with the side mirror 5 and the other vehicle in the display 1 was superimposed in the display 1, 21, the other vehicle identification display 121 may be displayed on the display 1 and the other vehicle identification display 120 may be displayed in the side mirror 5.

  When the identification display 120 is performed on the side mirror 5 in this way, the vehicle display device determines the position of the identification display with respect to the side mirror 5, the driver's eyepoint, the angle of the side mirror 5, the position of the other vehicle, The other vehicle position reflected on the side mirror 5 is estimated or acquired from the map, and the other vehicle position in the estimated side mirror 5 is identified and displayed. In this case, in order to perform the identification display 120 in the rear projection type, the side mirror 5 has a side mirror display surface formed of a half mirror, a projector is incorporated in the side mirror 5, and the video signal of the identification display 120 is displayed on the projector. Can be realized by supplying The side mirror 5 may be a liquid crystal display.

  Further, as shown in FIG. 2, the vehicle display device may create a display image 100 by arranging icons in the image according to the relative positions of the host vehicle and other vehicles, but is mounted on the rear portion of the host vehicle. Alternatively, the display image 100 on which the other vehicle image captured by the camera is superimposed may be displayed on the display 1. For example, as shown in FIG. 22 (a), another vehicle image is extracted by edge detection or the like from an image of another vehicle existing behind the host vehicle, and the other vehicle image is pasted in the image displayed on the display 1. An image shown in FIG. 22B is created, and a display image 100 as shown in FIG. 22C is created by performing a filtering process. By displaying the other vehicle image captured by the camera in this way, the same direction, color, and shape as the other vehicle that is actually visually recognized by the side mirror 5 are displayed on the display 1 and the other vehicle that is visually recognized by the side mirror 5. It is possible to easily grasp the correspondence relationship with the displayed other vehicle image.

  Furthermore, as shown in FIG. 2, the vehicle display device may display the vehicle position as a position in the display image 100 set in advance, but as shown in FIG. Thus, the front end of the display 1 may be the vehicle position, and the vehicle position may be on the line connecting the gazing point (center point) of the side mirror 5 and the driver's eye point as in the vehicle position display 132. A point on the display 1 where the distance (eccentric angle) between the side mirror 5 and the display 1 is small as in the vehicle position display 133 may be set as the vehicle position.

[Effect of the embodiment]
As described above in detail, according to the vehicle display device to which the present invention is applied, the driver is gazing at the side mirror 5 (information presentation gazing object) that grasps the situation around the host vehicle in the traveling direction of the host vehicle. A display 1 (display screen) is installed in a peripheral part of the visual field that is distant from the central visual field at the time, and another vehicle that travels in substantially the same traveling direction as the host vehicle is shown on the same vector as the traveling direction of the host vehicle on the display screen. Since the information is displayed, it is possible to easily grasp the situation in the traveling direction in which the host vehicle travels with the peripheral visual field when the side mirror 5 is being watched.

  That is, the driver can provide driving support information without changing the basic driving behavior such as looking at the side mirror 5 without adding a new visual recognition behavior for the driver to grasp the surrounding situation. . In addition, when the side mirror 5 is visually recognized, the line-of-sight direction that is substantially perpendicular to the line-of-sight direction that can be visually recognized by the side mirror 5 is presented so that the driver can simultaneously grasp it. Space information without compromising visual behavior such as viewing the display 1 by supplementing information in the depth direction, which is difficult to understand, and presenting auxiliary support information so that it can be understood without looking directly in the central view. Improves sex.

  Moreover, according to the display apparatus for vehicles, since the display 1 is installed in the effective visual field when the side mirror 5 is viewed, the display image 100 is presented in the same visual field, and the rear side is displayed with one visual action. Since the space can be grasped, the number of actions for space grasp can be reduced, and the space graspability can be improved in an environment where the number of actions that can be executed within a short time is limited, such as a driving environment.

  Further, according to the vehicle display device, the display image 100 including the other vehicles existing behind the host vehicle and viewing the relative positional relationship between the host vehicle and the rear vehicle from above or from the side is displayed. By reducing the number of actions for grasping the rear space, the space graspability in the rear can be improved in an environment where the number of actions that can be executed in a short time is limited, such as a driving environment.

  Furthermore, according to the display device for a vehicle, as shown in FIG. 22, an image of another vehicle existing behind the host vehicle is converted into an image captured by an imaging means such as a camera and superimposed on the display image 100. Therefore, the coincidence with other vehicles actually seen by the side mirror 5 can be enhanced.

  Furthermore, according to the display device for a vehicle, as shown in FIG. 2, an image showing the position of the own vehicle, an image of another vehicle existing behind the own vehicle, and a front of the own vehicle. Since the display image 100 including the image of another vehicle that is present is displayed, it is difficult to grasp with a room mirror that uses a plane mirror that easily grasps the distance (a mirror with a small viewing angle of indirect field of view and a small field of view coverage). It is possible to supplement distance information and improve surrounding space graspability.

  Furthermore, according to the display device for a vehicle, since the display image 100 including other vehicles existing in the lane adjacent to the traveling lane in which the host vehicle is traveling is displayed, when the host vehicle performs an action such as a lane change. It is possible to provide information on other vehicles that are affected and have high priority, and obtain information necessary to determine actual driving behavior.

  Furthermore, according to the display device for a vehicle, when the shape of the road on which the host vehicle is traveling is curved, the shape of the road is converted into a straight line, and the distance of the other vehicle is converted into a straight line. Since it is displayed, it is possible to easily grasp the time when the surrounding vehicle reaches the vicinity of the host vehicle. For example, the road shape of the accelerating lane and the main lane at the time of merging can be parallel or direct, and when the main road shape is straight and the acceleration lane is parallel, the rear side status is displayed without conversion. However, if the direct expression or road shape is not a straight line and has a curvature, it may be out of the display range, but even in this case, the relative position on the display 1 with respect to the actual relative position. The target position can be provided without a sense of incompatibility

  Furthermore, according to the vehicle display device, the number of lanes displayed on the display image 100 and the display range in the traveling direction are adjusted by the presentation information setting operation device 6 which is an operation input means operated by the driver. The presentation range can be specified according to the driving skill and preference of the person. For example, there are a driver who collects information on the surrounding environment centered on the side mirror 5 and a driver who collects information on the surrounding environment centered on the room mirror. The information in the depth direction at the room mirror is easier to obtain than the side mirror 5, and the distance information acquisition amount when the side mirror 5 is viewed is small. On the other hand, for drivers who acquire information at the center of the side mirror 5 and drivers who have improved driving skills and can collect attention resources over a wider range with a low load, If the information in the depth direction is obtained in a wide range, the drivability is improved. Since information can be obtained in a wide range with a single device, continuous information acquisition time is extended, and operation can be facilitated. For example, TTC with surrounding vehicles at the time of merging is an index that determines the degree of difficulty, and TTC change prediction, timing understanding, and psychological behavior preparation are facilitated.

  Furthermore, according to the vehicle display device, the display image 100 has a temporal frequency and a spatial frequency at which contrast sensitivity can be obtained for the driver in a region around the visual field when the driver gazes at the side mirror 5, and the temporal Since the display image 100 is subjected to the filtering process including the frequency components in the range of the temporal frequency and the spatial frequency with no sharp edge and no spatial edge, the spatial frequency and the temporal frequency are not generated when the side mirror 5 is watched. The amount of information of the display image 100 can be reduced by performing the filtering process according to the above, and the visual stimulus can be weakened. Thereby, the attractiveness to the display 1 can be reduced, and the support information can be grasped by one visual action even for a driver with low driving skill.

  Here, when multiple pieces of visual information are presented within the same field of view, there is a characteristic that attention is drawn to places where there is a lot of stimulation (information amount), and the strength that draws attention is the main attention to visual information of central vision. It is determined by the relative relationship between the degree of resource input and the intensity of stimulation of the surrounding visual information. For example, in a confluence situation where the attention resource input to the side mirror 5 is strong, there is no time to move the line of sight and the distraction rate is low, but the points of information collection can be narrowed down by the driver's driving skills. If this is not the case, attention resources to the door mirror will be cut off, eye movement may be induced, and distraction may occur. On the other hand, useful information can be provided without attracting the line of sight from the side mirror 5 and without causing an extra visual action.

  Furthermore, according to the display device for a vehicle, since the display image 100 is subjected to filtering processing with different frequency characteristics according to the distance away from the gazing point when the driver gazes at the side mirror 5, the gazing point is obtained. The position information accuracy in the vicinity can be improved with respect to the peripheral visual field, and both predictability and information accuracy in continuous time can be achieved.

  Furthermore, according to the display device for a vehicle, the display image 100 including the identification display for identifying the image showing the other vehicle and the other vehicle obtained by visually recognizing the side mirror 5 is displayed. This makes it easy to identify the other vehicle in the display 1 and the other vehicle in the display 1.

  Furthermore, according to the vehicle display device, an image showing the position of the own vehicle, an image of the other vehicle existing behind the own vehicle, and an image of the other vehicle existing ahead of the own vehicle are displayed. The display image 100 including the image including the other vehicle existing in the lane adjacent to the traveling lane in which the host vehicle travels, with different frequency characteristics depending on the distance away from the gazing point when the driver gazes at the side mirror 5. Since the filtering process is performed, the display image 100 having an appropriate time frequency and spatial frequency according to the relative distance from the central field of view to the side mirror 5 can be displayed, and the display mirror 1 can be viewed by the central view in the proximity position of the side mirror 5 Even if it cannot be installed, information can be presented in the peripheral visual field, and the layout flexibility of the display 1 is improved.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a block diagram which shows the structure in the vehicle of the display apparatus for vehicles to which this invention is applied. It is a figure explaining the image displayed by the display apparatus for vehicles to which this invention is applied, (a) is an actual relative position, (b) is the image which performed the filtering process, (b) is the own vehicle and others. It is the image which performed the filtering process by displaying the vehicle as an icon. It is a block diagram which shows the functional structure of the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the main process sequence of the display apparatus for vehicles to which this invention is applied. It is a flowchart which memorize | stores a driver | operator's setting information in the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the process sequence which selects required relative position information based on a road shape in the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the process sequence which correct | amends a relative position based on a road shape in the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the process sequence which produces the image used as the origin displayed on a display in the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the process sequence of a filtering process in the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the process sequence which superimposes the corresponding relationship of the other vehicle currently visually recognized with the side mirror and the other vehicle displayed on a display in the display apparatus for vehicles to which this invention is applied. It is a flowchart which shows the process sequence which superimposes the auxiliary information of the driving state of another vehicle in the display apparatus for vehicles to which this invention is applied. It is a figure explaining the process which sets the reference position of distance correction in the display apparatus for vehicles to which this invention is applied, (a) is a parallel type merge point, (b) is a direct command merge point. It is a figure explaining distance correction at the time of drive | working the road shape with a curvature in the display apparatus for vehicles to which this invention is applied. It is a figure explaining the process result of a filtering process in the display apparatus for vehicles to which this invention is applied, (a) is the image which displayed the other vehicle on the road as an icon, (b) is filtered to the image of (a). It is an image that is the result of processing. It is a figure explaining the principle of the filtering process in the display apparatus for vehicles which applied this invention, and is a figure which shows the change of the contrast sensitivity with respect to the spatial frequency in a driver | operator's upward visual field periphery part, (a) is time The frequency is 0.57 Hz, (b) shows the case where the time frequency is 2.28 Hz, and (c) shows the case where the time frequency is 9.12 Hz. It is a figure explaining the principle of the filtering process in the display apparatus for vehicles which applied this invention, and is a figure which shows the change of the contrast sensitivity with respect to the spatial frequency in the visual field periphery part of a driver | operator's left-right direction, (a) is time. The frequency is 0.57 Hz, (b) shows the case where the time frequency is 2.28 Hz, and (c) shows the case where the time frequency is 9.12 Hz. It is a figure explaining the principle of the filtering process in the display apparatus for vehicles to which this invention is applied, Comprising: It is a figure which shows the change of the contrast sensitivity with respect to the spatial frequency in a driver | operator's downward visual field periphery part, (a) The time frequency is 0.57 Hz, (b) shows the case where the time frequency is 2.28 Hz, and (c) shows the case where the time frequency is 9.12 Hz. It is a figure for demonstrating the visual field range which has contrast sensitivity with respect to a specific spatial frequency in the display apparatus for vehicles to which this invention is applied, Comprising: (a) is a time frequency 0.57Hz, (b) is a time frequency 2. .28 Hz, (c) shows the case where the time frequency is 9.12 Hz. It is a figure which shows the filtering characteristic in the display apparatus for vehicles to which this invention is applied, Comprising: It is a figure which shows the eccentric angle with respect to a time frequency for every spatial frequency. In the display apparatus for vehicles which applied this invention, it is a figure which displays the relative position of the own vehicle and another vehicle by a side view, (a) is an actual relative position, (b) is an icon which shows a relative position. (C) is a display image after the filtering process. In the display apparatus for vehicles to which this invention is applied, it is a figure which shows the other example which superimposes the correspondence of the other vehicle currently visually recognized with the side mirror, and the other vehicle currently displayed on a display. In the vehicular display device to which the present invention is applied, (a) is an image obtained by imaging the rear of the host vehicle with a camera, (b) is an explanatory diagram for displaying the imaged image on the display, and (c) is for the captured image. It is a figure of the result of having performed the filtering process. In the display apparatus for vehicles to which this invention is applied, it is a figure which shows the other form which displays the position of the own vehicle on a display.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Display 2 Display control apparatus 3 External environment detection apparatus 4 Center display 5 Side mirror 6 Presentation information setting operation apparatus 11 Surrounding vehicle position detection apparatus 12 Surrounding road shape detection apparatus 21 Driver setting information storage part 22 Surrounding vehicle position temporary storage part 23 Surrounding Road shape temporary storage unit 24 Surrounding vehicle selection unit 25 Driving scene determination unit 26 Distance calculation unit 27 Image processing unit 28 Surrounding vehicle running state calculation unit 29 Image output unit 31 Priority information setting storage unit 32 Road shape correction setting storage unit 33 Display range Setting storage 34 Filtering setting storage unit 35 Corresponding vehicle display setting storage unit 36 Surrounding vehicle state information display setting storage unit 41 Vehicle position image creation unit 42 Frequency filtering processing unit 43 Corresponding vehicle auxiliary information superimposition processing unit 44 Surrounding vehicle state information superimposition processing unit 50 Own vehicle 51 Car after driving lane 100 display images

Claims (14)

  A display screen is installed in a region around the visual field away from the central visual field when the driver is gazing at the information presenting object to grasp the situation around the own vehicle in the traveling direction of the own vehicle. A display device for a vehicle, characterized in that information indicating another vehicle traveling in substantially the same traveling direction as the host vehicle is displayed on substantially the same vector.   The vehicle display device according to claim 1, wherein the display screen is installed in an effective visual field when the information presenting gaze object is visually recognized.   The vehicle display device according to claim 2, wherein the vehicle display device includes an other vehicle existing behind the host vehicle, and displays an image of a relative positional relationship between the host vehicle and the rear vehicle as viewed from above.   The vehicle display device according to claim 2, wherein the vehicle display device includes an other vehicle existing behind the host vehicle, and displays an image of a relative positional relationship between the host vehicle and the rear vehicle as viewed from the side. .   The vehicle display device according to claim 2, wherein an image of another vehicle existing behind the host vehicle is an image captured by an imaging unit.   The time frequency and the spatial frequency at which the driver can obtain contrast sensitivity in the peripheral part of the visual field when the driver gazes at the information presenting object, and the temporal frequency without the temporal edge and the spatial edge. The vehicle display device according to claim 2, wherein the video is subjected to filtering processing including frequency components in a range of spatial frequencies.   The vehicle according to claim 6, wherein the video is a video that has been subjected to filtering processing with different frequency characteristics according to a distance away from the gaze point when the driver gazes at the information presenting gaze object. Display device.   The vehicle display device according to claim 7, wherein an image including an identification display for identifying a video indicating another vehicle and another vehicle obtained by visually recognizing the information presenting gaze object is displayed.   An image including an image showing a position of the own vehicle, an image of another vehicle existing behind the own vehicle, and an image of another vehicle existing ahead of the own vehicle is displayed. Item 3. The vehicle display device according to Item 2.   The vehicle display device according to claim 2, wherein an image including another vehicle existing in a lane adjacent to a travel lane in which the host vehicle travels is displayed.   4. When the shape of a road on which the host vehicle is traveling is curved, the shape of the road is converted into a straight line, and the distance of the other vehicle is displayed as a distance converted into a straight line. The vehicle display device according to claim 4.   The operation input means operated by a driver is connected, and the number of lanes designated by the operation input means and the display range in the traveling direction are adjusted, and the display range according to claim 3 or 4, Vehicle display device.   An image including an image showing the position of the own vehicle, an image of another vehicle existing behind the own vehicle, and an image of another vehicle existing ahead of the own vehicle, or a traveling lane on which the own vehicle is traveling An image including other vehicles existing in an adjacent lane is displayed by filtering with different frequency characteristics according to the distance away from the point of sight when the driver gazes at the information presenting gaze. The vehicle display device according to claim 1.   Information presenting the situation around the host vehicle in the direction of travel of the host vehicle The direction of travel of the host vehicle in the display screen is displayed on a display screen installed in a region around the field of view away from the central field of view when the driver is gazing And displaying information indicating another vehicle traveling in substantially the same traveling direction as the host vehicle on substantially the same vector.