JP2011043514A - Driving support device and driving support method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To display information on a spot on a traveling route of one's own vehicle so as to be obtained intuitively in correspondence with an actual image by a driver. <P>SOLUTION: A display means 1 is installed on a lower part of a windshield of a vehicle in the oblong state, and spot information on a spot existing within a prescribed distance from a present position of one's own vehicle on a road along the traveling direction of one's own vehicle is displayed on the display means 1 by control by a display control means 5. The display control means 5 estimates an azimuth in which a spot which is a display object exists actually based on a viewpoint position of a driver, based on a position relation between the present position of one's own vehicle and the spot which is the display object, and determines a position on the display means 1 overlapping with the azimuth as a display position of the spot information. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a driving support apparatus and a driving support method for supporting driving of a driver by displaying information about a point on a travel route of the host vehicle on a display unit.

  In recent years, with the advancement of intelligent vehicles, research and development of various technologies for supporting driver's driving operations has been actively conducted. Attempts have been made to obtain information on the location of the vehicle, notify the driver by displaying the information on an in-vehicle display or the like, and assist the driver's driving operation (see, for example, Patent Document 1).

  Patent Document 1 uses coordinate data of map information used in a navigation system to obtain additional information such as a bending direction and curvature, a curve length, and a gradient angle of a curve point existing on the traveling route of the host vehicle. A technique of displaying these on a navigation liquid crystal panel or the like is disclosed.

JP-A-9-189565

  However, as in the technique disclosed in Patent Document 1, in a conventional system in which information related to a point on the travel route of the host vehicle is displayed on the display unit, the information related to the point is displayed in a predetermined area of the display unit. Since the display did not correspond to the direction in which the point actually exists, the actual image that the driver can check through the windshield while driving and the information displayed on the display means There is a problem that it is difficult to correlate information and it is difficult to grasp intuitive information.

  The present invention was devised to solve the above-mentioned problems of the prior art, and the driver intuitively associates information on points on the traveling route of the host vehicle with actual images. It is an object of the present invention to provide a driving support device and a driving support method that can be displayed so as to be grasped and can more appropriately support the driving operation of the driver.

  The driving support apparatus according to the present invention displays information on a point on the travel route of the host vehicle on the display means to assist the driver, and detects the current position and the traveling direction of the host vehicle. Based on the detection means, the road information storage means in which road information including at least point information on points on the road is stored, and the current position and traveling direction of the own vehicle detected by the own vehicle position detection means On the road along the direction, the point information acquisition means for acquiring the point information about the point existing within a predetermined distance from the current position of the own vehicle from the road information storage means, and located horizontally below the windshield of the vehicle And display means for displaying the spot information acquired by the spot information acquisition means, and display control means for controlling the display operation of the display means. And the display control means determines the display position on the display means of the point information regarding the point based on the positional relationship between the current position of the host vehicle and the position of the point to be displayed.

  Further, another driving support apparatus according to the present invention displays information on a point on the traveling route of the own vehicle on the display means to assist the driver and detects the current position and the traveling direction of the own vehicle. Based on the current position and the traveling direction of the own vehicle detected by the own vehicle position detecting means, the road information storing means in which road information including at least point information relating to points on the road is stored, Located on the road along the traveling direction of the host vehicle, is point information acquisition means for acquiring point information about a point existing within a predetermined distance from the current position of the host vehicle from the road information storage means, and is located below the windshield of the vehicle. And a display means for displaying the spot information acquired by the spot information acquisition means, and a display control means for controlling the display operation of the display means. Then, the display control means determines the display position on the display means of the point information related to the point based on the positional relationship between the current position of the own vehicle and the position of the point to be displayed. Based on the distance from the position to the position of the point to be displayed, the display size of the point information related to the point is determined.

  The driving support method according to the present invention includes a first step for detecting a current position and a traveling direction of the host vehicle, and a progress of the host vehicle based on the current position and the traveling direction of the host vehicle detected in the first step. On the road along the direction, the second step of acquiring point information regarding a point existing within a predetermined distance from the current position of the host vehicle, and the point information acquired in the second step are displayed on the lower part of the windshield of the vehicle And a third step of displaying on the display means that is positioned horizontally. In the third step, based on the positional relationship between the current position of the host vehicle and the position of the point to be displayed, the display position of the point information related to the point on the display unit is determined, and Based on the distance from the current position to the position of the point to be displayed, the display size of the point information related to the point is determined.

  According to the present invention, it is possible to display information related to a point on the travel route of the host vehicle in a form associated with an actual image on a display unit installed horizontally and positioned below the windshield of the vehicle. Therefore, it is possible to make the driver intuitively grasp the information regarding the point, and the driving operation of the driver can be supported appropriately.

1 is a block diagram illustrating a schematic configuration of a driving support apparatus according to a first embodiment to which the present invention is applied. It is a figure which shows an example of the data structure of the point information contained in road information. It is a conceptual diagram which shows a mode that the road distance from the present position of the own vehicle to the point used as a display target is calculated. It is a figure which shows the relationship between the distance from the present position of the own vehicle to the point used as a display target, and the display size of the point information regarding the said point. It is a conceptual diagram which shows a mode that the angle difference of the advancing direction of the own vehicle and the direction vector of the point used as display object is calculated. It is a conceptual diagram which shows a mode that the display position of the point information on a display means is determined. It is a conceptual diagram for demonstrating the specific method of determining the display position of the point information on a display means. It is a figure which shows a mode that the point information regarding the point used as display object was displayed on the display means in the form matched with the actual image | video which a driver can confirm through the windshield of the own vehicle. It is a flowchart which shows the flow of the process performed by the driving assistance device of 1st Embodiment to which this invention is applied. It is a conceptual diagram for demonstrating the calculation method of the display position of the point information on a display means. It is a conceptual diagram for demonstrating the method to determine the overlap of the point information on a display means. It is a figure which shows a mode that the point information from which the calculated display position remove | deviates from the display area of a display means was displayed on the edge part vicinity of a display area. It is a figure which shows a mode that the information of the point on the driving route which changes according to the position of the own vehicle is displayed on a display means one after another. It is a flowchart which shows the flow of the process performed by the driving assistance device of 2nd Embodiment to which this invention is applied. It is a flowchart which shows the detail of the overlap display process in FIG. It is a figure which shows the specific example of the display form of each point information determined by overlap display processing, (a) is a figure which shows an example of the driving | running route of the own vehicle, (b) is the point information regarding the point P1 being the top layer. The figure which shows the state which overlapped and displayed the point information regarding the point P1, and the point information regarding the point P3 so that it may become, (c) is the point information regarding the point P1 so that the point information regarding the point P3 becomes the uppermost layer. It is a figure showing the state where it superimposed and displayed the point information about point P3. It is a figure which shows the specific example of the display form of each point information determined by overlap display processing, (a) is a figure which shows an example of the driving | running route of the own vehicle, (b) is the point information regarding the point P1 being the top layer. The figure which shows the state which overlapped and displayed the point information regarding the point P1, and the point information regarding the point P2, and (c) is the point information regarding the point P1 so that the point information regarding the point P2 becomes the uppermost layer. It is a figure which shows the state which overlapped and displayed the point information regarding the point P2. It is a block diagram which shows schematic structure of the driving assistance device of 3rd Embodiment to which this invention is applied. It is a flowchart which shows the flow of the process performed by the driving assistance device of 3rd Embodiment to which this invention is applied. It is a flowchart which shows the flow of the process performed by the driving assistance device of 4th Embodiment to which this invention is applied. The figure explaining the method of calculating the relative positional relationship between an adjacent point about other points except the point nearest to the own vehicle among these multiple points when there are a plurality of point information to be displayed. It is. It is a figure which shows the specific example of the display position of each point information determined based on the relative positional relationship between the adjacent points, (a) is a figure which shows an example of the driving route of the own vehicle, (b) is It is a figure which shows the example of a display of the point information regarding the point P1, P2, P3 in (a). It is a figure which shows the specific example of the display position of each point information determined based on the relative positional relationship between the adjacent points, (a) is a figure which shows an example of the driving route of the own vehicle, (b) is It is a figure which shows the example of a display of the point information regarding the points P1 and P2 in (a). Information on each point to be displayed on the travel route of the host vehicle is displayed in a display form that can always grasp the positional relationship with the previous point in response to the position of the host vehicle changing FIG.

  Hereinafter, specific embodiments of a driving support device to which the present invention is applied will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a block diagram showing a configuration example of a driving support apparatus to which the present invention is applied. This driving support device is mounted on a vehicle (hereinafter, the vehicle on which the present device is mounted is referred to as a host vehicle), displays point information regarding a point on the travel route of the host vehicle on the display means 1, and the driver's In addition to the display means 1 for displaying the spot information, the vehicle position detection means 2, the road information storage means 3, the spot information acquisition means 4, and the display control means 5 are provided. Composed.

  The display means 1 is composed of a display device such as a liquid crystal display that is positioned horizontally below the windshield of the host vehicle. The display means 1 performs a display operation under the control of the display control means 5 and displays the point information regarding the points on the travel route of the host vehicle in association with the actual video that can be confirmed by the driver. As the display means 1, any display device that can secure a display area horizontally along the windshield of the host vehicle is applicable. In addition to the liquid crystal display, for example, an organic EL (Electroluminescence) panel, HUD (Head Up Display) etc. can be used.

  The own vehicle position detection means 2 detects the current position G (latitude, longitude) of the own vehicle and the traveling direction Gv of the own vehicle using a GPS (Global Positioning System), an autonomous sensor, or the like. As the own vehicle position detecting means 2, those commonly used in an in-vehicle navigation system can be used, and the current position G of the own vehicle in real time (for example, information is updated every 5 Hz) even during traveling of the own vehicle. And the traveling direction Gv can be grasped.

  The road information storage means 3 stores road information composed of road shape information representing a road shape and point information which is information specific to each latitude and longitude. Among the road information, the road shape information is a collection of vector data representing the road shape with points (nodes, interpolation points) and lines (links), and each node or interpolation point has that point as attribute data. The latitude / longitude information, road curvature information R, etc. are added, and the type of road represented by the link, road width, basic recommended speed information, etc. are added to each link as attribute data. In addition, as shown in FIG. 2, for example, the point information includes information peculiar to each point Pn (for example, curvature of the point, recommended speed when passing the point, road surface μ, obstacle, construction, accident, traffic jam). (The end etc.) has a data structure associated with latitude and longitude information indicating the position coordinates of the point Pn, and the point information of each point Pn includes the priority of the information and a representative icon representing the point Etc. are added. Note that FIG. 2 is an example of point information regarding the points P1, P2, and P3 that are curve points, and information on recommended speeds is exemplified as information unique to the points.

  The road information including the road shape information and the point information is created by using map data generally used in the in-vehicle navigation system as it is or by applying it, and is stored in the road information storage means 3. The road information storage means 3 does not necessarily have to be mounted on the host vehicle. For example, the road information storage means 3 can be accessed at a remote location accessible using a communication means such as a mobile phone, a wireless LAN, or a DSRC (Dedicated Short Range Communication). It is good also as a form which implement | achieves on a certain information provision server, accesses an information processing server from the own vehicle, and acquires road information.

  The point information acquisition unit 4 performs map matching processing with road information stored in the road information storage unit 3 based on the current position G of the host vehicle and the traveling direction Gv detected by the host vehicle position detection unit 2. The position on the road where the own vehicle exists is specified, and the road shape information within the predetermined distance from the current position of the own vehicle and the point information of the point Pn existing within the predetermined distance are acquired on or around the road. Is. Here, the predetermined distance may be appropriately set to a distance at which the number of pieces of point information considered to be optimal for assisting the driving operation can be acquired, and is a fixed value (for example, 500 m) determined in advance through experiments or the like. Alternatively, it may be a value that changes according to the road type, the traveling speed of the host vehicle, or the like.

  The display control means 5 is configured so that the spot information acquired by the spot information acquisition means 4 can be confirmed by the driver through the windshield of the own vehicle on the display means 1 installed in the landscape under the windshield of the own vehicle. It controls the display operation of the display means 1 so as to be displayed in association with the video, a function for determining the display size of the point information, a function for determining the display color of the point information, and the point information And a function for determining the display position.

  Specifically, for example, as shown in FIG. 3, the display control means 5 is a distance Ln from the current position G of the host vehicle to the point Pn to be displayed (in the example shown in FIG. 3, the point P1 to be displayed). , P2, P3, distances L1, L2, L3) are calculated. Here, as the distance Ln from the current position G of the host vehicle to the point Pn to be displayed, based on the road shape information acquired by the point information acquisition unit 4, the distance to the point Pn along the travel route of the host vehicle is obtained. Although an example of calculating the road distance will be described, a linear distance between the current position G of the host vehicle and the point Pn to be displayed may be calculated.

  When the display control means 5 calculates the road distance Ln from the current position G of the host vehicle to the point Pn to be displayed, the display control means 5 follows the relationship shown in FIG. 4 based on the calculated road distance Ln. The display size (display width or display area) Iwn of the point information is determined so that the point information of the point Pn closer to the current position G is displayed on the display means 1 in a larger size. If the display size Iwn determined here is equal to or smaller than a predetermined value, it is assumed that the driver cannot confirm the point information such as the recommended speed, for example. In this case, only the representative icon is displayed. The display content is determined so that is displayed.

  Further, the display control means 5 displays, for example, red information for high priority information and yellow information for medium priority information according to the information priority of the point information related to the display target point Pn. The display color of the spot information is determined such that the spot information with low priority is displayed in blue. This color coding is applied to the display content itself or the outline of a frame surrounding the display content.

  At this time, if the content of the point information to be displayed is a recommended speed when passing through the point, the display control means 5 displays the current traveling speed Vi of the host vehicle and the point Pn to be displayed. Based on the distance Ln, a necessary deceleration α required to decelerate to the recommended speed Vc at the point Pn before the host vehicle reaches the point Pn to be displayed is calculated. Based on α, for example, the information priority may be determined in three stages of high, medium, and low. And according to the information priority based on the required deceleration (alpha), you may make it determine the display color of the point information regarding the point Pn. Here, the required deceleration rate α can be calculated by α = (Vi × Vi−Vc × Vc) / Ln. As described above, when the display color of the spot information is determined according to the information priority determined based on the necessary deceleration α instead of the predetermined priority, it is in accordance with the actual driving situation. The display color of the point information can be determined based on a more accurate priority.

  In addition, as shown in FIG. 5, for example, the display control means 5 connects the current position G of the host vehicle and the point Pn to be displayed with a line segment to create a direction vector Vn (V1, V2, in the example shown in FIG. 5). V3) is calculated, and the angle difference θn (θ1, θ2, θ3 in the example shown in FIG. 5) between the traveling direction Gv of the host vehicle and these direction vectors Vn is calculated. Then, based on the calculated angle difference θn, as shown in FIG. 6, the azimuth in which the point Pn to be displayed actually exists is estimated on the basis of the viewpoint position of the driver, and on the display means 1 overlapping with the azimuth. Is determined as the display position of the point information in the left-right direction of the display means 1.

  More specifically, as shown in FIG. 7, the display control means 5 has a linear distance Dl from the driver's viewpoint position Pd to the display means 1 set in advance for each vehicle, and the driver viewpoint position Pd on the display means 1. The right end angle θr formed by the front of the driver viewpoint position Pd and the display area right end Vr of the display unit 1 is calculated using the distance Lr from the point Vc located in front of the display unit 1 to the display area right end Vr of the display unit 1. Similarly, a linear distance Dl from the driver's viewpoint position Pd to the display means 1 and a distance Ll from the point Vc positioned in front of the driver viewpoint position Pd on the display means 1 to the display area 1 left end Vl. The left end angle θl formed by the front of the driver viewpoint position Pd and the display area left end Vl of the display unit 1 is calculated.

  The angle difference θn between the direction vector Vn connecting the current position G of the host vehicle and the point Pn to be displayed and the traveling direction Gv of the host vehicle is within the range from the right end angle θr to the left end angle θl of the display unit 1. If so, the position on the display means 1 displaced by the angle difference θn from the front of the driver viewpoint position Pd is determined as the display position in the left-right direction of the point information regarding the point Pn. Further, when the angle difference θn is outside the range from the right end angle θr to the left end angle θl of the display means 1, the position near the display area right end Vr and the display area left end as long as it is outside the display area right end Vr. If it is off to the left of Vl, the position near the left end Vl of the display area is determined as the display position of the point information regarding the point Pn. Further, at this time, the point information is displayed in a display form in which it is understood that the direction in which the point Pn to be displayed actually exists is out of the display area of the display unit 1, or an icon indicating that is displayed. To display.

  Moreover, the display control means 5 determines the display position of the point information regarding the point Pn in the vertical direction of the display area of the display means 1 based on the road distance Ln from the current position G of the host vehicle to the point Pn to be displayed. To do. Specifically, for example, when the distance from the lower end of the display area of the point information display unit 1 regarding the point Pn is the vertical offset amount Vpcn, the point information of the point Pn closer to the current position G of the host vehicle is the display unit 1. The vertical offset amount Vpcn is determined so as to be displayed below the display area. On the contrary, the vertical offset amount Vpcn may be determined so that the point information of the point Pn closer to the current position G of the host vehicle is displayed above the display area of the display unit 1. .

  When the point information of the point Pn closer to the current position G of the host vehicle is displayed on the lower side of the display area of the display unit 1, the actual point Pn and the point information related to the point Pn are associated with each other. This can be done more reliably. On the other hand, when the point information of the point Pn closer to the current position G of the own vehicle is displayed on the upper side of the display area of the display means 1, the point information of the point Pn closer to the current position G of the own vehicle is driven. Since it is displayed at a position close to the focus of the driver inside, it is advantageous in making it easier to confirm the point information of the point Pn close to the current position G of the host vehicle.

  In the driving support device of the present embodiment, the display control means 5 determines the display size, display color, and display position of the spot information related to the spot Pn to be displayed as described above, and performs the display operation of the display means 1 based on it. By controlling, the display means 1 installed horizontally below the windshield of the host vehicle has, as shown in FIG. 8, for example, the point information regarding the point Pn to be displayed is displayed by the driver over the windshield of the host vehicle. It is displayed in a form associated with the actual video that can be confirmed. In addition, the example shown in FIG. 8 displays on the display means 1 information on recommended speed when passing each point as the point information regarding the points P1, P2, and P3 shown in FIGS. This is an example.

  The display control means 5 includes a plurality of points Pn where the point information acquisition means 4 exists within a predetermined distance from the current position of the host vehicle, as in the examples shown in FIGS. 2, 3, 5, and 8. When the point information of the points (P1, P2, P3) is acquired, basically, the display size, display color, and display position are determined for each of the plurality of point information, and the plurality of point information is displayed. Although the information is displayed at the corresponding positions on the means 1 at the same time, if the plurality of pieces of point information are displayed at the same time, the point information may be overlapped. In such a case, it is assumed that the display is difficult to see. . Therefore, the display control means 5 is a case where the spot information acquisition means 4 acquires the spot information of a plurality of spots as the display target spots, and when these spot information are displayed simultaneously, the spot information overlaps. If it is determined, the point information of the point closest to the current position G of the host vehicle is preferentially displayed.

  Specifically, when the display control unit 5 determines that the point information regarding a plurality of points is displayed at corresponding positions on the display unit 1 at the same time, the point information overlaps, for example, Among a plurality of points where the point information overlaps, the point closest to the current position G of the host vehicle is selected, the point information related to the selected point is displayed, and the point information of other points where the overlap occurs is displayed. Do not let it. Moreover, you may make it display the point information of another point using the color lighter than the color displayed originally. In this way, when the point information overlaps, the point information of the point closest to the current position G of the host vehicle is preferentially displayed, so that it is difficult to see the display by overlapping the point information displayed. This can be avoided.

  Next, the operation in the driving support apparatus of the present embodiment configured as described above will be described along the flowchart of FIG. The flow shown in FIG. 9 is repeatedly executed at a predetermined cycle while the host vehicle is traveling.

  When this flow starts, first, in step S1, the own vehicle position detection means 2 detects the current position G of the own vehicle and the traveling direction Gv of the own vehicle. Information on the current position G and the traveling direction Gv of the host vehicle detected by the host vehicle position detection unit 2 is sent to the point information acquisition unit 4 and the display control unit 5.

  Next, in step S2, the road information stored in the road information storage unit 3 is acquired by the point information acquisition unit 4 based on the current position G and the traveling direction Gv of the host vehicle detected by the host vehicle position detection unit 2. And the map matching process is performed to identify the road where the host vehicle exists, and the road shape information within the predetermined distance from the current position of the host vehicle and the point existing within the predetermined distance (display target) on or around the road The point information of Pn is acquired. The point information of the point Pn to be displayed acquired by the point information acquisition unit 4 is sent to the display control unit 5. In addition, about the point information of the point that is the display target in the current process at the point that was the display target in the past cycle, the already acquired point information is used as it is, and the new information May not be performed.

  Next, in step S3, the display control means 5 uses the position coordinates of the current position G of the host vehicle, the position coordinates of the point Pn to be displayed, and the road shape information, and the point to be displayed from the current position G of the own vehicle. A road distance Ln to Pn is calculated.

  Next, in step S4, the display control means 5 determines the azimuth angle of the point Pn to be displayed with respect to the traveling direction Gv of the host vehicle (the own direction) from the traveling direction Gv of the host vehicle and the position coordinates of the point Pn to be displayed. An angle difference (θn) between the traveling direction Gv of the vehicle and the direction vector Vn of the point Pn is calculated. Here, regarding the azimuth angle θn of the point Pn, the azimuth angle overlapping with the own vehicle traveling direction Gv is 0 degree, the right side is +, and the left side is −. As shown in FIG. 5, when a plurality of points (P1, P2, P3) are acquired as the point Pn to be displayed, the azimuth angles (θ1, θ2, θ3) for each of the plurality of points. Is calculated.

  Next, in step S5, the display control means 5 determines the display size Iwn of the point information related to the point Pn to be displayed based on the road distance Ln calculated in step S3. Here, the display size Iwn of the point information represents, for example, the length of the fixed width of the aspect ratio. According to the relationship shown in FIG. 4, the longer the distance Ln, the smaller the display size Iwn, and the distance Ln becomes smaller. The display size Iwn of the point information is determined so that the display size Iwn becomes larger as the length is shorter. Therefore, the closer the host vehicle is to each point Pn, the larger the point information regarding this point Pn is displayed and the easier it is to visually recognize it. When a plurality of points (P1, P2, P3) are acquired as the points Pn to be displayed, the display size (Iw1, Iw2, Iw3) of the point information is calculated for each of the plurality of points. . In addition, for the spot information whose display size Iwn determined here is equal to or less than a predetermined value, the display content is determined so that only the representative icon added to the spot information is displayed.

  Next, in step S6, the display control means 5 determines, for example, that the point information having a high priority is red-based display and the priority is in accordance with the information priority added to the point information of the point Pn to be displayed. The display color of the spot information is determined such that medium spot information is displayed in yellow, and spot information with low priority is displayed in blue. At this time, if the content of the point information to be displayed is a recommended speed when passing through the point, the display control means 5 displays the current traveling speed Vi of the host vehicle, the distance Ln to the point Pn, the point The required deceleration rate α is calculated using the recommended speed Vn of Pn. Then, the calculated required deceleration rate α is compared with, for example, two threshold values α1, α2 (α1> α2), whether α> α1, α1> α> α2, or α2> α. Thus, the degree of the required deceleration α is evaluated in three stages, the information priorities are assigned in order of high, medium and low, and the display color of the point information is determined accordingly.

  Next, in step S7, the display control means 5 displays the driver viewpoint position Pd set as a reference value in advance, the point Vc located in front of the driver viewpoint position Pd on the display means 1, and the right end of the display area of the display means 1. The position Vr, the display area left end position Vl of the display means 1, the distance Dl between Pd-Vc, the distance Lr between Vc-Vr, the distance Ll between Vc-Vl, and the point Pn to be displayed calculated in step S4 10 and the display size Iwn determined in step S5, as shown in FIG. 10, the point information display area centered on the point Vc in front of the driver (the x-axis direction in FIG. 10). ) Is calculated (+ for the right direction and-for the left direction). When there are a plurality of points Pn (P1, P2, P3) to be displayed as shown in FIG. 10, the display position (Vp1, Vp2, Vp3) of the point information is calculated for each of the plurality of points. .

  Further, the display control means 5 displays, for example, point information of the point Pn closer to the current position G of the host vehicle on the display means 1 based on the road distance Ln to the point Pn to be displayed calculated in step S3. The display position (vertical offset amount Vpcn) in the vertical direction (y-axis direction in FIG. 10) of the point information display area is calculated so as to be displayed below the area. When there are a plurality of points Pn (P1, P2, P3) to be displayed as shown in FIG. 10, the display position (Vpc1, Vpc2, Vpc3) of the point information is calculated for each of the plurality of points. .

  Next, in step S8, the display control means 5 determines whether or not the display position Vpn in the left-right direction of the spot information calculated in step S7 is within the display area of the display means 1 under the following conditions: If the display position Vpn is within the display area, the process proceeds to the next step S9, and if the display position Vpn is out of the display area, the process proceeds to step S12.

(Condition 1) Vpn <0; Ll <Vpn− (Iwn / 2)
(Condition 2) Vpn>0;Lr> Vpn + (Iwn / 2)
If it is determined in step S8 that the display position Vpn in the left-right direction of the plurality of point information exists within the display area of the display unit 1, the display control unit 5 determines whether the display widths of the respective point information overlap in the next step S9. If no overlap occurs, the process proceeds to the next step S10, and if overlap occurs, the process proceeds to step S11. Here, as shown in FIG. 11, the overlap determination is performed by displaying the right end Vprn of each piece of point information (in the example shown in FIG. 11, the right end Vpr1 of the point information displayed at the point P1 and the right end Vpr2 of the point information displayed at the point P2). Then, the display left end Vpln of each point information (in the example shown in FIG. 11, the display left end Vpl1 of the point information of the point P1 and the display left end Vpl2 of the point information of the point P2) are obtained, and the determination is made based on these positional relationships. The display right end Vprn of each point information is obtained from the display position Vpn of the point information and the display size Iwn by Vprn = Vpn + (Iwn / 2), and the display right end Vpln of each point information is Vpln = Vpn−. It is calculated by (Iwn / 2).

  In step S10, the display control means 5 determines the display positions Vpn and Vpcn calculated in step S7 as the display positions of the point information on the display means 1, and the display positions Vpn and Vpcn on the display means 1 are changed to step S5. The point information regarding the point Pn to be displayed is displayed with the display size determined in step S6 and the display color determined in step S6.

  Further, in step S11, the display control means 5 confirms the road distance Ln from the current position G of the own vehicle at each point Pn with respect to the plurality of pieces of point information determined to be overlapped in step S9. A point having a small road distance Ln from the position G, that is, a point closer to the host vehicle is preferentially selected and displayed. Then, the point information of the point selected as the display target is displayed on the display positions Vpn and Vpcn calculated in step S7 on the display unit 1 with the display size determined in step S5 and the display color determined in step S6. Let

  On the other hand, when it is determined in step S8 that the display position Vpn in the left-right direction of the point information is out of the display area of the display unit 1, the display control unit 5 next moves the display position Vpn out of the display area in step S12. It is determined whether or not there are a plurality of pieces of point information on the right or left side of the display area. If there is only one piece of point information whose display position Vpn is out of the display area, the process proceeds to the next step S13, and the display position Vpn is displayed. If there are a plurality of pieces of point information deviating on the right side of the area, or if there are a plurality of pieces of point information deviating from the display position Vpn on the left side of the display area, the process proceeds to step S14.

  In step S13, if the point information where the display position Vpn deviates from the display area is deviated to the right side of the display area, the display control means 5 sets the display position of the point information to a position near the right end Vr of the display area. As shown in FIG. 12, at the position near the right end Vr of the display area on the display means 1, the point related to the point Pn to be displayed with the display size determined in step S5 and the display color determined in step S6. Display information. If the point information where the display position Vpn deviates from the display area is deviated to the left of the display area, the display position of the point information is set to a position near the left end Vl of the display area. The point information related to the point Pn to be displayed is displayed at the position near the left end Vl of the display area with the display size determined in step S5 and the display color determined in step S6. Further, at this time, the point information is displayed in a display form in which the actual direction of the point indicated by the point information is out of the display area of the display means 1, or an icon indicating that is displayed in the vicinity of the point information. Display together.

  In step S14, the display control means 5 confirms the road distance Ln from the current vehicle position G of each point Pn for a plurality of pieces of point information where the display position Vpn determined in step S12 deviates from the display area. A point where the distance Ln from the current position G of the host vehicle is small, that is, a point closer to the host vehicle is preferentially selected and displayed. Then, the display position of the point information of the point is set in the vicinity of the display area right end Vr or the display area left end Vl of the display means 1 (the vertical direction is set to Vpcn calculated in step S7). The point information related to the point Pn to be displayed is displayed with the display size determined in step S5 and the display color determined in step S6. Further, at this time, the point information is displayed in a display form in which the actual direction of the point indicated by the point information is out of the display area of the display means 1, or an icon indicating that is displayed in the vicinity of the point information. Display together.

  In the driving support device of the present embodiment, the above series of processing is repeatedly executed at a predetermined cycle. Thereby, in the display area of the display means 1, for example, as shown in FIG. 13, the driver confirms the information on the points on the travel route that change every moment according to the position of the own vehicle through the windshield of the own vehicle. It will be displayed one after another in the form associated with the actual video that can be. That is, in the example shown in FIG. 13, when the host vehicle is traveling at the position G1 in the figure, the point information (here, P1, P2, P3 respectively) regarding the points P1, P2, P3 within a predetermined distance from G1. The display area of the display means 1 is a display position corresponding to the direction in which the points P1, P2 and P3 to be displayed are present and a display size corresponding to the distance from the vehicle. Is displayed. When the host vehicle reaches the position G2 in the figure, the point information regarding the points P2, P3, P4 within the predetermined distance from G2 (here, the recommended speed when passing through P2, P3 and the state of the road surface μ at P4) ) Is displayed in the display area of the display means 1 at a display position corresponding to the direction in which the points P2, P3, and P4 to be displayed exist and at a display size corresponding to the distance from the host vehicle. .

  As described above, the driving support apparatus according to the present embodiment displays information related to points on the travel route of the host vehicle on the display unit 1 in association with an actual image that the driver can check through the windshield. As a result, it is possible for the driver to intuitively grasp information related to the point, and the driving operation of the driver can be appropriately supported.

  In the driving support device of this embodiment, the display content of the display unit 1 is updated at a predetermined cycle by repeatedly executing the above-described series of processes at a predetermined cycle. Since the point information of the point Pn shifts so that the vehicle approaches the point Vc in front of the driver as the reference position on the display means 1 as the own vehicle approaches the point, the display position of each point information It is possible to unify the optical flow associated with the movement of each point, and the visibility of each point information is extremely good.

  In the example described above, when it is determined that overlapping information is generated when the point information of a plurality of points Pn to be displayed is displayed at the same time, from the current position G of the own vehicle among these points Pn. A point with a short road distance Ln, that is, a point closer to the host vehicle is preferentially selected to be displayed. However, the point information of a plurality of points Pn where the overlapping occurs is displayed alternately in time. You may make it make it. That is, in the driving support device of this embodiment, the display content of the display unit 1 is updated at a predetermined cycle by repeatedly executing the above-described series of processing at a predetermined cycle. Is stored temporarily, and the point information to be selected as the display target is selected by switching alternately for each of the plurality of processing cycles among the pieces of point information of the plurality of points Pn that are overlapped when simultaneously displayed. By doing so, it is possible to alternately display the point information of the plurality of points Pn in terms of time.

  In addition, in this way, when the point information of a plurality of points Pn that overlap when displayed simultaneously is displayed alternately in time, the display time of each point information is set to the own vehicle at each point Pn. Depending on the distance Ln from the current position G and the priority of each point information (information priority determined in advance as shown in FIG. 2 or information priority calculated based on the required deceleration α) For example, the display time of each point information is determined so that the display time becomes longer as the road distance Ln from the current vehicle position G is shorter, or the display time is longer as the information priority is higher. You may make it do.

(Second Embodiment)
Next, a driving support apparatus according to a second embodiment to which the present invention is applied will be described. The driving support device of the present embodiment is the same as the first embodiment described above with respect to the basic device configuration and the outline of processing, and it is determined that overlapping occurs when the point information of a plurality of points is displayed simultaneously. The contents of the processing in this case are slightly different from those in the first embodiment described above. In other words, in the first embodiment described above, when it is determined that the point information of a plurality of points is displayed at the same time, the point information is selected and displayed. However, in this embodiment, these pieces of spot information are displayed in a superimposed state, and the spot information displayed on the uppermost layer is displayed while being switched as necessary. The following description will focus on the features that are characteristic of the present embodiment, and detailed description of the apparatus configuration similar to that of the first embodiment described above and the processing content similar to that of the first embodiment will be omitted.

  FIG. 14 is a flowchart showing a flow of a series of processes in the driving support device of the present embodiment. In the flowchart of FIG. 14, the processes from step S21 to step S30 are the same as the processes in the first embodiment described above (the processes from step S1 to step S10 in the flowchart of FIG. 9). Further, in the flowchart of FIG. 14, the processes of step S32 and step S33 are the same as the processes in the first embodiment described above (the processes of steps S12 and S13 in the flowchart of FIG. 9).

  In the driving support device of the present embodiment, when it is determined that the point information of a plurality of points is displayed at the same time in step S29, the point information of the plurality of points is displayed at the same time. When it is determined that there is an overlap, the display control means 5 performs an overlap display process as described below in step S31 or step S34.

  FIG. 15 is a flowchart showing details of characteristic overlap display processing in the driving support apparatus of this embodiment. In the driving support device of the present embodiment, when it is determined in step S29 or step S32 in the flowchart of FIG. 14 that the point information of a plurality of points is displayed simultaneously, the display control unit 5 In step S31 or step S34, the overlap display processing according to the flowchart shown in FIG. 15 is executed, so that the plurality of pieces of point information are displayed on the display means 1 in a superimposed state, and if necessary, the uppermost layer is displayed. The point information to be displayed is displayed while being switched.

  In this overlap display process, first, in step S41, the display control means 5 calculates the distance between each point for a plurality of points to be processed (a plurality of points determined to overlap in display). . Specifically, for example, in the example shown in FIG. 16A, when it is determined that the display overlaps with the point information regarding the point P1 and the point information regarding the point P3, the display control means 5 has already calculated. The distance Lth3-1 = L3-L1 between these points is calculated using the distances L1, L3 from the current position G of the current vehicle to the points P1, P3. Further, for example, in the example shown in FIG. 17A, when it is determined that the display overlaps with the point information regarding the point P1 and the point information regarding the point P2, the display control means 5 has already calculated. Using the distances L1 and L2 from the current position G of the host vehicle to the points P1 and P2, the distance Lth2-1 = L2-L1 between these points is calculated.

  Next, in step S42, the display control means 5 determines whether or not the point-to-point distance calculated in step S41 is greater than or equal to a predetermined distance (for example, 50 m). If the point-to-point distance is less than the predetermined distance, step S43 is performed. If the distance between points is equal to or greater than the predetermined distance, the process proceeds to step S44. And in these step S43 or step S44, the display control means 5 determines whether there is a difference in information priority between these several point information, and according to the determination result, these several point information The display form on the display means 1 is determined.

  That is, when the distance between the points is less than the predetermined distance and there is no difference in information priority between the point information of these points (No determination in step S43), the display control means 5 in step S45 The point information is displayed at a predetermined display position on the display means 1 (the display positions Vpn and Vpcn calculated in step S27 in the case of overlapping display processing in step S31, and the right end or left end of the display area in the case of processing in step S34). In the superimposed state, the point information displayed on the uppermost layer is displayed while being switched alternately every predetermined time.

  Specifically, for example, in the example illustrated in FIG. 16A, when the display overlaps with the point information regarding the point P1 and the point information regarding the point P3, the distance between the points P1 and P3 is less than the predetermined distance. If there is no difference in information priority between the point information related to the point P1 and the point information related to the point P3, the display control means 5 indicates that the point information related to the point P1 is the highest as shown in FIG. The point information of these points P1 and P3 is overlapped while alternately switching the state of the upper layer and the state where the point information regarding the point P3 is the uppermost layer as shown in FIG. 16 (c) every predetermined time. Display in state.

  Further, for example, in the example shown in FIG. 17A, when the display overlaps with the point information regarding the point P1 and the point information regarding the point P2, the distance between the points P1 and P2 is less than the predetermined distance, In addition, when there is no difference in information priority between the point information related to the point P1 and the point information related to the point P2, the display control means 5 has the point information related to the point P1 as the uppermost layer as shown in FIG. While the state and the state where the point information regarding the point P2 is the uppermost layer as shown in FIG. 17C are alternately switched every predetermined time, the point information of these points P1 and P2 is displayed in a superimposed state. Let

  On the other hand, if the distance between the points is less than the predetermined distance and there is a difference in information priority between the point information of these points (Yes in step S43), the display control means 5 The point information is displayed at a predetermined display position on the display means 1 (the display positions Vpn and Vpcn calculated in step S27 in the case of overlapping display processing in step S31, and the right end or left end of the display area in the case of processing in step S34). In the overlapped state, the point information displayed on the uppermost layer is displayed while alternately switching so that the information with higher information priority is displayed on the uppermost layer for a longer time than the information with lower information priority.

  Specifically, for example, in the example illustrated in FIG. 16A, when the display overlaps with the point information regarding the point P1 and the point information regarding the point P3, the distance between the points P1 and P3 is less than the predetermined distance. In the case where the point information related to the point P1 has a higher information priority than the point information related to the point P3, the display control means 5 does not display the display state shown in FIG. The point information on the uppermost layer is displayed while alternately switching the point information on the point P1 and the point information on the point P3 so that the display state shown in FIG. Conversely, when the distance between the points P1 and P3 is less than the predetermined distance and the point information regarding the point P3 has a higher information priority than the point information regarding the point P1, the display control means 5 In the state where the point information related to the point P1 and the point information related to the point P3 are overlapped with each other so that the display state shown in FIG. 16C is longer than the display state shown in FIG. The point information to be displayed is displayed while alternately switching.

  Further, for example, in the example shown in FIG. 17A, when the display overlaps with the point information regarding the point P1 and the point information regarding the point P2, the distance between the points P1 and P2 is less than the predetermined distance, When the point information related to the point P1 has a higher information priority than the point information related to the point P2, the display control means 5 is shown in FIG. 17 (b) rather than the display state shown in FIG. 17 (c). In a state where the point information regarding the point P1 and the point information regarding the point P2 are overlapped so that the display state becomes longer, the point information which is the uppermost layer is displayed while being alternately switched. Conversely, when the distance between the points P1 and P2 is less than the predetermined distance and the point information regarding the point P2 has a higher information priority than the point information regarding the point P1, the display control means 5 In a state where the point information regarding the point P1 and the point information regarding the point P2 are superimposed so that the display state illustrated in FIG. 17C is longer than the display state illustrated in FIG. The point information on the upper layer is displayed while switching alternately.

  If the distance between the points is equal to or greater than the predetermined distance and there is no difference in information priority between the point information of these points (No determination in step S44), the display control means 5 Among the point information, a predetermined display position on the display means 1 (in step S31) with these point information superimposed so that the point information of the point closest to the current position G of the host vehicle is the top layer. In the case of overlapping display processing, the display positions Vpn and Vpcn calculated in step S27 are displayed, and in the case of processing in step S34, display is performed at the right end or the left end of the display area.

  Specifically, for example, in the example shown in FIG. 16A, when the display overlaps with the point information related to the point P1 and the point information related to the point P3, the distance between the points P1 and P3 is a predetermined distance or more. If there is no difference in information priority between the point information related to the point P1 and the point information related to the point P3, the display control means 5 indicates that the point information related to the point P1 is the highest as shown in FIG. The point information of these points P1 and P3 is displayed in a superimposed state so as to be an upper layer.

  Further, for example, in the example shown in FIG. 17A, in the case where the display overlaps with the point information regarding the point P1 and the point information regarding the point P2, the distance between the points P1 and P2 is a predetermined distance or more, In addition, when there is no difference in information priority between the point information related to the point P1 and the point information related to the point P2, the display control means 5 has the point information related to the point P1 as the uppermost layer as shown in FIG. Thus, the point information of these points P1 and P2 is displayed in a superimposed state.

  On the other hand, if the distance between the points is equal to or greater than the predetermined distance and there is a difference in information priority between the point information of these points (Yes in step S44), the display control means 5 A predetermined display position on the display means 1 (in the case of overlapping display processing in step S31) in a state where these point information are overlapped so that the point information having the highest information priority among the point information is the top layer. Are displayed at the display positions Vpn and Vpcn calculated in step S27, or in the case of the processing in step S34, at the right end or the left end of the display area.

  Specifically, for example, in the example shown in FIG. 16A, when the display overlaps with the point information related to the point P1 and the point information related to the point P3, the distance between the points P1 and P3 is a predetermined distance or more. In the case where the point information related to the point P1 has a higher information priority than the point information related to the point P3, the display control means 5 indicates that the point information related to the point P1 is the highest as shown in FIG. The point information of these points P1 and P3 is displayed in a superimposed state so as to be an upper layer. Conversely, when the distance between the points P1 and P3 is a predetermined distance or more and the point information related to the point P3 has a higher information priority than the point information related to the point P1, the display control means 5 As shown in FIG. 16C, the point information of these points P1 and P3 is displayed in a superimposed state so that the point information regarding the point P3 is the uppermost layer.

  Further, for example, in the example shown in FIG. 17A, in the case where the display overlaps with the point information regarding the point P1 and the point information regarding the point P2, the distance between the points P1 and P2 is a predetermined distance or more, When the point information related to the point P1 has a higher information priority than the point information related to the point P2, the display control means 5 has the point information related to the point P1 as the uppermost layer as shown in FIG. Thus, the point information of these points P1 and P2 is displayed in a superimposed state. Conversely, when the distance between the points P1 and P2 is a predetermined distance or more and the point information related to the point P2 has a higher information priority than the point information related to the point P1, the display control means 5 As shown in FIG. 17C, the point information of these points P1 and P2 is displayed in a superimposed state so that the point information regarding the point P2 is the uppermost layer.

  As described above in detail with specific examples, in the driving support device of the present embodiment, when it is determined that the point information of a plurality of points is displayed simultaneously, the plurality of points are overlapped. Since the spot information is displayed on the display means 1 in a superimposed state, the spot information displayed on the uppermost layer among the plurality of spot information displayed in a superimposed manner is switched as necessary. The driver can be notified in advance that there are a plurality of points to be noted in the vicinity of the predetermined direction from the own vehicle, and the driving operation of the driver can be appropriately supported.

  Further, in the driving support device of the present embodiment, for a plurality of point information to be displayed in a superimposed manner, the distance between the points of each point is obtained, and when the distance between the points is less than the predetermined distance, Since the point information to be displayed on the top layer is displayed while alternately switching, for example, in a continuous curve, the point information of multiple points that are expected to affect driving continuously is given to the driver. It can be made to recognize accurately and can support a driver's driving operation more appropriately. Furthermore, by determining the display time of the point information to be displayed on the top layer based on the information priority, the distance from the current position of the vehicle, etc., it is possible to ensure that the driver recognizes particularly important information. Driving operation can be supported more appropriately.

(Third embodiment)
Next, a driving support apparatus according to a third embodiment to which the present invention is applied will be described. The driving support device of the present embodiment is characterized in that vehicle information representing the behavior of the host vehicle is acquired and reflected in the display of the spot information. That is, as shown in FIG. 18, the driving support apparatus according to the present embodiment is not limited to the display unit 1, the vehicle position detection unit 2, the road information storage unit 3, the point information acquisition unit 4, and the display control unit 5. Vehicle information acquisition means 6 for acquiring vehicle information representing the behavior of the vehicle is provided, and the vehicle information acquired by the vehicle information acquisition means 6 is supplied to the display control means 5. And the display control means 5 changes the display update period of the display means 1 based on the vehicle information sent from the vehicle information acquisition means 6. FIG. In addition, since the basic part of the apparatus configuration and the outline of the processing within one cycle are the same as those of the first embodiment described above, the following description will focus on the characteristic parts of the present embodiment. Detailed description of the same apparatus configuration as in the first embodiment and the same processing contents as in the first embodiment will be omitted.

  The vehicle information acquisition means 6 acquires various types of vehicle information representing the behavior of the host vehicle, specifically, for example, steering steering speed information, steering angle information, vehicle speed information, accelerator operation information, and the like. In recent years, various electronic devices mounted on vehicles are connected by a communication bus to construct an in-vehicle LAN (Local Area Network), and various types of vehicle information are flowed on the in-vehicle LAN, so that vehicle information is used by each electronic device as needed. The technology to be able to do so has been established, and when such an in-vehicle LAN is constructed in the own vehicle and an electronic device having a function as the display control means 5 is connected as one node of the in-vehicle LAN, This in-vehicle LAN can be used as the vehicle information acquisition means 6.

  In the driving support device of the present embodiment, the display control means 5 grasps the behavior of the own vehicle based on the vehicle information sent from the vehicle information acquisition means 6, for example, the behavior of the own vehicle is changing drastically. In the situation, the display update cycle of the display unit 1 is changed so that the display of the point information on the display unit 1 is not updated.

  That is, in a situation where the behavior of the host vehicle is changing drastically, the orientation of the point to be displayed from the host vehicle changes extremely in a short time, and the point information is displayed on the display means 1. If it is updated at a predetermined cycle as usual, it is assumed that the display becomes unstable and hinders the driving operation of the driver. In addition, a situation where the behavior of the host vehicle is changing drastically is a state where the driving load of the driver is large. If the display on the display means 1 changes in such a situation, the driver's attention is deprived and the driver is driven instead. It is also assumed that the operation will be hindered.

  Therefore, in the driving support device of the present embodiment, when it is determined that the behavior of the host vehicle is changing drastically based on the vehicle information sent from the vehicle information acquisition means 6, the above-described point information display control is performed. Is temporarily interrupted to stop updating the display of point information.

  Specifically, for example, the display control means 5 confirms the steering speed in the vehicle information sent from the vehicle information acquisition means 6, and while the steering speed is less than a predetermined value, When the display control of the point information is repeatedly performed at a predetermined cycle, the display of the point information by the display unit 1 is updated at the predetermined cycle, and when the steering speed becomes a predetermined value or more, the above-described display control of the point information is temporarily performed. To stop updating the display of the point information.

  FIG. 19 is a flowchart showing a flow of a series of processes in the driving support device of the present embodiment. As shown in the flowchart of FIG. 19, in the driving support apparatus of the present embodiment, first, the vehicle information acquisition unit 6 acquires vehicle information and supplies it to the display control unit 5 in step S51. In step S52, the display control means 5 confirms the steering speed in the vehicle information, and determines whether this steering speed is less than a predetermined value.

  If the result of determination in step S52 is that the steering speed is less than a predetermined value, processing from step S53 is performed. Note that the processing in steps S53 to S66 in the flowchart of FIG. 19 is the same as the processing in the first embodiment described above (the processing from steps S1 to S14 in the flowchart of FIG. 9). Then, explanation is omitted.

  On the other hand, if the result of determination in step S52 is that the steering speed is greater than or equal to a predetermined value, processing in this cycle is terminated without performing processing in steps S53 to S66. As a result, the point information display state determined by the processing in the previous cycle is maintained until it is determined that the steering speed is less than the predetermined value in the processing in the subsequent cycle, and the display of the point information is performed. Updates will be stopped.

  As described above, in the driving assistance device of the present embodiment, it is determined that the behavior of the host vehicle is changing drastically based on the vehicle information such that the steering speed is equal to or higher than a predetermined value, for example. In such a case, the display control of the point information is temporarily interrupted to stop the update of the display of the point information on the display means 1, so that the display is performed in accordance with the extreme behavior change of the own vehicle. As a result of the instability, it is possible to effectively prevent inconveniences such as the display of the point information and the driver's driving operation being hindered.

  In the above example, the steering steering speed in the vehicle information is checked to determine whether or not the behavior change of the host vehicle is severe. For example, the steering steering angle and the vehicle speed are Other vehicle information such as information and accelerator operation amount may be checked, and the steering steering speed and other vehicle information are combined to determine whether the behavior change of the own vehicle is severe. You may do it.

  In the above example, the update of the display of the point information is stopped when it is determined that the behavior of the host vehicle is changing drastically based on the vehicle information. For example, based on the vehicle information Then, the driving load of the driver may be determined, and when it is determined that the driving load of the driver is large, the update of the display of the point information may be stopped. That is, if the display form of the point information on the display means 1 changes greatly under a situation where the driver's driving load is large, there is a possibility that the display may be lost and the driving operation may be hindered. Such inconvenience can be avoided in advance by stopping updating the display of the point information when it is determined that the driving load of the driver is large.

  As a specific method for determining the driving load of the driver based on the vehicle information, for example, a steering entropy value representing an unstable state of the driving operation is calculated based on the steering operation amount (steering speed or steering angle), and this A method of determining that the driving load is large when the steering entropy value is high can be applied. Details of a method for calculating the steering entropy value from the steering operation amount are described in, for example, Japanese Patent Application Laid-Open Nos. 2001-301039, 2002-255040, and 2003-246227.

(Fourth embodiment)
Next, a driving support apparatus according to a fourth embodiment to which the present invention is applied will be described. The driving support device of this embodiment is the same as the first embodiment described above with respect to the basic device configuration and the outline of processing, and when there are a plurality of pieces of point information to be displayed, the display position of each point information The contents of the process when determining the difference are different from those of the first embodiment described above. That is, in the first embodiment described above, when there are a plurality of pieces of point information to be displayed, it is determined whether or not there is an overlap when these pieces of point information are displayed at the same time. In this case, only one of the point information is selected and displayed. However, in the present embodiment, the other points except the point with the shortest distance from the current position of the host vehicle are selected among the plurality of points. For the point, the display position of the point information regarding the point is determined based on the relative positional relationship with the point having a shorter distance from the current position of the host vehicle than the point. The following description will focus on the features that are characteristic of the present embodiment, and detailed description of the apparatus configuration similar to that of the first embodiment described above and the processing content similar to that of the first embodiment will be omitted.

  FIG. 20 is a flowchart showing a flow of a series of processes in the driving support device of the present embodiment. In the flowchart of FIG. 20, the processing in step S71 and the processing in step S72 are the same as the processing in the first embodiment described above (the processing in steps S1 and S2 in the flowchart in FIG. 9). In the driving support device of this embodiment, after the point information regarding the point to be displayed is acquired by the point information acquiring unit 4 in step S72, the display control unit 5 is operated by the point information acquiring unit 4 in the next step S73. It is determined whether or not there are a plurality of pieces of acquired spot information to be displayed. If there are a plurality of points to be displayed, the display control means 5 calculates the relative positional relationship between adjacent points in step S74.

  Specifically, when there are a plurality of pieces of point information to be displayed, the display control means 5 makes one of the plurality of points excluding the point closest to the host vehicle one before the point. The position of the point relative to the traveling direction of the host vehicle when the host vehicle passes through the point, that is, the point is on the right side or the left side with respect to the traveling direction of the host vehicle passing the previous point. Determine whether.

  For example, in the example shown in FIG. 21, when the point information regarding the point P1 and the point information regarding the point P2 are display target points, the display control means 5 calculates the relative positional relationship of the point P2 with respect to the point P1 as follows: To do. That is, first, a curve function KP1 having the point P1 as a vertex is obtained using a point P1 on the near side near the current position of the host vehicle and interpolation points (data included in the road shape information) before and after the point P1, A tangent SP1 passing through the point P1 of the curve function KP1 is calculated. Then, the coordinates of the point P2, which is the next display target point of the point P1, are converted into a coordinate system with SP1 as the y-axis and P1 as the origin, and the traveling direction of the host vehicle passing through the point P1 at the position of the point P2 It is determined whether it is on the right side or the left side. When there are three or more points to be displayed, the above process is performed for all points except the point closest to the host vehicle, and the relative positional relationship with respect to the point on the near side is calculated.

  In the driving support device of the present embodiment, when it is determined in step S73 that there is one point information to be displayed, or after the relative positional relationship between a plurality of points is calculated in step S74, the display control unit 5 The process after step S75 is performed. In the flowchart of FIG. 20, the process from step S75 to step S79 is the same as the process in the first embodiment described above (the process from step S3 to step S7 in the flowchart of FIG. 9). However, in the above-described first embodiment, the display position Vpn in the left-right direction of the display area of the display unit 1 is calculated in step S7 for all pieces of point information to be displayed. In the support device, in step S79, the display position Vpn in the left-right direction of the display area of the display unit 1 is calculated only for the point information regarding the point closest to the host vehicle.

  In the driving support device of the present embodiment, in the next step S80, the display control means 5 confirms whether or not there are a plurality of pieces of point information to be displayed, and according to the result, the points on the display means 1 The display position of information is determined.

  That is, when there is only one piece of point information to be displayed (determination of No in step S80), the display control means 5 displays the display position in the left-right direction of the point information calculated in step S79 in the next step S81. It is determined whether Vpn is within the display area of the display means 1 or not. If the display position Vpn is within the display area, in the next step S82, the display positions Vpn and Vpcn calculated in step S79 are determined as the display positions of the point information on the display means 1, and on the display means 1 The point information to be displayed is displayed at the display positions Vpn and Vpcn with the display size determined in step S77 and the display color determined in step S78.

  On the other hand, if the display position Vpn in the left-right direction of the spot information calculated in step S79 is out of the display area, the display control means 5 displays the position near the right end or the left end of the display area on the display means 1 in step S83. Is determined as the display position of the point information, and the point information to be displayed is displayed at the display position in the display size determined in step S77 and in the display color determined in step S78.

  When there are a plurality of pieces of point information to be displayed (Yes in Step S80), the display control means 5 displays the display position in the left-right direction of the point information closest to the current position of the host vehicle in Step S84, That is, it is determined whether or not the display position Vpn in the left-right direction of the spot information calculated in step S79 is within the display area of the display means 1. If the display position Vpn is within the display area, in the next step S85, the display position on the display means 1 of the point information closest to the current position of the host vehicle is set to the display positions Vpn and Vpcn calculated in step S79. At the same time, the display position of the other point information is determined to be a position where the positional relationship with the immediately preceding point information can be grasped based on the relative positional relationship between the points calculated in step S74. And the display size determined in step S78 and the display color determined in step S78.

  Specifically, for example, in the example shown in FIG. 22A, when the point information regarding the point P1, the point information regarding the point P2, and the point information regarding the point P3 are the point information to be displayed, the current vehicle position G Since the point P2 is on the left side with respect to the traveling direction of the host vehicle when passing the point P1 closest to the point P3, the point P3 is on the right side with respect to the traveling direction of the host vehicle when passing the point P2, the display control means As shown in FIG. 22 (b), the point information related to the point P1 is displayed at the display position calculated in step S79, and the point information related to the point P2 is displayed on the left side of the point information related to the point P1, as shown in FIG. The point information regarding P3 is displayed on the right side of the point information regarding point P2.

  On the other hand, if the display position Vpn in the left-right direction of the spot information calculated in step S79 is out of the display area, the display control means 5 on the spot information display means 1 closest to the current position of the host vehicle in step S86. Is determined to be a position near the right end or near the left end of the display area, and the display position of the other point information is the position of the previous point information based on the relative positional relationship between the points calculated in step S74. The position is determined so that the relationship can be grasped, and each piece of point information is displayed in the display size determined in step S77 and in the display color determined in step S78.

  Specifically, for example, in the example shown in FIG. 23A, when the point information regarding the point P1 and the point information regarding the point P2 are the display target point information, the point P1 closest to the current vehicle position G is selected. Since the point P2 is on the left side with respect to the traveling direction of the host vehicle when passing, the display control unit 5 displays the point information regarding the point P1 in the vicinity of the right end of the display area of the display unit 1 as shown in FIG. And the point information regarding the point P2 is displayed on the left side of the point information regarding the point P1.

  In the driving support device of the present embodiment, the above series of processing is repeatedly executed at a predetermined cycle. Thereby, in the display area of the display means 1, for example, as shown in FIG. 24, information on each point to be displayed on the travel route of the host vehicle corresponds to the change of the position of the host vehicle. It will always be displayed in a display format that can grasp the positional relationship with the immediately preceding point. That is, in the example shown in FIG. 24, when the host vehicle is traveling at the position G1 in the figure, the point information regarding the point P2 is the left side of the point information regarding the point P1, and the point information regarding the point P3 is the point information regarding the point P2. Are displayed in the display area of the display means 1 so as to be adjacent to the right side of each of the points P1, P2 and P3 to be displayed. And when the host vehicle is traveling at the position of G2 in the figure, the point information about each of the points P2, P3 to be displayed is displayed so that the point information about the point P3 is right next to the point information about the point P2. When the vehicle is traveling in the G2 position in the figure, each displayed in the display area of the means 1, the display position corresponding to the direction in which the point P3 exists from the current position of the vehicle The point information regarding P3 is displayed in the display area of the display means 1.

  As described above, in the driving support device of the present embodiment, when there are a plurality of pieces of point information to be displayed, other points excluding the point having the shortest distance from the current position of the vehicle among the plurality of points. Since the display position of the point information related to the point is determined based on the relative positional relationship with the point closer to the current position of the vehicle than the point, each point information to be displayed Can be displayed so that the driver can grasp the direction in which the point actually appears after the host vehicle passes the point just before that, and the driving operation of the driver can be supported more appropriately.

DESCRIPTION OF SYMBOLS 1 Display means 2 Own vehicle position detection means 3 Road information storage means 4 Point information acquisition means 5 Display control means 6 Vehicle information acquisition means

Claims (19)

In a driving support device that supports driving of a driver by displaying information about a point on the travel route of the host vehicle on a display means,
Own vehicle position detecting means for detecting the current position and traveling direction of the own vehicle;
Road information storage means storing road information including at least point information on points on the road;
Based on the current position and the traveling direction of the own vehicle detected by the own vehicle position detecting means, point information relating to a point existing within a predetermined distance from the current position of the own vehicle on the road along the traveling direction of the own vehicle. Point information acquisition means acquired from the road information storage means;
A display unit that is installed in a horizontally long position under the windshield of the vehicle and displays the point information acquired by the point information acquisition unit;
Display control means for controlling the display operation of the display means,
Driving support characterized in that the display control means determines the display position on the display means of the point information relating to the point based on the positional relationship between the current position of the host vehicle and the position of the point to be displayed. apparatus.   2. The driving according to claim 1, wherein the display control unit determines a display position of the point information on the display unit to be a position overlapping with an azimuth in which the point actually exists with reference to the viewpoint of the driver. Support device.   When the direction in which the point to be displayed actually exists is out of the display area of the display unit, the display control unit displays the point information regarding the point at the right end or the left end of the display area of the display unit. The driving support apparatus according to claim 2, wherein information indicating that the direction in which the point actually exists is out of the display area of the display unit is also displayed.   The display control means determines the display position of the point information regarding the point in the vertical direction of the display area of the display means based on the distance from the current position of the host vehicle to the position of the point to be displayed. The driving support device according to any one of claims 1 to 3.   5. The display control unit according to claim 1, wherein the display control unit determines a display size of the point information related to the point based on a distance from a current position of the host vehicle to a position of the point to be displayed. The driving support device according to 1.   The driving support apparatus according to claim 1, wherein the display control unit determines a display color of the point information according to an information priority of the point information regarding the point to be displayed. .   The said display control means calculates the required deceleration in the point used as display object, and determines the information priority of the point information regarding the said point according to the calculated required deceleration. Driving assistance device.   The driving support apparatus according to any one of claims 1 to 7, wherein the point information is information on a recommended speed when the host vehicle passes through the point.   The display control means, when point information related to a plurality of points is acquired by the point information acquisition means, displays the point information related to the plurality of points simultaneously on the display means. The driving support apparatus according to any one of 1 to 8.   When the display control means displays the point information on a plurality of points on the display means at the same time and determines that the point information overlaps, the display control means is closest to the current position of the host vehicle. The driving support device according to claim 9, wherein point information on the point is selected and displayed.   When the display control means displays the point information on a plurality of points on the display means at the same time and determines that these pieces of point information overlap, the display control means relates to the point having the highest information priority among the plurality of points. The driving support device according to claim 9, wherein the point information is selected and displayed.   When the display control unit determines that the point information regarding the plurality of points overlaps when the point information regarding the plurality of points is simultaneously displayed on the display unit, the display control unit overlaps the point information regarding the plurality of points. The driving support device according to claim 9, wherein the point information displayed on the upper layer is displayed while being switched.   The display control means determines a display time to be displayed in the uppermost layer of the point information regarding each point based on the distance from the current position of the host vehicle to the positions of the plurality of points. 12. The driving support device according to 12.   The said display control means determines the display time displayed on the uppermost layer of the point information regarding each of these points based on the information priority of the point information regarding the said plurality of points. Driving assistance device.   The display control means, except for a point other than the point where the distance from the current position of the host vehicle is the shortest among the plurality of points, a point with a shorter distance from the current position of the host vehicle than the point The driving support device according to claim 9, wherein a display position of the point information regarding the point on the display unit is determined based on a relative positional relationship between the points. Vehicle information acquisition means for acquiring vehicle information representing the behavior of the host vehicle,
The driving support apparatus according to any one of claims 1 to 15, wherein the display control unit changes a display update period of the display unit based on the vehicle information acquired by the vehicle information acquisition unit. . The vehicle information acquisition means acquires a steering speed of the host vehicle as the vehicle information,
The display control means updates the display by the display means at a predetermined cycle while the steering steering speed is less than a predetermined value, and when the steering steering speed exceeds a predetermined value, the display means The driving support device according to claim 16, wherein updating of the display is stopped. In a driving support device that supports driving of a driver by displaying information about a point on the travel route of the host vehicle on a display means,
Own vehicle position detecting means for detecting the current position and traveling direction of the own vehicle;
Road information storage means storing road information including at least point information on points on the road;
Based on the current position and the traveling direction of the own vehicle detected by the own vehicle position detecting means, point information relating to a point existing within a predetermined distance from the current position of the own vehicle on the road along the traveling direction of the own vehicle. Point information acquisition means acquired from the road information storage means;
Display means for displaying the spot information acquired by the spot information acquisition means, which is installed in a horizontally long position under the windshield of the vehicle,
Display control means for controlling the display operation of the display means,
The display control means determines the display position on the display means of the point information related to the point based on the positional relationship between the current position of the host vehicle and the position of the point to be displayed, and the current position of the host vehicle. A driving support device that determines the display size of the point information related to the point based on the distance from the point to the position of the point to be displayed. In a driving support method for supporting driving of a driver by displaying information on a point on the traveling route of the host vehicle on a display means,
A first step of detecting a current position and a traveling direction of the host vehicle;
Based on the current position and the traveling direction of the host vehicle detected in the first step, point information relating to a point existing within a predetermined distance from the current position of the host vehicle is acquired on a road along the traveling direction of the host vehicle. A second step;
A third step of displaying the spot information acquired in the second step on a display means installed in a horizontally long position below the windshield of the vehicle,
In the third step, based on the positional relationship between the current position of the host vehicle and the position of the point to be displayed, the display position of the point information related to the point on the display means is determined, and the current position of the host vehicle is determined. A driving support method characterized in that, based on a distance from a position to a position of a point to be displayed, a display size of point information related to the point is determined.

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