JP2013196359A - Driving support device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To naturally incite a driver to perform an appropriate driving action without giving a sense of incompatibility while preventing a visual line of the driver from being deviated from a real environment.SOLUTION: A driving support device 10 comprises an attention arising object detection section 21 and a display control section 22. The attention arising object detection section 21 acquires an attention arising object in an environment around a vehicle 1. The display control section 22 displays on a display screen of a head-up display 17 an incentive icon which can be displayed while being intensified to be superimposed on the attention arising object and can be acquired virtually over a period of time in which appropriate driving is being executed with respect to the intensified display. With respect to a plurality of attention arising objects, the display control section 22 changes an incentive degree and a display form of the incentive icon in accordance with the number or priorities of attention arising objects to which appropriate driving is being executed.

Description

  The present invention relates to a driving support device.

2. Description of the Related Art Conventionally, there has been known a control system that outputs a warning by visual display or audible display as a speed excess amount based on, for example, a deviation between a traveling speed and a speed limit (for example, see Patent Document 1).
Further, conventionally, for example, a driving support device that promotes driving behavior that is appropriate in practice by urging driving that acquires coins arranged in a virtual driving environment is known (for example, patents). Reference 2).

JP 2005-182191 A JP 2010-165015 A

By the way, according to the control system according to the above-described prior art, similar to various alarm devices mounted on the vehicle, it points out (that is, speaks) inappropriate driving behavior, and is caused by excessive alarm output. There is a risk that the motivation for improving driving behavior may be impaired. For this reason, it is desired to perform notification that encourages motivation for improving driving behavior.
In addition, according to the driving support apparatus according to the related art, since the driver's attention is directed to the virtual driving environment displayed on the display device, there is a possibility that attention to the actual outside world may be neglected.
Moreover, it is difficult to make the driver accurately recognize the specific driving operation only by instructing the driving action to be taken by the driver only by the position of the coin (for example, the position of the direction indicator light to be lit). is there.

  The present invention has been made in view of the above circumstances, and is capable of naturally encouraging appropriate driving behavior without giving the driver a sense of incongruity while preventing the driver's gaze departure from the actual outside world. An object is to provide a support device.

  In order to achieve the object by solving the above-mentioned problem, the driving support device according to claim 1 of the present invention displays a predetermined region of the front window or a region superimposed on the outside world through the front window as viewed from the driver. A driving support apparatus provided in a vehicle (for example, the vehicle 1 in the embodiment) equipped with a head-up display (for example, the head-up display 17 in the embodiment) as a screen, The attention target acquisition means for acquiring the attention target (for example, the attention target detection unit 21 in the embodiment) can be highlighted so as to be superimposed on the attention target on the display screen, An incentive icon that can be virtually acquired is displayed on the display screen only during a period when appropriate driving is being performed on the alert target. Comprising display control means (for example, the display control unit 22 in the embodiment) and, the.

  Furthermore, in the driving support apparatus according to claim 2 of the present invention, the display control unit is configured to respond to the number or priority of the alerting targets for which appropriate driving is being performed for the plurality of alerting targets. The incentive level of the incentive icon is changed, and the display form of the incentive icon is changed.

  Furthermore, in the driving support apparatus according to claim 3 of the present invention, the display control means changes the incentive degree of the incentive icon according to the degree of appropriateness of driving being performed on the alert target. .

  Furthermore, the driving support apparatus according to claim 4 of the present invention includes line-of-sight detection means (for example, the line-of-sight sensor 15 and line-of-sight detection unit 24 in the embodiment) for detecting the line of sight of the driver, and the display control means includes The incentive icon can be displayed on a mirror or a window that exists in a direction that the driver needs to visually check when changing the lane of the vehicle or when turning right or left, and the driver's detected by the line-of-sight detection means When the line of sight is directed to the incentive icon, the incentive icon can be virtually acquired.

According to the driving support apparatus of the first aspect of the present invention, the incentive icon that can be virtually acquired is displayed on the display screen of the head-up display only during the period in which the appropriate driving is being performed.
Accordingly, it is possible to naturally promote an appropriate driving action without causing the driver to feel uncomfortable while preventing the driver from deviating from the actual outside world.
Furthermore, in addition to displaying an incentive icon that motivates appropriate driving behavior, the target of alerting is highlighted, so that the driver can accurately recognize a specific driving operation.

  Furthermore, according to the driving support apparatus according to claim 2 of the present invention, the driver can easily and clearly recognize that there are a plurality of alerting targets, and the execution of appropriate driving behavior can be further enhanced. Can be urged.

  Furthermore, according to the driving support apparatus according to claim 3 of the present invention, the most appropriate driving action can be naturally promoted.

  Furthermore, according to the driving support apparatus according to the fourth aspect of the present invention, it is possible to naturally promote the driver's appropriate visual behavior.

It is a block diagram of the driving assistance device which concerns on embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 1st modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 2nd modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 3rd modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 4th modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 5th modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 6th modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 7th modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 8th modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 9th modification of embodiment of this invention. It is a figure which shows the example of a display of the display screen of the head-up display of the driving assistance device which concerns on the 9th modification of embodiment of this invention.

Hereinafter, an embodiment of a driving support device of the present invention will be described with reference to the accompanying drawings.
For example, as shown in FIG. 1, the driving support device 10 according to the present embodiment is mounted on a vehicle 1, and the vehicle 1 includes, for example, a navigation device 11, a vehicle state sensor 12, an external sensor 13, The switch 14 includes a line-of-sight sensor 15, a vehicle communication device 16, a head-up display 17, a display 18, and a control device 19.

The navigation device 11 receives a positioning signal such as a GPS (Global Positioning System) signal for measuring the position of the vehicle 1 using an artificial satellite, for example, and detects the current position of the vehicle 1 based on the positioning signal. To do.
In addition, the navigation device 11 can detect the current position of the vehicle 1 by using an autonomous navigation calculation process based on the speed and yaw rate of the vehicle 1 output from the vehicle state sensor 12 together.

The navigation device 11 stores map data for displaying a map on a display screen such as the head-up display 17 or the display 18.
The map data includes, for example, road coordinate data indicating position coordinates on a road required for map matching processing based on the current position of the vehicle 1, road data required for processing such as route search and route guidance, It is equipped with.
The road data includes, for example, a node that is a coordinate point composed of latitude and longitude at a predetermined position on the road such as an intersection and a branch point, a link that is a line connecting each node, a road shape and a road type, and a road width. With data and speed limit.

For example, the navigation device 11 performs map matching on the stored map data based on the information on the current position of the vehicle 1 and controls the display of the map and the current position of the vehicle 1 on the display screen.
In addition, the navigation device 11 executes processing such as route search and route guidance of the vehicle 1 and adds various types of information such as route information of destinations and waypoints to the map display on the display screen. To do.

  The vehicle state sensor 12 is, for example, a vehicle speed sensor that detects the speed of the vehicle 1, a yaw rate sensor that detects the yaw rate of the vehicle 1, and the like, and outputs various detection result signals related to the running state of the vehicle 1. To do.

The external sensor 13 includes, for example, an imaging device (not shown) provided with a camera, a radar device (not shown) using an electromagnetic wave such as an infrared laser or millimeter wave, and the like.
For example, the imaging device performs predetermined image processing on an image obtained by imaging an imaging region set in the outside of the vehicle 1 to generate image data, and outputs the image data.

  Further, for example, the radar apparatus divides a detection target area set in the external environment of the vehicle 1 into a plurality of angle areas, and transmits an electromagnetic wave transmission signal so as to scan each angle area. And each transmission signal receives the reflection signal which arose by being reflected by the object (for example, other vehicles, structures, etc.) outside the vehicle 1, and a pedestrian, and from an radar object to an external object and a pedestrian A detection signal related to the distance is generated.

For example, the switch 14 outputs various signals related to the traveling control of the vehicle 1.
The various signals output from the switch 14 include, for example, a signal related to an operation state (lighting operation, etc.) of the direction indicator lamp by the driver, and an operation state (for example, operation position, etc.) of the brake pedal or accelerator pedal by the driver And so on.

  The line-of-sight sensor 15 includes, for example, at least a driver's face seated on the driver's seat of the vehicle 1 in the imaging region as an imaging target, can be imaged in the visible light region and the infrared region, and is obtained by sequentially capturing images. An occupant camera (not shown) that outputs a face image including the occupant's face is provided.

  The vehicle communication device 16 is capable of bidirectional communication with, for example, the server device 2 outside the vehicle 1, the other vehicle 3, and the roadside communication device 4, and transmits and receives various types of information.

  The head-up display 17 performs display by, for example, projection using a predetermined area of the front window FW or an area superimposed on the external environment over the front window as viewed from the driver as a display screen.

  The display 18 is, for example, various display devices other than the head-up display 17, for example, a display device using various mirrors or windows of the vehicle 1 as a display screen, or an MID disposed on an instrument panel. (Multi-information display), various displays having a display screen such as a liquid crystal display screen, and various lamps.

  In addition, MID (multi-information display) displays on a meter panel provided with instruments, such as a speedometer and a tachometer, for example in the position corresponding to the driver's seat front in an instrument panel.

  The control device 19 includes, for example, an alert target detection unit 21, a display control unit 22, a vehicle communication control unit 23, and a line-of-sight detection unit 24.

  As will be described later, the alerting target detection unit 21 includes map data stored in the navigation device 11, various detection result signals output from the vehicle state sensor 12, and image data output from the external sensor 13. Based on the detection signal, the various signals output from the switch 14, and the information received from the outside by the vehicle communication device 16, the alerting target of the outside of the vehicle 1 is acquired.

  As will be described later, the display control unit 22 can execute an emphasis display on the display screen of the head-up display 17 so as to be superimposed on the attention target detected by the attention target detection unit 21. Further, an incentive icon that can be virtually acquired is displayed on the display screen only during a period in which the vehicle 1 is appropriately driven with respect to the highlighted alerting target.

  The vehicle communication control unit 23 controls transmission / reception of various information by the vehicle communication device 16.

The line-of-sight detection unit 24 performs predetermined recognition processing on the occupant's face image output from the occupant camera of the line-of-sight sensor 15, for example, the center position of the pupil or iris of the occupant's eye, and a predetermined light source (not shown). A reflection point (for example, a central position of a Purkinje image that is an infrared reflection image), a position of the eye of the occupant's eye, and the like are detected.
Based on these detection results, for example, from the relative distance between the center position of the eye pupil or iris and the reflection point on the corneal surface, or the relative distance between the center position of the eye pupil or iris and the position of the eye Detecting the direction of the sight of the occupant.

  The driving support device 10 according to the present embodiment has the above-described configuration. Next, the operation of the driving support device 10 will be described.

For example, the alert target detection unit 21 targets alerts for road speed limits, for example, road signs and road markings of roads on which the vehicle 1 is traveling.
For example, in a case where a road sign indicating a road speed limit or a road marking can be recognized in the image data output from the imaging device of the external sensor 13, the attention target detection unit 21 performs recognition processing on the image data. Detect road speed limit.

  In this case, for example, as shown in FIG. 2, the display control unit 22 superimposes the speed limit sign A that is a target of alerting on the display screen of the head-up display 17, for example, the outer shape of the speed limit sign A. A highlighted image PA that fringes is displayed.

  Note that the alert target detection unit 21 detects the current position information of the vehicle 1 detected by the navigation device 11 and the navigation device, for example, when the road speed limit cannot be detected by the recognition process for the image data. 11 can be obtained based on map data stored in the vehicle 11 or road traffic information received from the outside (for example, the server device 2) by the vehicle communication device 16.

  In this case, the display control unit 22 displays an image of a virtual speed limit sign as an alert target on the display screen of the head-up display 17, and highlights the image of the virtual speed limit sign. May be executed.

  It should be noted that in the highlighted display for the alerting target, for example, an highlighted image PA that is superimposed on the outside world through the front window may be displayed on the display screen of the head-up display 17. Alternatively, the image data obtained by superimposing the highlighted image PA on the image data ahead of the traveling direction of the vehicle 1 obtained by the imaging device of the external sensor 13 is displayed on the display screen of the head-up display 17. Also good.

Then, the display control unit 22 determines whether or not the speed of the vehicle 1 detected by the vehicle speed sensor of the vehicle state sensor 12 is equal to or less than the speed limit detected by the alert target detection unit 21.
In the determination result, when the speed of the vehicle 1 is equal to or lower than the speed limit, an incentive icon IA having a predetermined display form (for example, a blue display color indicating a coin-like shape and an appropriate driving state) is displayed on the vehicle. 1 is displayed so as to be superimposed on a position ahead of the traveling direction of the road on which 1 is traveling.
On the other hand, in the determination result, when the speed of the vehicle 1 is higher than the speed limit, the display of the incentive icon IA is prohibited.

  Note that the display position of the incentive icon IA is, for example, a position on the front side as viewed from the driver seated on the driver seat of the vehicle 1 and has a predetermined interval in front of the traveling direction of the road on which the vehicle 1 travels. For example, a plurality of predetermined positions.

  When the current position of the vehicle 1 matches the display position of the incentive icon IA virtually displayed on the road, that is, when the vehicle 1 virtually passes the incentive icon IA. Determines that the incentive icon IA has been virtually acquired. And the predetermined point preset to this incentive icon IA is added to an acquisition point.

  And the display control part 22 outputs the information of the acquired points at each time point to the vehicle communication control part 23 at a predetermined timing such as every predetermined traveling distance interval or every predetermined traveling time interval, It is transmitted to the server device 2 by the vehicle communication device 16 and stored in the server device 2.

For example, the display control unit 22 may display a predetermined point set in advance on the incentive icon IA on the display screen of the head-up display 17 together with the incentive icon IA.
The display control unit 22 may change the display form (for example, display color) of the incentive icon IA according to, for example, a predetermined point preset in the incentive icon IA.

  For example, the display control unit 22 may display the information on the current earned points on the display screen of the head-up display 17 at all times or at an appropriate timing (for example, a period during which the incentive icon IA is displayed). Good. Alternatively, it may be displayed on any of a plurality of screen displays that can be switched by the operator.

  The current earned points of the vehicle 1 may be used for enjoying various services and exchanging with goods.

In addition, the display control unit 22 may acquire, for example, information on acquired points of other vehicles stored in the server device 2 by the vehicle communication device 16.
Also in this case, it may be displayed on the display screen of the head-up display 17 at all times or at an appropriate timing (for example, a period during which the incentive icon IA is displayed). Alternatively, it may be displayed on any of a plurality of screen displays that can be switched by the operator.

  The display control unit 22 displays, for example, the vehicle information of the vehicle 1 compared with the alert target, for example, the speed of the vehicle 1 compared with the speed limit of the road on the display screen of the head-up display 17. It may be displayed.

  As described above, according to the driving support device 10 according to the present embodiment, virtually only over a period in which appropriate driving (for example, traveling at a speed not exceeding the speed limit on the road) is being executed. The incentive icon IA that can be acquired is displayed on the display screen of the head-up display 17. Accordingly, it is possible to naturally promote an appropriate driving action without causing the driver to feel uncomfortable while preventing the driver from deviating from the actual outside world.

  Furthermore, in addition to displaying an incentive icon IA that is a motivation for appropriate driving behavior, a warning target (for example, a speed limit sign A) is highlighted, so that a specific driving operation (for example, deceleration) is given to the driver. Etc.) can be recognized accurately.

  In the above-described embodiment, the period during which the appropriate driving is executed for the highlighted alert target is the period during which the appropriate driving is maintained, for example, a speed that does not exceed the road speed limit. However, the present invention is not limited to this. For example, as in the first modified example, the driving state is changed so that the driving becomes appropriate as the period in which the driving is appropriate for the highlighting. For example, a period during which the vehicle 1 is decelerated so that the speed of the vehicle 1 is equal to or less than the speed limit of the road may be included.

  In the first modified example, when the speed of the vehicle 1 is equal to or lower than the speed limit, the display control unit 22 has a predetermined display form (for example, a coin-like shape and appropriate driving as shown in FIG. 2, for example). An incentive icon IA of a blue display color indicating the state).

  On the other hand, when the speed of the vehicle 1 is higher than the speed limit, for example, as shown in FIG. 3, the degree of incentive is lower (for example, set in advance) than when the speed of the vehicle 1 is equal to or lower than the speed limit. The incentive icon IB in a different display form (for example, a yellow display color indicating that the coin-shaped shape is smaller and deviates from an appropriate driving state) is displayed. .

  In this case, for example, as shown in FIG. 3, the display control unit 22 superimposes the speed limit sign A that is a target of alerting on the display screen of the head-up display 17, for example, the outer shape of the speed limit sign A. In addition to the highlighted image PA that borders, for example, the highlighted image PB that is further emphasized so as to surround the outer shape of the speed limit sign A is displayed.

  In other words, in this first modification, the display control unit 22 changes the incentive level and display mode of the incentive icon according to the degree of appropriateness of driving being performed on the alert target.

  In the first modification, for example, when the degree of appropriateness of driving for the alert target is the highest, the incentive degree of the incentive icon is set to the highest, and the incentive level is reduced as the degree of appropriateness of driving decreases. The icon incentive degree may be changed to a decreasing tendency, and the display form of the incentive icon may be changed.

  According to the first modified example, the most appropriate driving action can be naturally promoted without causing the driver of the vehicle 1 to feel uncomfortable.

  In the embodiment described above, the alert target is related to the speed limit of the road. However, the present invention is not limited to this. For example, as in the second to fourth modifications shown in FIGS. The target may be related to an appropriate speed for causing the vehicle 1 to travel appropriately.

For example, in the second modified example, as illustrated in FIG. 4, the alert target detection unit 21 sets a stop sign or a stop line existing ahead in the traveling direction of the road on which the vehicle 1 travels as an alert target.
For example, in a 3rd modification, as shown in FIG. 5, the alert target detection part 21 makes the traffic signal which exists ahead of the advancing direction of the road where the vehicle 1 drive | works the alert target.
Further, for example, in the fourth modified example, as illustrated in FIG. 6, the alert target detection unit 21 sets a curve existing ahead in the traveling direction of the road on which the vehicle 1 travels as an alert target.

  For example, also in the second to fourth modified examples illustrated in FIGS. 4 to 6, the alert target detection unit 21, for example, an image output from the imaging device of the external sensor 13, as in the above-described embodiment. When the attention target can be recognized in the data, the attention target is detected by the recognition process for the image data. And the appropriate speed with respect to each alerting target is acquired with reference to the data of the correspondence between each alerting target stored in advance and the appropriate speed, for example.

  On the other hand, when the attention target cannot be detected by the recognition process for the image data, the information on the current position of the vehicle 1 detected by the navigation device 11 and the map data or vehicle communication stored in the navigation device 11. Based on the information received from the outside (for example, the server device 2) by the device 16 and the like, the alert target and the appropriate speed can be acquired.

  For example, in the second modification, the display control unit 22 determines that the speed of the vehicle 1 can be stopped appropriately at the stop position in front of the traveling direction (for example, the deceleration required for stopping is equal to or less than a predetermined upper limit deceleration). It is determined whether or not the speed is equal to or less. Then, according to the determination result, the display of the incentive icon and the highlight display of the alert target (for example, the stop sign C) are controlled.

  Further, for example, in the third modification, the display control unit 22 determines that the speed of the vehicle 1 is a predetermined speed when the speed of the vehicle 1 is appropriate (for example, the lighting color is red or yellow) according to the lighting state (lighting color, etc.) of the traffic light. It is determined whether or not the speed can be stopped with a deceleration equal to or less than the upper limit deceleration, or the speed at which the traffic light can be properly passed when the lighting color is blue. And according to this determination result, the display of the incentive icon and the highlight display of the alerting target (for example, traffic light D) are controlled.

  Further, for example, in the fourth modified example, the display control unit 22 determines that the speed of the vehicle 1 is an appropriate speed at which the vehicle 1 can appropriately pass a curve ahead in the traveling direction (for example, the lateral acceleration when passing the curve is equal to or less than a predetermined upper limit lateral acceleration) It is determined whether or not the speed is equal to or less. Then, according to the determination result, the display of the incentive icon and the highlight display of the alerting target (for example, the curve E) are controlled.

  For example, in the second to fourth modifications shown in FIGS. 4 to 6, the display control unit 22, when the speed of the vehicle 1 is higher than the appropriate speed, when the speed of the vehicle 1 is equal to or lower than the appropriate speed. In comparison, the incentive icon IB having a lower incentive level and a different display form (for example, a yellow display color indicating a deviation from an appropriate driving state with a smaller coin-like shape) is displayed.

  Further, when the speed of the vehicle 1 is higher than the appropriate speed, for example, surrounding the outer shape of each alerting object, or for example, each alerting, compared to the case where the speed of the vehicle 1 is equal to or less than the appropriate speed. The highlighted images PB and PC are displayed by further highlighting each alerting target so that the outline of the object is outlined.

  Also in these second to fourth modified examples, similarly to the above-described embodiment, when the speed of the vehicle 1 is equal to or lower than the appropriate speed, the display control unit 22 performs a predetermined display mode (for example, The incentive icon IA having a coin-like shape and a blue display color indicating an appropriate driving state), and when the speed of the vehicle 1 is higher than the appropriate speed, the display of the incentive icon IA is prohibited. May be.

In the above-described embodiment, for example, as in the fifth modified example shown in FIG. 7, the alert target may be related to the inter-vehicle distance between the vehicle 1 and the preceding vehicle of the vehicle 1.
For example, in the fifth modification, as illustrated in FIG. 7, the alert target detection unit 21 sets the preceding vehicle F of the vehicle 1 as an alert target.

  Then, the display control unit 22 detects the inter-vehicle distance between the vehicle 1 and the preceding vehicle based on the image data or the detection signal output from the external sensor 13, and this inter-vehicle distance is determined by the vehicle 1 and the preceding vehicle. It is determined whether or not the vehicle-to-vehicle distance is less than or equal to the speed. Then, in accordance with the determination result, the display of the incentive icon and the highlight display of the alert target (for example, the preceding vehicle F) are controlled.

  For example, in the fifth modification shown in FIG. 7, the display control unit 22 determines that the inter-vehicle distance is equal to or greater than the appropriate inter-vehicle distance when the inter-vehicle distance between the vehicle 1 and the preceding vehicle is shorter than the appropriate inter-vehicle distance. The incentive icon IB has a lower incentive level and a different display form (for example, a yellow display color indicating a deviation from an appropriate driving state with a smaller coin-like shape size). Is displayed.

  Furthermore, when the inter-vehicle distance between the vehicle 1 and the preceding vehicle is shorter than the appropriate inter-vehicle distance, for example, the outer shape of the object to be alerted is surrounded as compared with the case where the inter-vehicle distance is equal to or greater than the appropriate inter-vehicle distance. Then, the highlighted image PB in which the alerting target is further emphasized is displayed.

  Also in the fifth modified example, similarly to the above-described embodiment, the display control unit 22 determines the predetermined value when the inter-vehicle distance between the vehicle 1 and the preceding vehicle is equal to or greater than the appropriate inter-vehicle distance. Display form (for example, a coin-like shape and a blue display color indicating an appropriate driving state) is displayed, while the inter-vehicle distance between the vehicle 1 and the preceding vehicle is greater than the appropriate inter-vehicle distance. If it is too short, the display of the incentive icon IA may be prohibited.

Moreover, in embodiment mentioned above, it is good also considering the alerting | calling object regarding the driving | running | working position of the vehicle 1 in a lane like the 6th modification shown in FIG.
For example, in the sixth modified example, as illustrated in FIG. 8, the alert target detection unit 21 sets a lane boundary line (travel line) of the lane in which the vehicle 1 travels as the alert target.

  And the display control part 22 detects the distance between the vehicle 1 and a lane boundary line based on the image data output from the external sensor 13, and determines whether this distance is in a predetermined distance range. . Then, in accordance with the determination result, the display of the incentive icon and the highlight display of the alert target (for example, the lane boundary line G) are controlled.

  For example, in the sixth modification shown in FIG. 8, when the distance between the vehicle 1 and the lane boundary line deviates from the predetermined distance range, the display control unit 22 falls within the predetermined distance range. Compared to a certain case, the incentive icon IB having a lower incentive level and a different display form (for example, a yellow display color having a smaller coin-like shape and indicating a deviation from an appropriate driving state) indicate.

  Furthermore, when the distance between the vehicle 1 and the lane boundary line deviates from within the predetermined distance range, for example, the outer shape of the alert target is surrounded as compared with the case where this distance is within the predetermined distance range. Then, the highlighted image PB in which the alerting target is further emphasized is displayed.

  Also in the sixth modified example, similarly to the above-described embodiment, the display control unit 22 performs a predetermined process when the distance between the vehicle 1 and the lane boundary line is within a predetermined distance range. Displays an incentive icon IA in a display form (for example, a coin-shaped shape and a blue display color indicating an appropriate driving state), while the distance between the vehicle 1 and the lane boundary deviates from within a predetermined distance range When doing so, the display of the incentive icon IA may be prohibited.

  In the above-described embodiment, for example, as in the seventh modified example shown in FIG. 9, the direction relating to the direction in which the driver needs to visually observe the alert target, for example, the rear side when changing lanes or turning left or right It is good also as an area | region.

  For example, in the seventh modified example, as shown in FIG. 9, the alert target detection unit 21 detects the driver at the time of changing the lane of the vehicle 1 detected by the signal indicating the lighting operation of the direction indicator light output from the switch 14. The area on the back side that needs to be observed is the target of attention.

  Then, the display control unit 22 determines whether or not the driver has visually recognized the rear side area based on the driver's line-of-sight direction detected by the line-of-sight detection unit 24. Then, in accordance with the determination result, for example, the incentive icon is displayed on the mirror or the window that exists in the direction that the driver needs to look at, and the object to be alerted (for example, the direction that the driver needs to look at) Controls highlighting of image H).

  In the seventh modification, the display control unit 22 is based on the image data or the detection signal output from the external sensor 13, or the inter-vehicle communication with the other vehicle 3 by the vehicle communication device 16 or the roadside. The presence or absence of other vehicles existing around the vehicle 1 can be detected by road-to-vehicle communication with the communication device 4 or the like.

  For example, in the seventh modification shown in FIG. 9, the display control unit 22, when there is another vehicle in the direction that the driver needs to visually check, compared to the case where there is no other vehicle in this direction. The incentive icon IB having a lower incentive level and a different display form (for example, a yellow display color indicating a deviation from an appropriate driving state with a smaller coin-like shape) is displayed.

  In addition, when there is another vehicle in the direction that the driver needs to visually check, for example, by enclosing the outline of the alert target, Further, the highlighted image PB is displayed.

  Also in the seventh modified example, in the same manner as in the above-described embodiment, the display control unit 22 is configured to display a predetermined display form (when there is no other vehicle in a direction that the driver needs to visually check). For example, if an incentive icon IA having a coin-like shape and a blue display color indicating an appropriate driving state is displayed, and there is another vehicle in this direction, display of the incentive icon IA is prohibited. Also good.

  In the seventh modification, in order to promote the driver's line-of-sight guidance when highlighting the alert target, an incentive icon is displayed at a position ahead of the traveling direction of the road on which the vehicle 1 is traveling. It may be prohibited.

  In this case, for example, the display control unit 22 uses the highlighted alerting target as an incentive icon that can be virtually acquired, and the driver's gaze detected by the gaze detection unit 24 is highlighted. When it is pointed, it is determined that the incentive icon is virtually acquired. And the predetermined point preset to this incentive icon is added to an acquisition point.

  In the above-described embodiment, the display of the incentive icon and the highlight display of the alerting target are controlled depending on whether or not appropriate driving is performed on the alerting target. However, the present invention is not limited to this. First, for example, as in the eighth to ninth modifications shown in FIGS. 10 to 12, the display of incentive icons and the attention target depending on whether or not there is a possibility of being a target of attention (candidate for attention target) Candidate highlighting may be controlled.

For example, in the eighth modification, as shown in FIG. 10, the alert target detection unit 21 has a predetermined intersection existing in the forward direction of the road on which the vehicle 1 travels (for example, an accident-prone intersection or a school zone intersection). ) Is a candidate for alerting.
Further, for example, in the ninth modified example, as shown in FIG. 11 or FIG. 12, the alert target detection unit 21 sets a moving object existing in the blind spot area of the driver as an alert target candidate.

  For example, also in the eighth and ninth modified examples shown in FIGS. 10 to 12, the alert target detection unit 21, for example, an image output from the imaging device of the external sensor 13, as in the above-described embodiment. If the attention target candidate can be recognized in the data, the attention target candidate is detected by the recognition process for the image data.

  On the other hand, when the attention target candidate cannot be detected by the recognition processing for the image data, the current position information of the vehicle 1 detected by the navigation device 11 and the map data or the vehicle stored in the navigation device 11 Based on the information received from the outside (for example, the server device 2, the other vehicle 3, the roadside communication device 4, etc.) by the communication device 16, it is possible to acquire the attention target candidate.

For example, in the eighth modification shown in FIG. 10, the display control unit 22, when there is a candidate for attention (for example, a school zone intersection K) in front of the traveling direction of the vehicle 1, is a candidate for attention. Incentive icon IB having a lower incentive level and a different display form (for example, a yellow display color indicating the presence of a candidate to be alerted with a smaller coin-like shape, for example). Is displayed.
Further, for example, the highlighted image PD highlighting the attention target candidate is displayed so as to surround the outline of the attention target candidate.

Further, for example, in the ninth modification shown in FIGS. 11 and 12, the display control unit 22 may cause the driver to be alerted in the blind spot area (for example, the moving body L that may jump forward in the traveling direction of the vehicle 1). Or when the vehicle 1 turns right (that is, when the vehicle crosses the oncoming lane, for example, a moving body L that goes straight on the side of the oncoming vehicle in the oncoming lane) compared to the case where there is no candidate for alerting The incentive icon IB having a lower incentive level and a different display form is displayed.
Further, for example, the highlighted image PD highlighting the attention target candidate is displayed so as to surround the outline of the attention target candidate.

  In these eighth and ninth modifications, the display control unit 22 determines that a predetermined display form (for example, a coin-like shape and no alert target candidate exists) when no alert target candidate exists. An incentive icon IA of a blue display color or the like.

  According to these eighth and ninth modified examples, it is possible to prompt appropriate driving behavior with higher safety by notifying the attention target candidate that may be the target of attention in advance.

  In the above-described embodiment, when there are a plurality of alerting targets, the display control unit 22 incentive icons, for example, according to the number or priority of alerting targets for which appropriate driving is being performed. The incentive degree may be changed, and the display form of the incentive icon may be changed.

  For example, the display control unit 22 sets the display position of each incentive icon for a plurality of different alerting targets at a common position (for example, a plurality of predetermined positions with a predetermined interval ahead in the traveling direction of the road on which the vehicle 1 travels). The predetermined points set for each incentive icon are set so as to change in an increasing trend as the number of alerting targets for which appropriate driving is being performed increases.

  For example, the display control unit 22 sets priorities for a plurality of different alerting targets in advance. Then, for example, the predetermined point set to the incentive icon is set so as to change in an increasing trend as the priority of the alert target for which the appropriate driving is being performed increases. Alternatively, the predetermined point is added to the acquired point only with the virtual acquisition of the incentive icon only when the appropriate driving is executed for the alert target with the highest priority.

  In this case, it is possible to make the driver easily and clearly recognize that there are a plurality of alerting targets, and it is possible to further promote the appropriate driving action.

  In the embodiment described above, the display control unit 22 replaces the head-up display 17 with an incentive icon on the display 18 (for example, a multi-information display disposed on the instrument panel in front of the driver seat). In addition, a highlighted image of the alert target may be displayed.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Server apparatus 11 Navigation apparatus 12 Vehicle state sensor 13 External sensor 15 Line-of-sight sensor (line-of-sight detection means)
17 Head-up display 19 Control device 21 Alert target detection unit (attention target acquisition means)
22 Display control unit (display control means)
24 Gaze detection unit (gaze detection means)

Claims (4)

A driving support device provided in a vehicle equipped with a head-up display having a display area that is a predetermined area of the front window or an area superimposed on the outside world through the front window as seen from the driver,
An alert target acquisition means for acquiring an alert target of the outside world of the vehicle;
An incentive icon that can be highlighted so as to be superimposed on the alerting target on the display screen and can be virtually acquired only during a period in which an appropriate operation is being performed on the alerting target. And a display control means for displaying on the display screen. The display control means changes the incentive level of the incentive icon according to the number or priority of the alerting targets for which appropriate driving is being performed for the plurality of alerting targets, and the incentive icon The driving support apparatus according to claim 1, wherein the display form is changed. The said display control means changes the incentive degree of the said incentive icon according to the appropriateness degree of the driving | running currently performed with respect to the said alerting target, The Claim 1 or Claim 2 characterized by the above-mentioned. Driving assistance device. Provided with gaze detection means for detecting the driver's gaze,
The display control means can display the incentive icon on a mirror or window that exists in a direction that the driver needs to visually observe when changing the lane of the vehicle or turning left and right.
4. The incentive icon can be virtually acquired when the driver's line of sight detected by the line-of-sight detection unit is directed to the incentive icon. 5. The driving assistance apparatus as described in one.

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