JP2013149105A - Peripheral object display device and peripheral object display method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a peripheral object display device capable of promptly and simply presenting a direction to pay attention to peripheral objects to be targets, such as peripheral vehicles, to a driver even when the number of the peripheral objects are increased, and a peripheral object display method.SOLUTION: The peripheral object display device estimates an attention direction in which the driver of an own vehicle should pay attention on the basis of driving behavior of the own vehicle and when a peripheral object exists in an area to the own vehicle on the side in the attention direction, the peripheral object display device displays a presentation screen including the area on a display.

Description

  The present invention relates to a peripheral object display device and a peripheral object display method.

  2. Description of the Related Art Conventionally, a technique for presenting information on surrounding vehicles existing around the host vehicle has been developed.

  For example, in Patent Document 1, an intersection closest to the own vehicle among the intersections existing in the traveling direction of the host vehicle coincides with an intersection closest to the surrounding vehicle among the intersections existing in the traveling direction of the surrounding vehicles. In such a case, a technique for shortening the transmission cycle for transmitting information on surrounding vehicles to the host vehicle is disclosed. Thereby, in patent document 1, the driver of the own vehicle is made to recognize early the presence of a surrounding vehicle, and the information of the surrounding vehicle required with respect to the own vehicle is obtained early.

  Patent Document 2 discloses a technique for presenting information on other vehicles that are traveling around the host vehicle to the driver using inter-vehicle communication. Specifically, in Patent Document 2, the display screen is divided into four front and rear, left and right block areas, and information on the front vehicle, the rear vehicle, the right vehicle, and the left vehicle is displayed in each divided block area. That is, in Patent Document 2, by displaying information on other vehicles in the front, rear, left and right block areas corresponding to the direction in which the other vehicle exists, the driver is informed in which direction the other vehicle exists. Presenting.

JP 2009-187112 A JP 2007-099135 A

  However, in the related art (Patent Documents 1 and 2, etc.), there is room for improvement because it becomes difficult to know which direction the driver of the own vehicle should be aware of as the number of peripheral objects such as target peripheral vehicles increases. For example, in the prior art, when the amount of information to be acquired increases as the number of vehicles communicating between vehicles increases, the processing load of the device on the own vehicle side for selecting necessary information for the driver increases, and driving There is a possibility that necessary information cannot be provided to a person at an appropriate timing.

  The present invention has been made in view of the above circumstances, and even when the number of surrounding objects such as target surrounding vehicles increases, it is easy to quickly understand the direction to be noted with respect to the surrounding objects. It is an object to provide a peripheral object display device and a peripheral object display method that can be presented to a driver.

  The present invention is a peripheral object display device that displays information related to peripheral objects existing around the host vehicle, and estimates a direction of caution that the driver of the host vehicle should be aware of based on the driving behavior of the host vehicle. When the surrounding object is present in a region for the host vehicle on the attention direction side, a display screen including the region is displayed on the display unit.

  In the peripheral object display device of the present invention, it is preferable that the presence or absence of the peripheral object is determined based on information acquired by vehicle-to-vehicle communication or road-to-vehicle communication.

  When the attention direction is estimated, the peripheral object display device of the present invention sets a region of the attention direction as a priority area, the peripheral object exists in the priority area, and the areas other than the priority area When the surrounding object is present in a non-priority area that is an area for the host vehicle, the priority area and the non-priority area are displayed in a state where the display mode of the priority area is different from the display mode of the non-priority area. It is preferable to display a presentation screen including

  When the peripheral object does not exist in the priority area, the peripheral object display device of the present invention determines whether the peripheral object exists in a priority neighborhood area that is an area for the host vehicle near the priority area. When the surrounding object is present in the priority vicinity area, it is preferable to display a presentation screen including the priority area and the priority vicinity area on the display unit.

  In the peripheral object display device of the present invention, it is preferable that the driving behavior includes at least one of on / off of left and right turn signals, deceleration, and acceleration of the host vehicle.

  In the peripheral object display device of the present invention, it is preferable that the peripheral object includes at least one of a peripheral vehicle, a pedestrian, and an obstacle existing around the host vehicle.

  Further, the present invention is a peripheral object display method for displaying information related to peripheral objects existing around the host vehicle, wherein a direction of caution that the driver of the host vehicle should be aware of based on the driving behavior of the host vehicle. In the estimation, when the surrounding object is present in a region for the subject vehicle on the attention direction side, a display screen including the region is displayed on the display unit.

  In the peripheral object display method of the present invention, it is preferable that the presence or absence of the peripheral object is determined based on information acquired by vehicle-to-vehicle communication or road-to-vehicle communication.

  In the peripheral object display method of the present invention, when the attention direction is estimated, a region of the attention direction is set as a priority area, the peripheral object exists in the priority area, and the areas other than the priority area When the surrounding object is present in a non-priority area that is an area for the host vehicle, the priority area and the non-priority area are displayed in a state where the display mode of the priority area is different from the display mode of the non-priority area. It is preferable to display a presentation screen including

  In the surrounding object display method of the present invention, when the surrounding object does not exist in the priority area, the surrounding object display method determines whether the surrounding object exists in a priority neighborhood area that is an area for the host vehicle near the priority area. When the surrounding object is present in the priority vicinity area, it is preferable to display a presentation screen including the priority area and the priority vicinity area on the display unit.

  Advantageous Effects of Invention According to the present invention, even when the number of surrounding objects such as target surrounding vehicles increases, it is possible to quickly and easily present the driver with a direction to be careful about the surrounding objects. Play.

FIG. 1 is a block diagram showing an example of the configuration of a peripheral object display system according to the present invention. FIG. 2 is a diagram illustrating an example of an attention direction table according to the first embodiment. FIG. 3 is a diagram illustrating an example of the presence area map according to the first embodiment. FIG. 4 is a flowchart showing an example of processing in the first embodiment of the peripheral object display device according to the present invention. FIG. 5 is a diagram illustrating an example of a presentation screen according to the first embodiment. FIG. 6 is a diagram illustrating an example of a presentation screen according to the first embodiment. FIG. 7 is a diagram illustrating an example of a presentation screen according to the first embodiment. FIG. 8 is a diagram illustrating an example of a presentation screen according to the first embodiment. FIG. 9 is a flowchart showing an example of processing in the second embodiment of the peripheral object display device according to the present invention. FIG. 10 is a diagram illustrating an example of a presentation screen according to the second embodiment. FIG. 11 is a diagram illustrating an example of a problem of the prior art.

  Embodiments of a peripheral object display device and a peripheral object display method according to the present invention will be described below in detail with reference to the drawings. In addition, this invention is not limited by this embodiment. In addition, constituent elements in the following embodiments include those that can be easily assumed by those skilled in the art or those that are substantially the same.

Embodiment 1
The configuration of the peripheral object display system according to the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing an example of the configuration of a peripheral object display system according to the present invention. In FIG. 1, a peripheral vehicle will be described as an example of a peripheral object. However, the present invention is not limited to this, and the peripheral object may be an object existing around the host vehicle such as a pedestrian and an obstacle.

  In FIG. 1, reference numeral 10 denotes the host vehicle, reference numeral 11 denotes an ECU (electronic control unit), reference numeral 12 denotes a vehicle-to-vehicle communication radio for transmitting and receiving information through vehicle-to-vehicle communication, and reference numeral 13 denotes a position. Reference numeral 14 denotes a GPS antenna / receiver that receives information. Reference numeral 14 denotes a vehicle information network (CAN: Control Area Network) composed of transmission paths connected to various sensors mounted on the host vehicle 10, and reference numeral 15 denotes Reference numeral 16 is a display for displaying information, reference numeral 16 is a speaker for outputting information by voice, reference numeral 17 is a storage unit for storing various data necessary for processing of the ECU 11, and reference numeral 20 is capable of inter-vehicle communication with the host vehicle 10. The reference numeral 30 is a surrounding vehicle that exists in the vicinity of the host vehicle 10. Reference numeral 30 denotes a GPS (Global Posi ioning System: a global positioning system). Further, in FIG. 1, reference numeral 11a is a surrounding object information acquisition unit, reference numeral 11b is a host vehicle information acquisition unit, reference numeral 11c is a relative position and direction calculation unit, reference numeral 11d is a driving action detection unit, 11e is an attention direction estimation unit, 11f is a priority area setting unit, 11g is a notification determination unit, 11h is a presentation screen generation unit, and 11i is an information providing unit. In FIG. 1, the surrounding vehicle 20 is assumed to include at least a vehicle-to-vehicle communication radio, a GPS antenna / receiver, a vehicle information network, and the like, similar to the host vehicle 10.

  In the peripheral object display system according to the present invention, the ECU 11 (including the peripheral object display device according to the present invention) mounted on the host vehicle 10 communicates with the peripheral vehicle 20 and the GPS 30 existing around the host vehicle 10. Therefore, driving the vehicle is supported by providing information.

  Here, in FIG. 1, an ECU 11 is an electronic control unit mounted on the host vehicle 10, and includes an inter-vehicle communication radio 12, a GPS antenna / receiver 13, a vehicle information network 14, a storage unit 17, and the like. Output data is generated based on various data obtained, and the output data is output via the display 15 and the speaker 16 or the like. Here, the ECU 11 includes a surrounding object information acquisition unit 11a, a host vehicle information acquisition unit 11b, a relative position / azimuth calculation unit 11c, a driving behavior detection unit 11d, a caution direction estimation unit 11e, a priority area setting unit 11f, a notification determination unit 11g, A presentation screen generator 11h and an information provider 11i are provided.

  In the ECU 11, the peripheral object information acquisition unit 11a is peripheral object information acquisition means for acquiring peripheral object information indicating the position and orientation of the peripheral object. Here, the peripheral object information is information indicating an absolute position and an absolute direction of the peripheral object. The peripheral object information may include the speed and traveling direction of the peripheral object. The peripheral object includes at least one of the peripheral vehicle 20, a pedestrian, and an obstacle existing around the host vehicle 10.

  In the present embodiment, when the peripheral object is the peripheral vehicle 20, the peripheral object information acquisition unit 11 a acquires peripheral object information indicating the position and orientation of the peripheral vehicle 20 via the inter-vehicle communication radio device 12. In this case, the peripheral object information acquisition unit 11a includes the positional information indicating the position of the peripheral vehicle 20 acquired from the GPS 30 by the GPS antenna / receiver of the peripheral vehicle 20 and the transmission path connected to the direction sensor of the peripheral vehicle 20 The azimuth information indicating the azimuth of the surrounding vehicle 20 obtained from the vehicle information network constituted by the vehicle information is obtained via the inter-vehicle communication radio 12 as the peripheral object information. When the surrounding object is a pedestrian, the surrounding object information acquisition unit 11a indicates the position of the pedestrian acquired from the vehicle information network 14 including a transmission path connected to the surrounding monitoring sensor of the host vehicle 10. The position information and the direction information indicating the direction of the pedestrian may be acquired as the peripheral object information. When the surrounding object is an obstacle, the surrounding object information acquisition unit 11a indicates the position of the obstacle acquired from the vehicle information network 14 including a transmission path connected to the periphery monitoring sensor of the host vehicle 10. The position information or the position information indicating the position of the obstacle determined from the map data stored in the storage unit 17 may be acquired as the peripheral object information.

  The host vehicle information acquisition unit 11b is host vehicle information acquisition means for acquiring host vehicle information indicating the position and direction of the host vehicle 10. Here, the host vehicle information is information indicating the absolute position and the absolute direction of the host vehicle 10. The own vehicle information may include the speed and traveling direction of the own vehicle 10. In the present embodiment, the host vehicle information acquisition unit 11 b is connected to the position information indicating the position of the host vehicle 10 acquired from the GPS 30 by the GPS antenna / receiver 13 of the host vehicle 10 and the direction sensor of the host vehicle 10. The azimuth information indicating the azimuth of the host vehicle 10 acquired from the vehicle information network 14 composed of the transmission paths is acquired as host vehicle information.

  In addition, the relative position and direction calculation unit 11c is configured to detect the relative position between the host vehicle 10 and the peripheral object based on the peripheral object information acquired by the peripheral object information acquisition unit 11a and the host vehicle information acquired by the host vehicle information acquisition unit 11b. Relative position / orientation calculating means for calculating the position and relative direction. In the present embodiment, the relative position indicates the position of the surrounding object with reference to the position of the host vehicle 10, and the relative orientation indicates in which direction the surrounding object exists with respect to the host vehicle 10. Here, the relative position / orientation calculation unit 11c may calculate a relative angle.

  The driving behavior detection unit 11d is a driving behavior detection unit that detects the driving behavior of the host vehicle 10. In the present embodiment, the driving action includes, for example, at least one of on / off of left and right turn signals of the host vehicle 10, deceleration, and acceleration. The driving behavior detection unit 11d detects the driving behavior of the host vehicle 10 via the vehicle information network 14 including transmission paths connected to various sensors on which the host vehicle 10 is mounted. Here, the various sensors include, for example, a direction indicating switch (blinker), a brake sensor, a vehicle speed sensor, an accelerator opening sensor, a direction sensor, a peripheral monitoring sensor, and the like. The perimeter monitoring sensor includes a millimeter wave radar, a laser radar, an in-vehicle camera, and the like.

  In addition, when the driving behavior detection unit 11d detects the driving behavior of the host vehicle 10, the attention direction estimation unit 11e determines the attention direction that the driver of the host vehicle 10 should be aware of based on the detected driving behavior. It is the attention direction estimation means to estimate. In this embodiment, the attention direction estimation unit 11e estimates the attention direction with reference to the attention direction table 17a stored in the storage unit 17. Specifically, the attention direction estimation unit 11e stores the attention direction corresponding to the driving behavior of the host vehicle 10 detected by the driving behavior detection unit 11d in association with the relationship between the driving behavior and the attention direction in advance. The attention direction table 17a is searched, and the searched attention direction is set as the attention direction to which the driver of the host vehicle 10 should be careful.

  Here, an example of the attention direction table 17a in the present embodiment will be described with reference to FIG. FIG. 2 is a diagram illustrating an example of the attention direction table 17a according to the first embodiment. As shown in FIG. 2, the attention direction table 17 a stores an attention direction in association with each driving action. For example, in FIG. 2, when the driving action is an acceleration action, attention should be paid to surrounding objects existing in front of the host vehicle 10, so the attention direction is set to the front. Further, when the driving action is a right winker on and a deceleration action, attention should be paid to surrounding objects that exist in the direction in which the host vehicle 10 turns to the right, so the attention direction is set to the right front. Further, when the driving action is a left winker on and a deceleration action, attention should be paid to surrounding objects that exist in the direction in which the host vehicle 10 turns to the left, so the attention direction is set to the left front. Further, when the driving action is only the right winker, the attention direction is set to the right rear side because attention should be paid to surrounding objects existing in the direction in which the host vehicle 10 changes the lane to the right side. This is because when the host vehicle 10 changes lanes to the right side, for example, the surrounding vehicle 20 that is traveling right behind the host vehicle 10 should be particularly careful. Further, when the driving action is only the left winker on, attention should be paid to surrounding objects existing in the direction in which the host vehicle 10 changes the lane to the left side, so the attention direction is set to the left rear. This is because when the host vehicle 10 changes lanes to the left side, for example, the surrounding vehicle 20 that is traveling on the left rear side of the host vehicle 10 should be particularly noted. In addition, when the driving action is only a deceleration action, attention should be paid to surrounding objects existing behind the host vehicle 10, and therefore the attention direction is set to the rear. This is because when the host vehicle 10 decelerates, for example, the surrounding vehicle 20 traveling behind the host vehicle 10 should be particularly noted.

  Returning to FIG. 1, the priority area setting unit 11 f is a priority area setting unit that sets, as a priority area, a region for the vehicle 10 in the attention direction when the attention direction is estimated by the attention direction estimation unit 11 e. In the present embodiment, the priority area means an area in which the presence / absence of a peripheral object existing around the host vehicle 10 is determined and displayed with priority over other areas for the host vehicle 10. The priority area setting unit 11f sets a priority area with reference to the existence area map 17b stored in the storage unit 17. Specifically, the priority area setting unit 11f searches the region for the own vehicle 10 on the attention direction side estimated by the attention direction estimating unit 11e from the regions for the own vehicle 10 divided for each direction indicated by the presence area map 17b. Then, the searched area is set as the priority area. In the present embodiment, the priority area setting unit 11f sets one priority area from the existence area map 17b. Here, the area that is not set as the priority area by the priority area setting unit 11f is referred to as a non-priority area as an area for the vehicle 10 other than the priority area.

  Here, an example of the existence area map 17b in the present embodiment will be described with reference to FIG. FIG. 3 is a diagram illustrating an example of the existence area map 17b according to the first embodiment. As shown in FIG. 3, the existence area map 17b has a circular shape centered on the position of the host vehicle 10 (the position of the arrow symbol in FIG. 3), and is divided into six equal parts by three straight lines passing through the center. Including the area for the subject vehicle 10. Specifically, as shown in FIG. 3, the presence area map 17 b includes six areas, namely, a front area, a right front area, a right rear area, a rear area, a left rear area, and a left front area in a clockwise direction. The existence area map 17b in this embodiment is not limited to the example shown in FIG. 3 divided into six equal parts, and includes an area divided into ten equal parts, eight equal parts, or four equal parts. May be.

  Returning to FIG. 1 again, the notification determination unit 11g is a notification determination unit that determines whether there is a peripheral object to be notified to the driver in the priority area set by the priority area setting unit 11f. Here, the notification determination unit 11g may determine whether or not there is a peripheral object that should be notified to the driver in the non-priority area that has not been set as the priority area by the priority area setting unit 11f. The notification determination unit 11g also notifies the driver in the non-priority area even when the driving behavior of the host vehicle 10 is not detected by the driving behavior detection unit 11d and the priority area is not set by the priority area setting unit 11f. It may be determined whether there is a peripheral object to be present.

  Here, the notification determination unit 11g detects a peripheral object approaching the host vehicle 10 based on the relative position and the relative direction calculated by the relative position / orientation calculation unit 11c. For example, the notification determination unit 11g moves toward the host vehicle 10 when the target peripheral object is located in the priority area and / or the non-priority area around the host vehicle 10 based on the relative position and the relative direction. If it is, it is detected as a peripheral object approaching the host vehicle 10. And the notification determination part 11g determines with the peripheral object which should be notified to a driver | operator existing, when the peripheral object approaching the own vehicle 10 is detected.

  In the present embodiment, the notification determination unit 11g may detect a peripheral object approaching the host vehicle 10 based on a history of relative positions and relative orientations acquired continuously for a predetermined time. Here, when there are a plurality of peripheral objects approaching the host vehicle 10, the notification determination unit 11g may detect one peripheral object closest to the host vehicle 10 from the plurality of peripheral objects. For example, the notification determination unit 11g is located in a priority area and / or a non-priority area around the host vehicle 10 based on the relative positions and relative orientations of the host vehicle 10 and a plurality of surrounding objects. The closest peripheral object is detected from among the plurality of peripheral objects traveling toward the target. In the present embodiment, the notification determination unit 11g may preferentially detect the peripheral object approaching the host vehicle 10 from the one having a high speed.

  In addition, when the notification determination unit 11g determines that there is a peripheral object to be notified in the priority area and / or the non-priority area, the presentation screen generation unit 11h displays a presentation screen including the priority area and / or the non-priority area. It is a presentation screen generation means to generate.

  Here, when the notification determination unit 11g determines that there is a peripheral object to be notified in the priority area, the presentation screen generation unit 11h has already notified the driver of an area other than the priority area. It is determined whether or not it is being displayed on the display unit (that is, the display 15) as an area for the host vehicle 10 indicating that the vehicle exists. In this case, the presentation screen generation unit 11h generates a presentation screen including a priority area when it is determined that another area is not already being displayed. On the other hand, if the presentation screen generation unit 11h determines that another area is already being displayed, both the display modes such as displaying the other area being displayed lightly and displaying the priority area normally are different. A presentation screen including the area is generated.

  When it is determined by the notification determination unit 11g that there is a peripheral object to be notified in the non-priority area, the presentation screen generation unit 11h already has a peripheral object that should notify the driver of an area other than the non-priority area. It is determined whether or not it is being displayed on the display unit as an area for the host vehicle 10 indicating the presence. In this case, if it is determined that another area is not already being displayed, the presentation screen generation unit 11h does not generate a new presentation screen because the presentation screen including the area being displayed is continuously used. On the other hand, if it is determined that another area is already being displayed, the presentation screen generating unit 11h generates a presentation screen including the other area being displayed and the non-priority area. In addition, the presentation screen generation unit 11h may generate a presentation screen including only the priority area when it is determined that another area that is already displayed is the priority area.

  Moreover, the information provision part 11i is an information provision means which provides information by displaying the presentation screen produced | generated by the presentation screen production | generation part 11h on a display part. In this embodiment, the information provision part 11i may output the audio | voice data corresponding to a presentation screen via the speaker 16, when displaying a presentation screen on a display part. For example, when displaying the presentation screen on the display unit, the information providing unit 11i may output an announcement such as “a vehicle is approaching from the front” as audio data corresponding to the presentation screen via the speaker 16. .

  In FIG. 1, the inter-vehicle communication radio 12 is a communication unit that transmits and receives information such as information on the surrounding object and the own vehicle with the surrounding vehicle 20 by inter-vehicle communication. The inter-vehicle communication radio 12 provides the ECU 11 with the received peripheral object information of the peripheral vehicle 20. Further, the inter-vehicle communication radio device 12 may transmit the own vehicle information provided from the ECU 11 to the surrounding vehicle 20.

  The GPS antenna / receiver 13 is a communication unit that receives position information distributed from the GPS 30. The GPS antenna / receiver 13 provides the received position information to the ECU 11. Here, the GPS antenna / receiver 13 may receive the position information of the surrounding vehicle 20 existing around the own vehicle 10 in addition to the position information of the own vehicle 10. Further, when the pedestrian has an information terminal such as a mobile phone equipped with a GPS antenna / receiver, the position information of the pedestrian existing around the host vehicle 10 may be received.

  The vehicle information network 14 is an in-vehicle network composed of transmission paths connected to various sensors mounted on the host vehicle 10. The vehicle information network 14 provides the ECU 11 with information indicating the state of the host vehicle 10 detected by various sensors. In the present embodiment, information indicating the state of the host vehicle 10 provided to the ECU 11 by the vehicle information network 14 is used by the surrounding object information acquisition unit 11a, the host vehicle information acquisition unit 11b, and the driving behavior detection unit 11d. .

  The display 15 is a display unit that displays a presentation screen selected by the presentation screen selection unit 11 f of the ECU 11. For example, the display 15 may be a display that displays a device meter or navigation. The speaker 16 is sound output means for outputting information provided by the processing of the ECU 11 as sound.

  The storage unit 17 stores data, and is, for example, a RAM (Random Access Memory), a ROM (Read Only Memory), or a hard disk. In the present embodiment, the storage unit 17 stores at least the attention direction table shown in FIG. 2 and the presence area map 17b shown in FIG. Moreover, the memory | storage part 17 may memorize | store map data and audio | voice data required for navigation.

  In FIG. 1, a surrounding vehicle 20 is a vehicle that exists in the vicinity of the host vehicle 10 that can communicate with the host vehicle 10. Similar to the host vehicle 10, the surrounding vehicle 20 includes at least a vehicle-to-vehicle communication radio, a GPS antenna / receiver, a vehicle information network, and the like. The GPS 30 is an artificial satellite that monitors the position of the host vehicle 10 or the like and distributes position information of the host vehicle 10 or the like every predetermined time or in response to a request from the host vehicle 10 or the like.

  Next, processing in the first embodiment performed by the ECU 11 having the above-described configuration will be described with reference to FIGS. FIG. 4 is a flowchart showing an example of processing in the first embodiment of the peripheral object display device according to the present invention. In the following processing, the peripheral vehicle 20 is described as an example of the peripheral object, but the present invention is not limited to this. This process may be repeatedly executed at predetermined time intervals by the process of the ECU 11, or may be executed when it is determined that there is a surrounding vehicle 20 capable of inter-vehicle communication.

  As shown in FIG. 4, the ECU 11 determines whether there is a surrounding vehicle 20 capable of inter-vehicle communication around the host vehicle 10 (step SA-1). Specifically, the ECU 11 controls the inter-vehicle communication radio device 12 to execute a pairing process with a peripheral vehicle 20 that exists in the vicinity of the host vehicle 10 and that can communicate with each other, and is connected to the peripheral vehicle 20. It is determined whether it is in a state. Here, the ECU 11 only determines whether there is a surrounding vehicle 20 capable of inter-vehicle communication, and the pairing process (a process for establishing communication with the target surrounding vehicle 20) may be performed separately.

  And the surrounding object information acquisition part 11a of ECU11 is determined that the surrounding vehicle 20 in which the vehicle-to-vehicle communication is possible exists in the periphery of the own vehicle 10 by the process of ECU11 in step SA-1 (step SA-1: Yes) ), The peripheral object information indicating the position, direction, speed, traveling direction, and the like of the surrounding vehicle 20 is acquired, and the process proceeds to Step SA-2. Here, the surrounding object information acquisition unit 11a may acquire the vehicle ID that identifies the surrounding vehicle 20 via the inter-vehicle communication radio 12. On the other hand, if the ECU 11 determines in step SA-1 that there is no surrounding vehicle 20 capable of inter-vehicle communication around the host vehicle 10 (step SA-1: No), the process ends.

  And the driving action detection part 11d of ECU11 is the state in which the right turn turn signal or the left turn turn signal is on based on the information which shows the state of the own vehicle 10 acquired via the vehicle information network 14 connected to the direction indication switch. It is determined whether or not there is (step SA-2).

  When the driving behavior detection unit 11d of the ECU 11 determines in step SA-2 that the right turn blinker or the left turn blinker is on, that is, when the left and right turn signals are detected as the driving behavior of the host vehicle 10 (step SA). -2: Yes), based on information indicating the state of the host vehicle 10 acquired through the vehicle information network 14 connected to the brake sensor, the vehicle speed sensor, the accelerator opening sensor, etc., as the driving behavior of the host vehicle 10 It is determined whether or not a deceleration action is detected (step SA-3).

  Then, the attention direction estimating unit 11e of the ECU 11 determines that only the left and right turn signals are detected as the driving behavior of the host vehicle 10 when it is determined in step SA-3 that the deceleration behavior is not detected by the driving behavior detection unit 11d. In the case (step SA-3: No), before the process of step SA-4, referring to the attention direction table 17a, if the right winker is on, the right rear is estimated as the attention direction, and if the left winker is on, the left rear Is estimated as the attention direction. Then, if the attention direction estimated by the attention direction estimation unit 11e is right rear, the priority area setting unit 11f of the ECU 11 searches the right rear area from the existing area map 17b and sets it as a priority area. If the attention direction estimated by 11e is the left rear, the left rear area is searched from the existence area map 17b and set as a priority area (step SA-4). Thereafter, the process proceeds to step SA-11.

  On the other hand, the attention direction estimation unit 11e of the ECU 11 detects left and right turn-on and deceleration behavior as the driving behavior of the host vehicle 10 when it is determined in step SA-3 that the deceleration behavior is detected by the driving behavior detection unit 11d. (Step SA-3: Yes), before the process of step SA-5, referring to the attention direction table 17a, if it is a right winker on and a deceleration action, the right front is estimated as the attention direction, and the left winker on and If it is a deceleration action, the left front is estimated as the attention direction. Then, if the attention direction estimated by the attention direction estimation unit 11e is right front, the priority area setting unit 11f of the ECU 11 searches the right front area from the existence area map 17b and sets it as a priority area. If the attention direction estimated by 11e is left front, the left front area is searched from the existing area map 17b and set as a priority area (step SA-5). Thereafter, the process proceeds to step SA-11.

  Returning to the process of step SA-2, if the driving action detection unit 11d of the ECU 11 determines in step SA-2 that the right turn turn signal or the left turn turn signal is not on, that is, the left and right turn signal on as the driving action of the host vehicle 10. Is not detected (step SA-2: No), based on information indicating the state of the host vehicle 10 acquired via the vehicle information network 14 connected to a brake sensor, a vehicle speed sensor, an accelerator opening sensor, and the like. Then, it is determined whether or not a deceleration action is detected as the driving action of the host vehicle 10 (step SA-6).

  Then, the attention direction estimating unit 11e of the ECU 11 determines that the deceleration behavior is detected by the driving behavior detection unit 11d in step SA-6, that is, the left and right winker on is not detected as the driving behavior of the host vehicle 10, and the deceleration behavior is detected. In the case where only the head is detected (step SA-6: Yes), the backward direction is estimated as the attention direction with reference to the attention direction table 17a before the processing of step SA-7. And the priority area setting part 11f of ECU11 searches a rear area from the existing area map 17b, and sets it as a priority area (step SA-7). Thereafter, the process proceeds to step SA-11.

  On the other hand, the attention direction estimation unit 11e of the ECU 11 detects left and right turn-on and deceleration behavior as the driving behavior of the host vehicle 10 when it is determined in step SA-6 that the driving behavior detection unit 11d has not detected the deceleration behavior. If not (step SA-6: No), based on the information indicating the state of the host vehicle 10 acquired through the vehicle information network 14 connected to the vehicle speed sensor, the accelerator opening sensor, etc., the host vehicle 10 It is determined whether or not an acceleration action is detected as the driving action (step SA-8).

  Then, the attention direction estimation unit 11e of the ECU 11 detects left and right turn-on and deceleration behavior as the driving behavior of the host vehicle 10 when it is determined in step SA-8 that the acceleration behavior is detected by the driving behavior detection unit 11d. If only acceleration behavior is detected (step SA-8: Yes), the forward direction is estimated as the attention direction with reference to the attention direction table 17a before the process of step SA-9. And the priority area setting part 11f of ECU11 searches a front area from the existing area map 17b, and sets it as a priority area (step SA-9). Thereafter, the process proceeds to step SA-11.

  On the other hand, the attention direction estimating unit 11e of the ECU 11 determines that the driving behavior detection unit 11d does not detect the acceleration behavior in Step SA-8, that is, if the driving behavior of the host vehicle 10 is not detected (Step S8). (SA-8: No), the ECU 11 determines that there is no priority area, does not set the priority area (step SA-10), and proceeds to the process of step SA-15.

  And the notification determination part 11g of ECU11 notifies a driver in the priority area set by the priority area setting part 11f in step SA-4, step SA-5, step SA-7, or step SA-9. It is determined whether there is a surrounding vehicle 20 to be present (step SA-11).

  Specifically, in step SA-11, the notification determination unit 11g of the ECU 11 performs the following process when determining whether or not the surrounding vehicle 20 exists in the priority area. First, the host vehicle information acquisition unit 11b of the ECU 11 acquires host vehicle information indicating the position and direction of the host vehicle 10. Then, the relative position / orientation calculation unit 11c of the ECU 11 is based on the surrounding object information acquired by the processing of the surrounding object information acquisition unit 11a and the own vehicle information acquired by the processing of the own vehicle information acquisition unit 11b. The relative position, relative orientation, etc. between the vehicle and the surrounding vehicle 20 are calculated. Then, the notification determination unit 11g of the ECU 11 is based on the relative position and the relative direction, and the target peripheral vehicle 20 is located in the priority area around the host vehicle 10 and is moving toward the host vehicle 10. In this case, it is detected as a surrounding vehicle 20 approaching the host vehicle 10. And the notification determination part 11g determines with the surrounding vehicle 20 which should be notified to a driver | operator existing, when the surrounding vehicle 20 which has approached the own vehicle 10 is detected.

  And when the presentation screen production | generation part 11h of ECU11 determines with the notification determination part 11g having the surrounding vehicle 20 which should be notified in a priority area in step SA-11 (step SA-11: Yes), the said already It is determined whether or not an area different from the priority area is being displayed on the display unit as an area for the host vehicle 10 indicating that there is a surrounding vehicle 20 that should notify the driver (step SA-12).

  And when the presentation screen generation part 11h of ECU11 determines with another area not being displayed already in step SA-12 (step SA-12: No), it gives priority before the process of step SA-13. A presentation screen including an area is generated. And the information provision part 11i of ECU11 provides information by displaying the presentation screen produced | generated by the presentation screen production | generation part 11h on a display part (step SA-13). Thereafter, this process is terminated.

  Here, with reference to FIG. 5, an example of the presentation screen displayed by the information providing unit 11i in step SA-13 will be described. FIG. 5 is a diagram illustrating an example of a presentation screen according to the first embodiment. In FIG. 5, it is assumed that the ECU 11 first notifies the driver of a region where there are surrounding vehicles 20 to be noted. The presentation screen of FIG. 5 is a screen displayed when the left front area is set as the priority area. As shown in FIG. 5, the presentation screen of FIG. 5 includes a priority area that is a left front area where the surrounding vehicle 20 to be notified exists. That is, the presentation screen of FIG. 5 is a screen that expresses that the surrounding vehicle 20 exists in the left front with respect to the user.

  Returning to FIG. 4, the description of the processing of the ECU 11 is continued from Step SA-12. If the presentation screen generating unit 11h of the ECU 11 determines that another area is already being displayed in step SA-12 (step SA-12: Yes), the display screen generating unit 11h is currently displaying before the process of step SA-14. A presentation screen including both areas is generated in a state where the display mode is changed so that another area is displayed lightly and the priority area is normally displayed. And the information provision part 11i of ECU11 provides information by displaying the presentation screen produced | generated by the presentation screen production | generation part 11h on a display part (step SA-14). Thereafter, this process is terminated.

  Here, with reference to FIG. 6, an example of the presentation screen displayed by the information providing unit 11i in step SA-14 will be described. FIG. 6 is a diagram illustrating an example of a presentation screen according to the first embodiment. In FIG. 6, it is assumed that the driver has already notified the driver of the area where the surrounding vehicle 20 to be noted exists (for example, the display screen of FIG. 6 is displayed). Specifically, in FIG. 6, when it is determined that the vehicle 10 is going to turn right because the vehicle 10 takes a right turn winker-on and deceleration action while the surrounding vehicle 20 exists in the left front area with respect to the vehicle 10. In addition, the right front area is a priority area for the host vehicle 10, and a case where it is determined that the surrounding vehicle 20 exists in the priority area is shown. In the presentation screen of FIG. 6, the left front area that has already been notified as the area where the surrounding vehicle 20 to be noted is present is the “non-priority area”, and the right to be notified as the area where the surrounding vehicle 20 to be noted is present. This is a screen when the front area is a “priority area”. In this case, as shown in FIG. 6, the presentation screen is a screen in which the display mode is changed so that the “non-priority area” on the left front is displayed lightly and the “priority area” on the front right is normally displayed. That is, the presentation screen is a screen in which the display mode of the left front area is thinned and the right front area is newly displayed.

  Returning to FIG. 4, the description of the processing of the ECU 11 from step SA-11 will be continued. The presentation screen generation unit 11h of the ECU 11 determines that there is no surrounding vehicle 20 to be notified in the priority area by the notification determination unit 11g in step SA-11 (step SA-11: No), other than the priority area. It is determined whether or not there is a surrounding vehicle 20 to be notified to the driver in the non-priority area (step SA-15). Here, in step SA-15, the presentation screen generation unit 11h of the ECU 11 similarly determines that there is no priority area in step SA-10 and the priority area is not set, similarly, non-priority areas other than the priority area. It is determined whether there is a surrounding vehicle 20 to be notified to the driver.

  Specifically, in step SA-15, the notification determination unit 11g of the ECU 11 performs the following process when determining whether or not the surrounding vehicle 20 exists in the non-priority area. First, the host vehicle information acquisition unit 11b of the ECU 11 acquires host vehicle information indicating the position and direction of the host vehicle 10. Then, the relative position / orientation calculation unit 11c of the ECU 11 is based on the surrounding object information acquired by the processing of the surrounding object information acquisition unit 11a and the own vehicle information acquired by the processing of the own vehicle information acquisition unit 11b. The relative position and relative azimuth between the vehicle and the surrounding vehicle 20 are calculated. The notification determination unit 11g of the ECU 11 determines that the notification determination unit 11g is based on the relative position and the relative direction, and the target peripheral vehicle 20 is located in a non-priority area around the host vehicle 10 and the host vehicle 10 When the vehicle is traveling toward the vehicle, it is detected as a surrounding vehicle 20 approaching the host vehicle 10. And the notification determination part 11g determines with the surrounding vehicle 20 which should be notified to a driver | operator existing, when the surrounding vehicle 20 which has approached the own vehicle 10 is detected.

  And when the presentation screen production | generation part 11h of ECU11 determines with the surrounding vehicle 20 which should be notified to a driver in a non-priority area in step SA-15 (step SA-15: No), a presentation screen is displayed. Do not create. That is, the information providing unit 11i of the ECU 11 does not display the presentation screen (Step SA-16). Thereafter, this process is terminated.

  On the other hand, if the presentation screen generation unit 11h of the ECU 11 determines in step SA-15 that there is a surrounding vehicle 20 to be notified to the driver in the non-priority area (step SA-15: Yes), the non-priority has already been made. It is determined whether or not an area different from the area is being displayed on the display unit as an area for the host vehicle 10 indicating that there is a surrounding vehicle 20 that should notify the driver (step SA-17).

  And when the presentation screen production | generation part 11h of ECU11 determines with another area not being displayed already in step SA-17 (step SA-17: No), it does not create a presentation screen newly. That is, the information providing unit 11i of the ECU 11 continues to display the presentation screen that is already being displayed (step SA-18). Thereafter, this process is terminated.

  On the other hand, if the presentation screen generation unit 11h of the ECU 11 determines in step SA-17 that another area is already being displayed (step SA-17: Yes), the display is performed before the processing in step SA-19. A presentation screen including another area and a non-priority area is generated. In addition, the presentation screen generation unit 11h may generate a presentation screen including only the priority area when it is determined that another area that is already displayed is the priority area. And the information provision part 11i of ECU11 provides information by displaying the presentation screen produced | generated by the presentation screen production | generation part 11h on a display part (step SA-19). That is, the information providing unit 11i displays another area and an area to be notified at the same time. Thereafter, this process is terminated.

  Here, with reference to FIG. 7, an example of the presentation screen displayed by the information provision part 11i in step SA-19 is demonstrated. FIG. 7 is a diagram illustrating an example of a presentation screen according to the first embodiment. In FIG. 7, it is assumed that the surrounding vehicle 20 exists in the left front area with respect to the host vehicle 10 and it is newly determined that the surrounding vehicle 20 also exists in the right front area. . In the presentation screen of FIG. 7, the left front area that has already been notified as the region where the surrounding vehicle 20 to be noted is present is the “non-priority area”, and the region in which the surrounding vehicle 20 to be noted is present is now notified. This is a screen when the right front area is a “non-priority area”. In this case, as shown in FIG. 7, the presentation screen is a screen in which both the left front area and the right front area are normally displayed.

  Moreover, with reference to FIG. 8, another example of the presentation screen displayed by the information provision part 11i in step SA-19 is demonstrated. FIG. 8 is a diagram illustrating an example of a presentation screen according to the first embodiment. In FIG. 8, the left front area for the host vehicle 10 has already been set as the priority area, and there is a surrounding vehicle 20 in the left front area. It is assumed that it is determined that it exists. In the presentation screen of FIG. 8, the left front area that has already been notified as the region where the surrounding vehicle 20 to be noted is present is the “priority area”, and the region where the surrounding vehicle 20 to be noted is present is notified from now on. This is a screen when the front right area is a “non-priority area”. In this case, as shown in FIG. 8, the presentation screen is a screen in which the display mode is changed so that the “priority area” on the left front is normally displayed and the “non-priority area” on the front right is displayed lightly. That is, the presentation screen is a screen that is continuously displayed without changing the display mode of the left front area, and is newly displayed with the display mode of the right front area being changed to display lightly. In addition, although not shown, the presentation screen displayed by the information providing unit 11i in step SA-19 may be the presentation screen of FIG. 6 in which only the priority area is displayed.

  As described above, in the first embodiment, the ECU 11 estimates the attention direction that the driver of the host vehicle 10 should be aware of based on the driving behavior of the host vehicle 10, and the area for the host vehicle 10 on the attention direction side. When the surrounding vehicle 20 exists, the display screen including the region is displayed on the display unit. Thus, according to the first embodiment, even when the number of target surrounding vehicles 20 increases, it is possible to quickly and easily present the driver with a direction to watch for the surrounding vehicles 20. Specifically, according to the first embodiment, by narrowing down the surrounding vehicles 20 that need to provide information to the driver from the driving behavior of the own vehicle 10 that reflects the driver's intention, While reducing the processing load of the apparatus, it is possible to appropriately select the peripheral vehicle 20 to be presented with information to the driver and display it at an appropriate timing. That is, according to the first embodiment, by narrowing down the target peripheral vehicles 20, the peripheral vehicles 20 to be notified to the driver can be determined early. This is because, since the peripheral vehicles 20 to be processed are narrowed down, an increase in processing load can be suppressed even if the amount of information per vehicle increases.

  In the first embodiment, when the attention direction is estimated, the ECU 11 sets the region of the attention direction as the priority area, the surrounding vehicle 20 exists in the priority area, and the vehicle other than the priority area When the surrounding vehicle 20 exists in the non-priority area that is an area for the vehicle 10, the priority area and the non-priority area are included in a state in which the display mode of the priority area is different from the display mode of the non-priority area. The presentation screen is displayed on the display unit. As a result, according to the first embodiment, the driving behavior of the host vehicle 10 is divided into two types, a priority area where processing is preferentially performed and a non-priority area other than that. By receiving by inter-vehicle communication, efficient processing is realized, and as a result, information can be provided earlier by the driver. Specifically, in the first embodiment, since the process shown in FIG. 4 is repeatedly performed, there is a neighboring vehicle 20 that is in the non-priority area before the neighboring vehicle 20 to be notified to the priority area exists. There may be cases. In this case, if the priority area and the non-priority area are displayed at the same level, there are a plurality of targets to be paid attention to by the driver, which makes it difficult to understand. For example, if the surrounding vehicle 20 existing in the non-priority area is not displayed, the driver may be misunderstood that the surrounding vehicle 20 disappears. Therefore, in the first embodiment, the non-priority area is displayed lightly, the priority area is normally displayed, and the display forms thereof are different. That is, in the first embodiment, when displaying the priority area and the non-priority area at the same time, the display method is changed. Thereby, according to Embodiment 1, the information provision of the surrounding vehicle 20 in a priority area can be performed effectively, without giving the misunderstanding that the surrounding vehicle 20 which should be careful of a driver | operator is gone.

  In the first embodiment, the deceleration action is described as an example in step SA-6 in FIG. 4, but it may be a stop action. In the first embodiment, the acceleration action is described as an example in step SA-8 in FIG.

[Embodiment 2]
The second embodiment will be described with reference to FIGS. 9 and 10. In the second embodiment, when there is no peripheral object to be notified to the driver in the priority area, the peripheral object display device determines whether there is a peripheral object in the priority neighborhood area that is a region near the priority area. To do. And when it determines with the surrounding vehicle 20 existing in a priority vicinity area, a surrounding object display apparatus displays the presentation screen containing a priority area and a priority vicinity area on a display part. The point which performs these processes differs from Embodiment 1. Note that the configuration of the peripheral object display device according to the second embodiment is the same as that of the first embodiment except for the points described above, and a description thereof will be omitted.

  Here, FIG. 9 is a flowchart showing an example of processing in the second embodiment of the peripheral object display device according to the present invention. In the following processing, the peripheral vehicle 20 is described as an example of the peripheral object, but the present invention is not limited to this. This process may be repeatedly executed at predetermined time intervals by the process of the ECU 11, or may be executed when it is determined that there is a vehicle capable of inter-vehicle communication.

  Here, steps SB-1 to SB-11 shown in FIG. 9 are the same as steps SA-1 to SA-11 shown in FIG.

  As illustrated in FIG. 9, when the notification determination unit 11g of the ECU 11 determines that there is no surrounding vehicle 20 to be notified in the priority area in Step SB-11 (Step SB-11: No), the notification determination unit 11g in the priority area It is determined whether or not there is a surrounding vehicle 20 in the priority neighborhood area that is a neighborhood area (step SB-15). The process for determining whether or not the surrounding vehicle 20 exists in the priority vicinity area is basically the same as the processes in steps SA-11 and SA-15 in FIG.

  Then, the presentation screen generation unit 11h of the ECU 11 determines that the surrounding vehicle 20 is present in the priority vicinity area by the notification determination unit 11g in Step SB-15 (Step SB-15: Yes), Step SB-12 Move to processing. Each process of step SB-12 to step SB-14 shown in FIG. 9 is the process of step SA-12 to step SA-14 of FIG. 4 described above except that the process is performed for the priority area and / or the priority neighborhood area. The description is omitted because it is basically the same.

  Here, with reference to FIG. 10, an example of a presentation screen including the priority area and the priority vicinity area displayed by the information providing unit 11i in Step SB-13 will be described. FIG. 10 is a diagram illustrating an example of a presentation screen according to the second embodiment. In FIG. 10, the rear area of the host vehicle 10 is set as the “priority area”, and the driver is notified within the “priority vicinity area” corresponding to the right rear area on the right side or the left rear area on the left side of the rear area. A case is assumed in which it is determined that there is a surrounding vehicle 20 to be present. In this case, as shown in FIG. 10, the presentation screen is a screen that normally displays both the priority area (the rear area in FIG. 10) and the priority neighborhood area (the left rear area and the right rear area in FIG. 10). . In this case, the presentation screen in FIG. 10 may be a screen in a state in which the display mode is changed such that the priority area is displayed lightly and the priority vicinity area is normally displayed. In this case, the presentation screen may be a screen in which only the priority neighborhood area is displayed without displaying the priority area.

  Returning to FIG. 9, the description of the processing of the ECU 11 is continued from step SB-15. When the notification determination unit 11g of the ECU 11 determines in step SB-15 that the surrounding vehicle 20 does not exist in the priority vicinity area (step SB-15: No), the process proceeds to step SB-16. Since the processes of Step SB-16 to Step SB-20 shown in FIG. 9 are the same as the processes of Step SA-15 to Step SA-19 of FIG. 4 described above, description thereof will be omitted.

  As described above, in the second embodiment, when the surrounding vehicle 20 does not exist in the priority area, it is determined whether the surrounding vehicle 20 exists in the priority neighborhood area that is an area for the host vehicle 10 near the priority area. And when the surrounding vehicle 20 exists in the said priority vicinity area, the presentation screen containing a priority area and a priority vicinity area is displayed on a display part. Thus, according to the second embodiment, when there is no surrounding vehicle 20 to be notified to the driver in the priority area, the area in the vicinity (both adjacent) of the priority area is also treated as a semi-priority area (priority vicinity area). be able to. This is because when the driving behavior of the host vehicle 10 is detected and the direction of caution that the driver should be careful about is estimated, the prediction may be off. However, since the driving action of the host vehicle 10 reflects the driver's intention to move left and right, increase the speed, or decrease the speed, the estimation of the attention direction based on the driving action greatly deviates. It is thought that there is no. Therefore, as in the second embodiment, robustness can be ensured by preferentially processing priority neighboring areas.

  Furthermore, according to the first and second embodiments, the problem as shown in FIG. 11 in the prior art (Patent Document 1, etc.) can be solved. FIG. 11 is a diagram illustrating an example of a problem of the prior art. As shown in FIG. 11, in the prior art, when the host vehicle and other vehicles are traveling on a road where the intersection is adjacent at a short distance like the eyes of the base, the host vehicle and the surrounding vehicles are actually the same. It is erroneously determined that the surrounding vehicle is heading to the nearest intersection from the neighboring vehicle indicated by (ii) even though it is traveling toward the intersection (the closest intersection from the own vehicle indicated by (i)). There is a possibility that an erroneous determination is made that the host vehicle and the surrounding vehicle are not heading for the same intersection. This is because the conventional technology does not consider the position determination error when calculating the traveling directions of the host vehicle and the surrounding vehicles. Further, since the conventional technology is based on an intersection, it cannot be used on a curved road or the like at a place other than the intersection. Further, in the prior art, map data is necessary because road information is assumed to be used, and it cannot be used in a navigation device or a vehicle that does not have map data. Moreover, in the conventional technology, when the number of vehicles that are about to enter an intersection increases, or in the case of an intersection such as a six-way road with a large number of approach roads, it is difficult to obtain information on necessary surrounding vehicles at an early stage. It was. On the other hand, according to Embodiments 1 and 2 described above, various processes are performed mainly based on inter-vehicle communication, and therefore, it can be used at places other than intersections such as curves without having a navigation device or map data, and has a simple configuration. Information on necessary surrounding vehicles can be obtained early.

  In the first and second embodiments, the peripheral object display system shown in FIG. 1 is a so-called infrastructure cooperative type that supports driving by performing road-to-vehicle communication using, for example, a roadside device arranged on the roadside. You may be comprised as a driving assistance system. In this case, the peripheral object display device acquires various information such as signal information, oncoming vehicle information, and pedestrian information from the roadside machine, for example. Then, the peripheral object display device presents information related to the peripheral object to be noted with respect to the driver after further considering these various types of information. That is, when configured as an infrastructure cooperative driving support system, the peripheral object display device has the following advantages because it uses infrastructure information. For example, with cameras and sonar alone, when exiting an intersection (for example, several hundred meters before the intersection), information on the exit side of the intersection cannot be acquired. However, when using infrastructure information, information on the exit side of the intersection is also acquired. can do. Thereby, for example, when it is known that the host vehicle 10 turns to the right, the presence of the surrounding object on the exit side of the intersection (in this case, the right side) can be acquired from the infrastructure information, and the safety can be further improved. it can.

  As described above, the peripheral object display device and the peripheral object display method according to the present invention are useful in the automobile manufacturing industry, and are particularly suitable for use in providing vehicle driving assistance by providing information.

10 Own vehicle 11 ECU
11a Peripheral object information acquisition unit
11b Own vehicle information acquisition unit
11c Relative position and direction calculation unit
11d Driving behavior detector
11e Caution direction estimation unit
11f Priority area setting section
11g Notification determination unit
11h Presentation screen generator
11i Information Providing Unit 12 Inter-Vehicle Communication Radio 13 GPS Antenna / Receiver 14 Vehicle Information Network 15 Display 16 Speaker 17 Storage Unit
17a Caution direction table
17b Existence area map 20 Peripheral vehicle 30 GPS

Claims (10)

A peripheral object display device that displays information about peripheral objects existing around the host vehicle,
Based on the driving behavior of the host vehicle, a direction of caution that the driver of the host vehicle should be aware of is included. If the surrounding object is present in the region of the host vehicle on the side of the caution direction, the region is included. A peripheral object display device that displays a presentation screen on a display unit. The peripheral object display device according to claim 1,
Presence / absence of the presence of the peripheral object is determined based on information acquired by vehicle-to-vehicle communication or road-to-vehicle communication. The peripheral object display device according to claim 1 or 2,
When the attention direction is estimated, a region of the attention direction is set as a priority area, the surrounding object exists in the priority area, and the non-priority area is an area for the host vehicle other than the priority area. When the surrounding object is present in the display area, the display unit including the priority area and the non-priority area in the state in which the display mode of the priority area is different from the display mode of the non-priority area, A peripheral object display device characterized by being displayed on the screen. The peripheral object display device according to claim 3,
When the surrounding object does not exist in the priority area, it is determined whether the surrounding object exists in a priority neighborhood area that is an area for the host vehicle that is in the vicinity of the priority area, and the surrounding area is in the priority neighborhood area. When there is an object, a display screen including the priority area and the priority neighborhood area is displayed on the display unit. In the peripheral object display device according to any one of claims 1 to 4,
The peripheral object display device, wherein the driving behavior includes at least one of on / off, deceleration, and acceleration of left and right turn signals of the host vehicle. The peripheral object display device according to any one of claims 1 to 5,
The peripheral object display device, wherein the peripheral object includes at least one of a peripheral vehicle, a pedestrian, and an obstacle existing around the host vehicle. A surrounding object display method for displaying information on surrounding objects existing around the host vehicle,
Based on the driving behavior of the host vehicle, a direction of caution that the driver of the host vehicle should be aware of is included. If the surrounding object is present in the region of the host vehicle on the side of the caution direction, the region is included. A peripheral object display method comprising displaying a presentation screen on a display unit. The peripheral object display method according to claim 7,
The presence / absence of the surrounding object is determined based on information acquired by vehicle-to-vehicle communication or road-to-vehicle communication. The peripheral object display method according to claim 6 or 7,
When the attention direction is estimated, a region of the attention direction is set as a priority area, the surrounding object exists in the priority area, and the non-priority area is an area for the host vehicle other than the priority area. When the surrounding object is present in the display area, the display unit including the priority area and the non-priority area in the state in which the display mode of the priority area is different from the display mode of the non-priority area, A peripheral object display method characterized by displaying the object on the screen. The peripheral object display method according to claim 9,
When the surrounding object does not exist in the priority area, it is determined whether the surrounding object exists in a priority neighborhood area that is an area for the host vehicle that is in the vicinity of the priority area, and the surrounding area is in the priority neighborhood area. When there is an object, a display method including a display screen including the priority area and the priority neighborhood area is displayed on the display unit.

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