JP2017182429A - Vehicular display method and vehicular display apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular display method enabling an occupant to easily grasp the direction of controlling a vehicle itself and the cause of occurring the control, thus giving the occupant a sense of security.SOLUTION: A display method includes the steps of: detecting surroundings condition of a vehicle itself (S11); calculating a direction of controlling the vehicle itself on the basis of the surroundings condition (S12-S14); generating surroundings condition image indicating the surroundings condition and a control direction image indicating the direction of control (S15); and displaying the control direction image and surroundings condition image on image display means disposed inside the vehicle itself (S16).SELECTED DRAWING: Figure 11

Description

  The present invention relates to a display method for a vehicle and a display device for a vehicle.

  As a conventional driving support device, there is known a device that displays a simulated vehicle that moves in a direction to avoid danger when it is determined that there is danger in the vehicle based on the surrounding information of the vehicle (Patent Document 1). reference).

JP 2008-129718 A

  However, just displaying the control direction of the host vehicle such as the direction of avoiding danger as described in Patent Document 1, why the occupant should move in the control direction, that is, the cause of the control of the host vehicle. There are cases where it is difficult to grasp, and as a result, there is a problem that the occupant feels uneasy.

  In view of the above problems, the present invention makes it possible for the occupant to easily grasp the control direction of the host vehicle and the cause of the control, and to provide a sense of security to the occupant and the vehicle. An object is to provide a display device.

  According to one aspect of the present invention, the surrounding situation of the host vehicle is detected, the control direction of the host vehicle is calculated based on the surrounding situation, and the surrounding situation image showing the surrounding situation and the control direction image showing the control direction are generated. A vehicle display method and a vehicle display device are provided that display a surrounding situation image and a control direction image on an image display means provided in the host vehicle.

  According to the present invention, there is provided a display method for a vehicle and a display device for a vehicle that can make the occupant easily grasp the control direction of the own vehicle and the cause of the control and can give the occupant a sense of security. Can be provided.

It is a block diagram which shows an example of the display apparatus for vehicles which concerns on the 1st Embodiment of this invention. It is a top view which shows the example of arrangement | positioning of the imaging means of the own vehicle which concerns on the 1st Embodiment of this invention. It is the schematic which shows the example of arrangement | positioning of the image display means which concerns on the 1st Embodiment of this invention. 4 (a) to 4 (c) are top views sequentially showing changes in the traveling state of the host vehicle according to the first embodiment of the present invention. It is the schematic which shows an example of the control direction image which concerns on the 1st Embodiment of this invention. FIG. 6A and FIG. 6B are schematic diagrams respectively showing examples of the surrounding situation images according to the first embodiment of the present invention. It is the schematic which shows the example of a display by the image display means which concerns on the 1st Embodiment of this invention. FIG. 8A to FIG. 8C are schematic diagrams respectively showing examples of control direction images according to the first embodiment of the present invention. FIG. 9A and FIG. 9B are schematic diagrams respectively showing an example of the surrounding situation image according to the first exemplary embodiment of the present invention. It is the schematic which shows the example of a display by the image display means which concerns on the 1st Embodiment of this invention. It is a flowchart for demonstrating an example of the image display method for vehicles which concerns on the 1st Embodiment of this invention. It is a flowchart for demonstrating another example of the image display method for vehicles which concerns on the 1st Embodiment of this invention. It is a block diagram which shows an example of the display apparatus for vehicles which concerns on the 2nd Embodiment of this invention. It is a top view which shows the driving | running state of the own vehicle which concerns on the 2nd Embodiment of this invention. It is the schematic which shows an example of the control direction image which concerns on the 2nd Embodiment of this invention. FIG. 16A to FIG. 16C are schematic views showing examples of the surrounding situation images according to the second embodiment of the present invention. It is the schematic which shows the example of a display by the image display means which concerns on the 2nd Embodiment of this invention. It is a flowchart for demonstrating an example of the image display method for vehicles which concerns on the 2nd Embodiment of this invention. It is a block diagram which shows an example of the display apparatus for vehicles which concerns on the 3rd Embodiment of this invention. 20 (a) and 20 (b) are top views showing the travel status of the host vehicle according to the third embodiment of the present invention in time series. It is the schematic which shows an example of the control direction image which concerns on the 3rd Embodiment of this invention. It is a top view which shows the driving condition of the own vehicle which concerns on the 3rd Embodiment of this invention. FIG. 23A and FIG. 23B are schematic diagrams respectively showing examples of the surrounding situation images according to the third embodiment of the present invention. It is a flowchart for demonstrating an example of the image display method for vehicles which concerns on the 3rd Embodiment of this invention. It is a block diagram which shows an example of the display apparatus for vehicles which concerns on the 4th Embodiment of this invention. It is a flowchart for demonstrating an example of the image display method for vehicles which concerns on the 4th Embodiment of this invention. It is the schematic which shows an example of the control direction image and surrounding condition image which concern on other embodiment of this invention. FIG. 28A to FIG. 28C are schematic diagrams respectively showing examples of control direction images according to other embodiments of the present invention.

  Next, first to fourth embodiments of the present invention will be described with reference to the drawings. In the following description of the drawings, the same or similar parts are affixed with the same or similar reference numerals. However, it should be noted that the drawings are schematic, and the relationship between the thickness and the planar dimensions, the ratio of the thickness, and the like are different from the actual ones. Moreover, it is a matter of course that portions having different dimensional relationships and ratios are included between the drawings. Further, the embodiment described below exemplifies an apparatus and a method for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, The arrangement is not specified as follows. The technical idea of the present invention can be variously modified within the technical scope defined by the claims described in the claims.

(First embodiment)
In the first embodiment of the present invention, a case will be described in which automatic control for preventing lane departure is performed by the system. The vehicular display device according to the first embodiment of the present invention can be mounted on the host vehicle. As shown in FIG. 1, the vehicular display device includes a control device 1, an ambient condition detection means 10, and an image display means 7. Prepare. The control device 1 is connected to steering means 6a, acceleration means 6b, and braking means 6c for controlling the host vehicle. For example, a steering wheel can be used as the steering means 6a, an accelerator pedal can be used as the acceleration means 6b, and a brake device can be used as the braking means 6c. The surrounding situation detection means 10 includes a lane detection means 2 and a plurality (two) of imaging means 4a and 4b so as to detect the surrounding situation of the host vehicle.

  As the lane detecting means 2, for example, a sensor using a camera can be used. The number and arrangement positions of the lane detection means 2 are not particularly limited, and for example, a plurality of lane detection means 2 may be installed in front of or behind the host vehicle. The lane detection means 2 detects a lane boundary line such as a white line in an image captured by a camera, for example, and detects a lane segmented by the lane boundary line. The lane detection unit 2 outputs the detected lane boundary line and the relative position and distance of the lane to the control device 1.

  As the imaging means 4a and 4b, for example, a CCD camera or the like can be used. The imaging units 4 a and 4 b sequentially capture the surrounding situation of the host vehicle and output the captured image to the control device 1. For example, as shown in FIG. 2, the imaging unit 4 a is installed on the left side surface of the host vehicle 100 so that the left rear of the host vehicle 100 is set as an imaging range R <b> 1. The imaging means 4b is installed on the right side surface of the host vehicle 100 so that the right rear of the host vehicle 100 is set to the imaging range R2. Note that the number and arrangement positions of the imaging units 4a and 4b and the imaging ranges R1 and R2 are not limited to this.

  As the image display means 7 shown in FIG. 1, for example, a liquid crystal display or the like can be used. As shown in FIG. 3, the image display means 7 is installed at a position where it can be easily seen by an occupant such as an instrument panel in the vehicle interior.

  The control device 1 shown in FIG. 1 can be configured by an electronic control unit (ECU) including, for example, a central processing unit (CPU) and a storage device. As the storage device, ROM, RAM and the like can be used. The control device 1 includes a departure determination unit 11, a control information calculation unit 12, a vehicle control unit 13, and an image generation unit 14. The departure determination unit 11, the control information calculation unit 12, the vehicle control unit 13, and the image generation unit 14 may be functionally provided in the control device 1 or may be provided as separate cases.

  The departure determination unit 11 determines whether or not the host vehicle may depart from the lane based on the relative position of the lane boundary detected by the lane detection unit 2. For example, as shown in FIG. 4A, three lanes L1, L2, and L3 divided by lane boundary lines L11 and L12 such as white lines are parallel, and the host vehicle 100 travels in the center lane L2. Assume that there is a situation. The departure determination unit 11 calculates distances D1 and D2 in the vehicle width direction between the lane boundary lines L11 and L12 that delimit the lane L2 on which the host vehicle 100 travels detected by the lane detection unit 2 and the host vehicle 100.

  Further, when the calculated distances D1 and D2 are equal to or greater than a predetermined threshold (for example, 50 cm), the departure determination unit 11 determines that the host vehicle 100 has no possibility of departing from the lane L2, and the distances D1 and D2 are If it is less than the predetermined threshold, it is determined that the host vehicle 100 may deviate from the lane L2. For example, as shown in FIG. 4B, when the host vehicle 100 approaches the lane boundary line L12 and the distance D2 between the host vehicle 100 and the lane boundary line L12 becomes less than a predetermined threshold, the host vehicle 100 Is determined to have a possibility of deviating from the lane L2.

  The control information calculation unit 12 calculates control information including a control direction and a control amount for the host vehicle 100 so as to prevent deviation from the lane L2. Here, the “control direction” refers to a direction automatically controlled by a system such as the vehicle control unit 13 so as to prevent a departure from the lane L2, and a manual operation by the occupant to prevent a departure from the lane L2. Direction to be controlled by operation. In the situation shown in FIG. 4B, the left direction for moving away from the right lane boundary line L12 and returning to the center side of the lane L2 is calculated as the control direction. When the host vehicle 100 approaches the left lane boundary line L11, the right direction for moving away from the left lane boundary line L11 and returning to the center side of the lane L2 is calculated as the control direction. As the control amount, for example, the steering torque amount of the steering means 6a for returning to the center side of the lane L2 is calculated.

  The vehicle control unit 13 controls the steering means 6a and the like using the control information including the control direction and the control amount calculated by the control information calculation unit 12, and as shown in FIG. Is controlled to travel away from the lane boundary L12 and return to the center side of the traveling lane L2.

  The image generation unit 14 generates a control direction image indicating the control direction of the host vehicle 100 and a surrounding situation image indicating a surrounding situation of the host vehicle 100. During normal travel shown in FIG. 4A, the departure determination unit 11 determines that the host vehicle 100 is not likely to depart from the lane L2, and the system does not automatically control lane departure prevention. . In this case, as shown in FIG. 5, for example, the image generation unit 14 includes a first simulated vehicle M1 that simulates the host vehicle 100 and an annular contact risk display area M0 that is disposed around the first simulated vehicle M1. A control direction image I1 to be displayed is generated. The first simulated vehicle M1 is a mark serving as a reference when indicating the control direction. The contact risk display area M0 can blink, for example, during emergency avoidance, or can display the contact risk of other vehicles around the host vehicle 100. In the first embodiment of the present invention, the contact risk display area M0 may be omitted.

  The image generation unit 14 further uses the images captured by the imaging units 4a and 4b at the normal driving timing illustrated in FIG. 4A to, for example, the rear left of the host vehicle 100 as illustrated in FIG. A left rear image I2 showing the situation of FIG. 6 and a right rear image I3 showing the situation of the right rear of the host vehicle 100 as shown in FIG. 6B are sequentially generated as surrounding situation images. The left rear image I2 shown in FIG. 6A is an image similar to the mapping of the left side mirror, and the left side surface of the host vehicle 100 and the left lane boundary line L11 separating the lanes L1 and L2 are reflected. Yes. The right rear image I3 shown in FIG. 6B is an image similar to the mapping of the left side mirror, and the right side surface of the host vehicle 100 and the right lane boundary line L12 separating the lanes L2 and L3 are reflected. Yes.

  The image generator 14 superimposes and displays line segments M3 and M4 on the lane boundary lines L11 and L12 reflected in the left rear image I2 and the right rear image I3, and in accordance with the control state of the host vehicle 100. The color, thickness, shape, etc. of M3 and M4 are changed. For example, when the lane departure prevention control by the system such as the vehicle control unit 13 is not effective, the line segments M3 and M4 are turned on or not displayed. On the other hand, when the control for preventing lane departure by the system is effective, the display of the line segments M3 and M4 is different from the case where the line segments M3 and M4 are not effective, for example, the line segments M3 and M4 are blinked. As the left rear image I2 and the right rear image I3, the lane boundary is based on the relative positions of the lane boundary lines L11 and L12 detected by the lane detection unit 2 instead of the captured images by the imaging units 4a and 4b. It may be a computer graphic (CG) image that displays lines L11, L12, etc.

  The image display unit 7 displays the control direction image and the surrounding situation image generated by the image generation unit 14. As shown in FIG. 7, the image display means 7 includes a control direction image display unit 7a, a left rear image display unit 7b arranged close to the left side of the control direction image display unit 7a, and a control direction image display unit 7a. And a right rear image display unit 7c disposed in the vicinity of the right side. The control direction image display unit 7a displays the control direction image I1, the left rear image display unit 7b displays the left rear image I2, and the right rear image display unit 7c displays the right rear image I3. The control direction image display unit 7a, the left rear image display unit 7b, and the right rear image display unit 7c may be an integral display or may be individual displays. The order in which the control direction image display unit 7a, the left rear image display unit 7b, and the right rear image display unit 7c are arranged is not limited to this, and the control direction image display unit 7a, the left rear image display unit 7b, and the right rear image display unit 7c are arranged. The positions may be switched. The control direction image display unit 7a, the left rear image display unit 7b, and the right rear image display unit 7c may be in contact with each other or may be separated from each other.

  When automatic control for preventing lane departure is added by the system as shown in FIG. 4B, the image generation unit 14 controls the control direction of the host vehicle 100 based on the control direction calculated by the control information calculation unit 12. A control direction image I1 for displaying a direction corresponding to is generated. For example, as shown in FIG. 8A, the second simulated vehicle M2 is superimposed so as to be shifted in the left direction, which is the direction corresponding to the control direction of the host vehicle 100, with the position of the first simulated vehicle M1 as a reference. To display. When the host vehicle 100 approaches the left lane boundary line L11, the right direction becomes the control direction so as to move away from the left lane boundary line L11, and the second simulation is performed based on the position of the first simulated vehicle M1. The vehicle M2 is superimposed and displayed so as to be shifted to the right side. In FIG. 8A, the second simulated vehicle M2 is schematically indicated by a broken line. However, the second simulated vehicle M2 may be drawn by a solid line, and is different in color from the first simulated vehicle M1. As long as it is a mode that can be distinguished from the first simulated vehicle M1.

  The second simulated vehicle M2 may be fixed to a position shifted in a direction corresponding to the control direction with respect to the first simulated vehicle M1, and may be displayed so as to be lit or blinking. It is good also as a dynamic display so that it may move to the direction corresponding to a control direction from a position. When the second simulated vehicle M2 moves, the second simulated vehicle M2 may be displayed so as to wave in the moving direction. For example, the second simulated vehicle M2 appears at the position of the first simulated vehicle M1, disappears after moving so as to come out of the first simulated vehicle M1, and then moves to the position of the first simulated vehicle M1. A series of movements of appearing again may be repeated periodically. Furthermore, according to the control amount calculated by the control information calculation unit 12, the movement amount D1 of the second simulated vehicle M2 and the above-described series of movement periods (frequency) may be changed. For example, the movement amount D1 of the second simulated vehicle M2 may be increased as the control amount is increased, or the frequency of a series of movements from the appearance to the disappearance of the second simulated vehicle M2 may be increased. Further, the contact risk display area M0 may be blinked or the color may be changed to indicate that automatic control for preventing lane departure is added by the system.

  Further, when the control direction of the host vehicle 100 is the left direction, as shown in FIG. 8B, the second simulated vehicle M2 appears at the right position of the first simulated vehicle M1, and the first You may move to the position of the 1st simulation vehicle M1 to the left so that it may enter into this simulation vehicle M1. In addition, the second simulated vehicle M2 appears on the right side of the first simulated vehicle M1, disappears after moving leftward to the position of the first simulated vehicle M1, and then again on the right side of the first simulated vehicle M1. A series of movements of appearing may be repeated periodically. Furthermore, according to the control amount calculated by the control information calculation unit 12, the movement amount D2 of the second simulated vehicle M2 and the above-described series of movement periods may be changed.

  Further, as shown in FIG. 8C, the image generation unit 14 sets the second simulated vehicle based on the direction of the first simulated vehicle M <b> 1 according to the control direction calculated by the control information calculation unit 12. The direction of M2 may be inclined by a predetermined angle θ1. FIG. 8C shows a case where the control direction is the left direction, in which the direction of the second simulated vehicle M2 is tilted to the left and the second simulated vehicle M2 is rotated counterclockwise. When the control direction is the right direction, the direction of the second simulated vehicle M2 is tilted to the right, and the second simulated vehicle M2 is rotated clockwise. Further, the angle θ1 for inclining the direction of the second simulated vehicle M2 may be changed according to the control amount such as the steering torque amount calculated by the control information calculation unit 12. For example, the angle θ1 for inclining the direction of the second simulated vehicle M2 may be increased as the control amount is increased.

  When automatic control for preventing lane departure is added by the system as shown in FIG. 4 (b), the image generation unit 14 further uses the images taken by the imaging means 4a and 4b as shown in FIG. 9 (a). A left rear image I2 showing the situation of the left rear of the host vehicle 100 and a right rear image I3 showing the situation of the right rear of the host vehicle 100 as shown in FIG. 9B are sequentially generated. The reason why the automatic control for preventing lane departure is added is that the host vehicle 100 has approached the lane boundary line L12, and therefore, as shown in FIG. 9B, the lane boundary reflected in the right rear image I3. The line L12 is highlighted. For example, the color or shape of the line segment M4 superimposed on the lane boundary line L12 is different from the display of the line segment M4 in the right rear image I3 during normal travel shown in FIG. Flash with.

  As shown in FIG. 10, the control direction image display unit 7a, the left rear image display unit 7b, and the right rear image display unit 7c of the image display means 7 are shown in the control direction image I1 shown in FIG. The left rear image I2 shown and the right rear image I3 shown in FIG. 9B are respectively displayed. As a result, the occupant visually recognizes the display in which the second simulated vehicle M2 is displaced with reference to the position of the first simulated vehicle M1 in the control direction image I1, so that the control direction for preventing lane departure is the left direction. By confirming this, the right rear image I3 with the lane boundary line L12 highlighted is visually recognized, so that it can be confirmed that the reason why the control for preventing the lane departure is applied is that the vehicle has approached the lane boundary line L12.

  Next, an example of an image display method according to the first embodiment of the present invention will be described with reference to the flowchart of FIG. Note that the series of processes in the flowchart of FIG. 11 can be repeatedly executed at a predetermined control cycle.

  In step S <b> 11, the lane detection unit 2 detects a relative position or the like between the lane boundary lines L <b> 11 and L <b> 12 of the lane L <b> 2 in which the host vehicle 100 is traveling and the host vehicle 100. In step S <b> 12, the departure determination unit 11 calculates distances D <b> 1 and D <b> 2 between the lane boundary lines L <b> 11 and L <b> 12 detected by the lane detection unit 2 and the host vehicle 100. In step S13, the departure determination unit 11 determines whether or not the host vehicle 100 may depart from the lane L2 by determining whether the distances D1 and D2 are equal to or greater than a predetermined threshold. If it is determined that the relative positions D1 and D2 are equal to or greater than the predetermined threshold value and there is no possibility that the host vehicle 100 will depart from the lane L2, the processing is completed. On the other hand, when it is determined in step S13 that the relative positions D1 and D2 are less than the predetermined threshold value and there is a possibility that the host vehicle 100 may deviate from the lane L2, the process proceeds to step S14.

  In step S <b> 14, the control information calculation unit 12 sets the control direction and the control amount so that the host vehicle 100 moves away from one of the lane boundaries D <b> 1 and D <b> 2 that approaches and returns to the center of the lane L <b> 2 that is running. Control information to be included is calculated. The vehicle control unit 13 uses the control information including the control direction and the control amount calculated by the control information calculation unit 12 to control the steering unit 6a and the like to control the traveling of the host vehicle 100.

  In step S <b> 15, the image generation unit 14 uses the images captured by the imaging units 4 a and 4 b, and the left rear image I <b> 2 indicating the left rear situation of the host vehicle 100 and the right rear indicating the right rear situation of the host vehicle 100. An image I3 is generated. The image generation unit 14 further generates a control direction image I1 indicating the control direction of the host vehicle 100 based on the control direction calculated by the control information calculation unit 12. In step S16, the image display means 7 displays the control direction image I1, the left rear image I2, and the right rear image I3 generated by the image generation unit 14 during the automatic control by the vehicle control unit 13 or before the control. Display in close proximity.

  As described above, according to the first embodiment of the present invention, when the lane departure prevention control is performed, the control direction of the host vehicle 100 and the surrounding situation of the host vehicle 100 are displayed in conjunction with each other. Thus, the causal relationship between the change in the control direction of the host vehicle 100 and the cause of the control can be easily understood by the occupant, and a sense of security can be given to the occupant. Further, by displaying the control direction of the host vehicle 100 and the surrounding situation as images, the occupant can selectively view the display when he / she wants to confirm the cause of the change in the control direction, and is forcedly Compared with simple information presentation, it is possible to reduce annoyance.

  Further, in the first embodiment of the present invention, the case where automatic control of lane departure prevention is performed by the system has been described, but the present invention can also be applied when the occupant performs manual control. In this case, when it is determined that the host vehicle 100 may deviate from the lane L2, the direction that the occupant should control is displayed, and the lane boundary that the host vehicle 100 is approaching as a cause to be controlled By displaying the surrounding situation including the line L12, the occupant can be prompted to operate.

  Further, a control direction image I1 indicating the control direction of the host vehicle 100, a left rear image I2 indicating the rear left situation of the host vehicle 100, and a right rear image I3 indicating the rear right situation of the host vehicle 100 are generated and approached. Display, the occupant can easily grasp the control direction of the host vehicle 100, the left rear situation, and the right rear situation.

  Further, in the control direction image I1, the second simulated vehicle M2 is shifted in a direction corresponding to the control direction of the own vehicle 100 with reference to the position of the first simulated vehicle M1 so as to indicate the control direction of the own vehicle 100. By superimposing and displaying, the control direction of the host vehicle 100 can be presented to the passenger in an easily understandable manner.

(Modification)
As a modification of the first embodiment of the present invention, a case where the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are determined in two stages will be described with reference to the flowchart of FIG.

  Since the procedures of steps S11 and S12 are the same as those in FIG. In step S13a, it is determined whether or not the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are greater than or equal to a first threshold value (for example, 50 cm). If the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are equal to or greater than the first threshold, the process is completed. On the other hand, when the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are less than the first threshold value, the process proceeds to step S13b.

  In step S13b, it is determined whether or not the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are greater than or equal to a second threshold value (for example, 20 cm) that is smaller than the first threshold value. When the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are equal to or greater than the second threshold, the vehicle is approaching the lane boundary lines L11 and L12, but the control by the system is not added. At this time, in step S15b, the image generation unit 14 displays a control direction image I1 indicating a direction to be controlled by the occupant and lane boundary lines L11 and L12 where the host vehicle 100 approaches so as to prompt the occupant to perform a manual operation. The highlighted left rear image I2 and right rear image I3 are generated, and the control direction image I1, left rear image I2, and right rear image I3 are displayed in step S16.

  On the other hand, when the distances D1 and D2 between the host vehicle 100 and the lane boundary lines L11 and L12 are less than the first threshold value in step S13b, it is determined that there is a possibility of departure, and in step S14, the control direction and control are determined. The amount is calculated and the control by the system is added. In step S15a, the image generation unit 14 includes a control direction image I1 indicating a control direction of automatic control by the system and the host vehicle 100 so as to present to the occupant that automatic control by the system is applied. A left rear image I2 and a right rear image I3 in which the approaching lane boundary lines L11 and L12 are highlighted are generated. In step S16, the control direction image I1, the left rear image I2, and the right rear image I3 generated in step S15a or step S15b are displayed.

(Second Embodiment)
As a second embodiment of the present invention, a case will be described in which control for automatically changing lanes is performed by the system. As shown in FIG. 13, the display device for a vehicle according to the second embodiment of the present invention has a point that the surrounding state detection means 10 further includes an obstacle detection means 3, and the control device 1 is shown in FIG. The vehicle according to the first embodiment of the present invention shown in FIG. 1 is provided with an in-lane position acquisition unit 15, a contact risk calculation unit 16, and a lane change determination unit 17 instead of the departure determination unit 11. Different from the configuration of the display device.

  As the obstacle detection means 3, for example, a laser radar, a millimeter wave radar, or a sensor using a camera can be used. The number and arrangement positions of the obstacle detection means 3 are not particularly limited. For example, a plurality of obstacle detection means 3 may be installed in front, side, and rear of the host vehicle 100. The obstacle detection means 3 detects obstacles such as other vehicles, utility poles, walls, etc. existing around the host vehicle 100, and informs the control device 1 of the relative position, distance, relative speed, etc. between the host vehicle 100 and the obstacle. Output.

  The in-lane position acquisition unit 15 is based on the relative position of the obstacle detected by the obstacle detection unit 3, the relative position of the lane detected by the lane detection unit 2, and the like in which lane the obstacle exists. And the distance and relative speed between the host vehicle 100 and the obstacle along the lane are acquired.

  The contact risk calculation unit 16 makes contact between the host vehicle 100 and the obstacle based on the distance and relative speed between the host vehicle 100 and the obstacle along the lane acquired by the in-lane position acquisition unit 15. The contact risk indicating the degree of the possibility of doing is calculated. The higher the contact risk, the higher the possibility that the host vehicle 100 will come into contact with the obstacle. For example, the contact risk is calculated higher as the distance between the host vehicle 100 and the obstacle is shorter, and the contact risk is calculated higher as the relative speed between the host vehicle 100 and the obstacle is higher. The contact risk may be calculated higher as the speed of the host vehicle 100 is higher.

  The contact risk can be calculated by using at least the distance between the host vehicle 100 and the obstacle, but in addition to the distance between the host vehicle 100 and the obstacle, the relative speed between the host vehicle 100 and the obstacle is used. Thus, the contact risk can be calculated in more detail. As the distance and relative speed between the host vehicle 100 and the obstacle, the distance and relative speed in the direction along the lane acquired by the in-lane position acquisition unit 15 may be used, and the distance and relative speed detected by the obstacle detection unit 3 may be used. A linear distance and relative speed between the vehicle 100 and the obstacle may be used.

Here, an example of the contact risk calculation method by the contact risk calculation unit 16 will be described. For example, the contact risk can be calculated using the collision margin time (TTC) and the inter-vehicle time (THW). The collision allowance time t _c is an index for predicting the time until the host vehicle 100 collides with the preceding other vehicle on the assumption that the current relative speed is maintained, and the relative margin between the host vehicle 100 and the other vehicle. The velocity is v _r and the distance is x _r , which is obtained by the following equation (1)
t _c = −x _r / v _r (1)

The inter-vehicle time t _h is an index indicating the time to reach the current preceding vehicle position at the current host vehicle speed, where the host vehicle speed is v _f and the distance between the host vehicle 100 and another vehicle is x _r . It calculates | requires by the following formula | equation (2).
t _h = −x _r / v _f (2)

Using collision tolerable time t _c and inter-vehicle time t _h calculated by the formula (1) and (2), the contact risk RP can be set as the following equation (3).
RP = 1/2 (α / t _c + β / t _h ) (3)
Here, each of α and β is an arbitrary coefficient and can be set as appropriate.

  The lane change determination unit 17 extracts a contact risk for another vehicle traveling in the adjacent lane on the side where the lane change is desired, from the contact risk calculated by the contact risk calculation unit 16. For example, as shown in FIG. 14, it is assumed that the host vehicle 100 is traveling in the center lane L2 of the three lanes L1 to L3 and wants to change the lane to the right lane L3. The lane change determination unit 17 extracts the contact risk with respect to the other vehicles 101 and 102 traveling in the right lane L2, and determines whether the contact risk is equal to or higher than a predetermined threshold, thereby determining the right lane L3. Judge whether or not to change lanes. That is, the lane change determination unit 17 determines that the lane change is impossible when any of the contact risks with respect to the other vehicles 101 and 102 is equal to or greater than a predetermined threshold, and both of the contact risks with respect to the other vehicles 101 and 102 are predetermined. If it is less than the threshold value, it is determined that the lane change is possible. The predetermined threshold can be set as appropriate, and may be stored in advance in a storage device of the control device 1.

  When the lane change determination unit 17 determines that the lane change to the right lane L3 is possible, the control information calculation unit 12 calculates the right direction as the control direction for changing the lane, and sets the corresponding control amount such as the amount of steering torque. calculate. The vehicle control unit 13 changes the lane to the right lane L3 by controlling the steering means 6a and the like using the control information including the control direction and the control amount calculated by the control information calculation unit 12.

  The image generation unit 14 generates a control direction image I1 indicating a direction corresponding to the control direction for changing the lane. For example, as shown in FIG. 15, the second simulated vehicle M2 is superimposed on the first simulated vehicle M1 in the control direction image I1 so that the second simulated vehicle M2 is shifted to a right front position that is diagonally forward on the lane change side. And display. Thereby, it can distinguish from the case where the 2nd simulation vehicle M2 at the time of control of lane departure prevention in the 1st Embodiment of this invention is shifted to right side, and a passenger | crew can recognize that it is control of lane change.

  The image generation unit 14 changes the display of the line segments M3 and M4 superimposed on the lane boundary lines L11 and L12 according to whether or not the lane change determination unit 17 can change the lane. For example, when it is determined by the lane change determination unit 17 that the lane change is possible, the image generation unit 14 is schematically illustrated by hatching in FIGS. 16A and 16B, but the left rear image I2 and the right Green line segments M3 and M4 are superimposed and blinked on the lane boundary lines L11 and L12 reflected in the rear image I3. The image generation unit 14 may further display an arrow M5 indicating the control direction of the host vehicle 100 and the lane L3 to be changed in the right rear image I3 illustrated in FIG. On the other hand, when the other vehicle 102 is approaching and the lane change determination unit 17 determines that the lane change is not possible, the image generation unit 14 schematically shows hatching in FIG. By superimposing and blinking the red line segment M4 on the line L12, it is indicated that the lane change to the lane L3 is impossible.

  As shown in FIG. 17, the control direction image display unit 7a, the left rear image display unit 7b, and the right rear image display unit 7c of the image display means 7 are shown in the control direction image I1 shown in FIG. The left rear image I2 shown and the right rear image I3 shown in FIG. 16B are displayed close to each other. As a result, the occupant visually recognizes the display in which the second simulated vehicle M2 is shifted obliquely forward with reference to the position of the first simulated vehicle M1 in the control direction image I1, thereby automatically controlling the lane change control direction. Can be confirmed to be in the right direction, and the lane change to the lane L3 can be confirmed by visually recognizing the arrow M5 in the right rear image I3.

  Next, an example of the vehicle display method according to the second embodiment of the present invention will be described with reference to the flowchart of FIG. Note that a series of processes in the flowchart of FIG. 18 can be repeatedly executed at a predetermined control cycle.

  In step S21, the obstacle detection means 3 detects an obstacle existing around the host vehicle 100, and detects a distance, a relative position, and a relative speed between the host vehicle 100 and the obstacle. In step S <b> 22, the lane detection unit 2 detects the position of the lane around the host vehicle 100. In step S23, the in-lane position acquisition unit 15 calculates the relative position of the obstacle in the lane from the relative position of the obstacle detected by the obstacle detection unit 3 and the position of the lane detected by the lane detection unit 2. Etc.

  In step S <b> 24, the contact risk calculation unit 16 calculates the contact risk between the host vehicle 100 and the obstacle based on the distance and relative speed with the obstacle along the lane acquired by the in-lane position acquisition unit 15. To do. In step S <b> 25, the lane change determination unit 17 determines whether or not the lane change of the host vehicle 100 is possible by determining whether or not the calculated contact risk is equal to or greater than a predetermined threshold. If the contact risk is less than the predetermined threshold, it is determined that the lane change of the host vehicle 100 is possible, and the process proceeds to step S25. On the other hand, if the contact risk is greater than or equal to the predetermined threshold in step S24, it is determined that the lane change of the host vehicle 100 is impossible, and the process is completed.

  In step S <b> 26, the control information calculation unit 12 calculates control information including a control direction and a control amount for changing the lane of the host vehicle 100. The vehicle control unit 13 uses the control information including the control direction and the control amount calculated by the control information calculation unit 12 to control the steering means 6a and the like so that the host vehicle 100 changes lanes. In step S27, the image generation unit 14 generates a control direction image I1, a left rear image I2, and a right rear image I3. In step S28, the control direction image I1, the left rear image I2, and the right rear image I3 generated by the image generation unit 14 are displayed on the image display means 7 at the time of controlling the lane change of the host vehicle 100 or before the control. Let

  As described above, according to the second embodiment of the present invention, when the lane change control is performed by the system, the control direction of the host vehicle 100 and the surrounding situation of the host vehicle 100 are displayed in conjunction with each other. By doing so, the occupant can easily grasp the causal relationship between the change in the control direction of the host vehicle 100 and the cause of the control, and a sense of security can be given to the occupant. Further, by displaying the control direction of the host vehicle 100 and the surrounding situation as images, the occupant can selectively view the display when he / she wants to confirm the cause of the change in the control direction, and is forcedly Compared with simple information presentation, it is possible to reduce annoyance.

  In the second embodiment of the present invention, the case where the lane change control is performed by the system has been described. However, the present invention can be applied to a case where the occupant performs control so as to manually change the lane. In this case, whether or not the lane change is possible is displayed by line segments M3 and M4 superimposed on the lane change lines L11 and L12, and the second simulated vehicle M2 is shifted obliquely forward with respect to the position of the first simulated vehicle M1. By displaying the direction in which the lane should be changed, it is possible to prompt the passenger to perform a manual operation.

  Further, a control direction image I1 indicating the control direction of the host vehicle 100, a left rear image I2 indicating the rear left situation of the host vehicle 100, and a right rear image I3 indicating the rear right situation of the host vehicle 100 are generated and approached. Display, the occupant can easily grasp the control direction of the host vehicle 100, the left rear situation, and the right rear situation.

  Further, in the control direction image I1, the second simulated vehicle M2 is shifted in a direction corresponding to the control direction of the own vehicle 100 with reference to the position of the first simulated vehicle M1 so as to indicate the control direction of the own vehicle 100. By superimposing and displaying, the control direction of the host vehicle 100 can be presented to the passenger in an easily understandable manner.

  Further, in the control direction image I1, by distinguishing the display of the direction corresponding to the control direction when changing lanes from the display of the direction corresponding to the control direction for preventing lane departure, the control direction is the same in the left-right direction. Even if it exists, the occupant can easily grasp whether the control is to prevent lane departure or to change the lane. Further, by displaying an arrow M5 or the like indicating the lane L3 to be changed in the left rear image I2 and the right rear image I3, the occupant can easily grasp the change in the control direction due to the lane change.

  Furthermore, the possibility of lane change is determined based on the contact risk according to the distance to the other vehicle, and superimposed on the lane boundary lines L11 and L12 in the left rear image I2 and the right rear image I3 according to the determination result of the lane change possibility. By changing the display of the line segments M3 and M4 to be performed, the occupant can clearly grasp whether or not the lane change is possible.

(Third embodiment)
As a third embodiment of the present invention, a case will be described in which contact avoidance automatic control is performed by a system. In the vehicular display device according to the third embodiment of the present invention, as shown in FIG. 19, the control device 1 replaces the lane change determination unit 17 shown in FIG. Is different from the configuration of the vehicle display device according to the second embodiment of the present invention shown in FIG.

  Based on the contact risk calculated by the contact risk calculation unit 16, the automatic control necessity determination unit 18 determines whether or not automatic control for avoiding contact with another vehicle in front of the host vehicle 100 is necessary. To do. For example, as illustrated in FIG. 20A, a situation is assumed in which the other vehicle 101 in front of the host vehicle 100 stops suddenly while the host vehicle 100 is traveling. The automatic control necessity determination unit 18 determines that the contact risk with respect to the other vehicle 101 calculated by the contact risk calculation unit 16 is equal to or greater than a predetermined threshold value, and that the automatic control to avoid contact with the other vehicle 101 is necessary. To do.

  When it is determined by the automatic control necessity determination unit 18 that automatic control for avoiding contact with the other vehicle 101 is necessary, the control information calculation unit 12 controls a control direction and a control amount for avoiding contact with the other vehicle 101. Control information including is calculated. The vehicle control unit 13 controls the steering means 6a and the like using the control information including the control direction and the control amount calculated by the control information calculation unit 12, for example, as shown in FIG. Turn 100 right.

  When it is determined by the automatic control necessity determination unit 18 that the automatic control for avoiding contact with the other vehicle 101 is necessary, the image generation unit 14 displays the first in the control direction image I1, as shown in FIG. Based on the position of the simulated vehicle M1, the second simulated vehicle M2 is shifted and displayed in a direction to avoid contact. Further, the image generation unit 14 blinks the second simulated vehicle M2, changes the color, increases the amount (movement amount) D1 of shifting the second simulated vehicle M2, and the like. Highlight M2. In addition, the greater the control amount calculated by the control information calculation unit 12, the higher the degree of emphasis, thereby making it easier for the occupant to recognize an emergency situation. The image generation unit 14 may further present an emergency situation by lighting or blinking the contact risk display area M0.

  On the other hand, when it is during normal driving and the automatic control necessity determination unit 18 determines that automatic control for avoiding contact with the other vehicle 101 is unnecessary, the image generation unit 14 uses the contact risk calculation unit 16. You may display the calculated contact risk. For example, as shown in FIG. 22, in the left rear region R11 and the right rear region R12 of the host vehicle 100, the host vehicle 100 corresponds to the distance between the host vehicle 100 and the other vehicle 101 when the host vehicle 100 is located in the region. The contact risk is calculated, and is classified into, for example, three stages of contact risk “high”, contact risk “medium”, and contact risk “low” according to the calculated degree of contact risk. In FIG. 22, the left rear region R11 of the host vehicle 100 is classified as a contact risk “low”, and the right rear region R12 is classified as a contact risk “medium” on the side close to the host vehicle 100 and a contact risk “high” on the far side. Has been.

  As shown in FIGS. 23A and 23B, the image generation unit 14 superimposes line segments M3 and M4 on the lane boundary lines L11 and L12 in the left rear image I2 and the right rear image I3. Then, in the positions corresponding to the left rear region R11 and the right rear region R12 of the host vehicle 100 shown in FIG. 22 of the line segments M3 and M4, the contact risk “high”, the contact risk “middle”, and the contact risk “low”. As shown, the colors, hatching, luminance, etc. of the line segments M3, M4 are partially changed. For example, the line segment M3 in FIG. 23A is green corresponding to the contact risk “low”. In the line segment M4 in FIG. 23B, the side far from the host vehicle 100 is red corresponding to the contact risk “high”, and the side closer to the host vehicle 100 is yellow corresponding to the contact risk “medium”. As the relative position of the host vehicle 100 and the other vehicle 102 changes, the display of the line segments M3 and M4 also changes sequentially. Thereby, the relative positional relationship between the own vehicle 100 and the other vehicle 102 can be easily grasped.

  Next, an example of a vehicle display method according to the third embodiment of the present invention will be described with reference to the flowchart of FIG. Note that the series of processes in the flowchart of FIG. 24 can be repeatedly executed at a predetermined control cycle.

  The procedure of steps S31 to S34 is the same as the procedure of steps S21 to S24 shown in FIG. In step S <b> 35, the automatic control necessity determination unit 18 determines whether or not the contact risk calculated by the contact risk calculation unit 16 is equal to or greater than a predetermined threshold value, so that the host vehicle 100 against an obstacle such as another vehicle. It is determined whether or not automatic control to avoid contact is necessary. If the contact risk is less than the predetermined threshold and it is determined that automatic control for avoiding contact of the host vehicle 100 with the obstacle is unnecessary, the process proceeds to step S39. In step S39, the image generation unit 14 superimposes and displays line segments M3 and M4 indicating a contact risk in the left rear image I2 and the right rear image I3 on the vehicle boundary lines L11 and L12.

  On the other hand, if it is determined in step S35 that the contact risk is equal to or higher than the predetermined threshold value and the vehicle 100 needs to be subjected to automatic control for avoiding contact with the obstacle, the process proceeds to step S36. In step S36, the control information calculation unit 12 obtains control information including a control direction and a control amount for avoiding contact with an obstacle whose contact risk is determined to be greater than or equal to a predetermined threshold by the automatic control necessity determination unit 18. calculate. The vehicle control unit 13 controls the steering means 6a and the like so as to avoid contact with an obstacle according to the control information including the control direction and the control amount calculated by the control information calculation unit 12. In step S <b> 37, the image generation unit 14 generates a direction image I <b> 1 indicating a direction in which contact with the obstacle is avoided, a left rear image I <b> 2 and a right rear image I <b> 3 indicating the surrounding situation of the host vehicle 100. In step S38, the control direction image I1, the left rear image I2, and the right rear image I3 generated by the image generation unit 14 are displayed on the image display means 7.

  As described above, according to the third embodiment of the present invention, when the contact avoidance automatic control is performed by the system, the control direction of the contact avoidance of the host vehicle 100 and the cause of the control are caused. By displaying the surrounding conditions in conjunction with each other, the causal relationship between the change in the control direction of the host vehicle 100 and the cause of the control can be easily understood by the occupant, giving the occupant a sense of security. Can do.

  Further, in the third embodiment of the present invention, the case where the contact avoidance automatic control is performed by the system has been described, but the present invention can also be applied to the case where the occupant manually controls. In this case, when the automatic control necessity determination unit 18 determines that the contact risk calculated by the contact risk calculation unit 16 is equal to or greater than a predetermined threshold, by displaying a direction to be controlled by the occupant for contact avoidance, It is possible to prompt the passenger to manually operate.

  Further, a control direction image I1 indicating the control direction of the host vehicle 100, a left rear image I2 indicating the rear left situation of the host vehicle 100, and a right rear image I3 indicating the rear right situation of the host vehicle 100 are generated and approached. Display, the occupant can easily grasp the control direction of the host vehicle 100, the left rear situation, and the right rear situation.

  Further, in the control direction image I1, the second simulated vehicle M2 is shifted in a direction corresponding to the control direction of the own vehicle 100 with reference to the position of the first simulated vehicle M1 so as to indicate the control direction of the own vehicle 100. By superimposing and displaying, the control direction of the host vehicle 100 can be presented to the passenger in an easily understandable manner.

  Further, the automatic control necessity determination unit 18 determines that the contact risk with respect to the other vehicle 101 calculated by the contact risk calculation unit 16 is equal to or greater than a predetermined threshold, and that an automatic control for avoiding the other vehicle 101 is necessary. In this case, by highlighting the second simulated vehicle M2 in the control direction image I1, the occupant can instantly grasp that the host vehicle 100 is highly likely to contact the other vehicle 101. Furthermore, it is easy to grasp the magnitude of the sudden movement of the host vehicle 100 by changing the degree of highlighting of the second simulated vehicle M2 according to the control amount. Further, by changing the display of the line segments M3 and M4 superimposed on the lane boundary lines L11 and L12 according to the contact risk calculated by the contact risk calculation unit 16, the relative positional relationship between the host vehicle 100 and the other vehicle is changed. It can be easily grasped, and furthermore, a change in the distance between the host vehicle 100 and another vehicle can be easily grasped.

(Fourth embodiment)
In the fourth embodiment of the present invention, a case will be described in which the control direction of the host vehicle 100 at the time of occurrence of the sudden movement is displayed after the occurrence of the sudden movement. In the vehicular display device according to the fourth embodiment of the invention, as shown in FIG. 25, the surrounding state detection means 10 detects the yaw rate sensor 21 that detects the yaw rate of the host vehicle 100 and the acceleration of the host vehicle 100. The configuration of the vehicular display device according to the third embodiment of the present invention shown in FIG. 19 is different from the configuration of the vehicular display device according to the third embodiment of the present invention shown in FIG.

  The sudden action identifying unit 19 identifies the occurrence of a sudden action (rapid turn) based on the yaw rate of the host vehicle 100 detected by the yaw rate sensor 21. For example, when the yaw rate rate of the host vehicle 100 is greater than or equal to a predetermined threshold, the sudden action identification unit 19 determines that the vehicle has made a sudden turn, and does not make a sudden turn when the yaw rate rate of the host vehicle 100 is less than the predetermined threshold. It is determined that The sudden motion identification unit 19 may identify the occurrence of a sudden turn by calculating the yaw acceleration or the yaw jerk from the yaw rate and comparing the yaw acceleration or the yaw jerk with a predetermined threshold value. High responsiveness can be obtained by using the yaw acceleration or the yaw jerk.

  The sudden motion identification unit 19 identifies the occurrence of sudden motion (rapid acceleration / deceleration) based on the acceleration of the host vehicle 100 detected by the acceleration sensor 22. For example, the sudden motion identification unit 19 determines that the acceleration is sudden when the acceleration of the host vehicle 100 is equal to or greater than a predetermined threshold, and determines that the acceleration is not accelerated when the acceleration of the host vehicle 100 is less than the predetermined threshold. To do. The sudden motion identification unit 19 determines that the vehicle has been decelerated rapidly if the acceleration of the host vehicle 100 is less than a predetermined threshold, and determines that the vehicle has not suddenly decelerated if the acceleration of the host vehicle 100 is greater than or equal to a predetermined threshold. To do. The sudden motion identification unit 19 may identify the occurrence of sudden acceleration / deceleration by calculating jerk from the acceleration and comparing the jerk with a predetermined threshold value. High responsiveness can be obtained by using jerk.

  When the occurrence of a sudden motion is identified by the sudden motion identification unit 19, the image generation unit 14 displays a control direction image I1 indicating the control direction of the host vehicle 100 when the sudden motion occurs, as shown in FIG. To do. With reference to the position of the first simulated vehicle M1, the left simulated vehicle is left, the right is rotated right, the rapid acceleration is forward, the rapid deceleration is backward, the second simulated vehicle M2. Shift the display. The image generation unit 14 may further generate the left rear image I2 and the right rear image I3 when the sudden motion occurs, and the left rear image I2 and the right rear at the timing when the obstacle causing the sudden motion is reflected. The rear image I3 may be generated.

  The image generation unit 14 continuously displays the control direction image I1, the left rear image I2, and the right rear image I3 on the image display unit 7 for a predetermined time after the occurrence of the sudden movement. Instead of starting to display the control direction image I1, the left rear image I2, and the right rear image I3 after the occurrence of the sudden motion, the control direction image I1, the left rear image, before the sudden motion occurs or from the time of the sudden motion occurrence. When the I2 and the right rear image I3 are generated, the display of the control direction image I1, the left rear image I2, and the right rear image I3 is started before or when the sudden motion occurs, and after the sudden motion occurs May be displayed continuously.

  Next, an example of the vehicle display method according to the fourth embodiment of the present invention will be described with reference to the flowchart of FIG. Note that the series of processes in the flowchart of FIG. 26 can be repeatedly executed at a predetermined control cycle.

  The procedure of steps S41 to S46 is the same as the procedure of steps S31 to S36 shown in FIG. In step S <b> 47, the sudden motion identification unit 19 identifies the occurrence of the sudden motion based on the yaw rate of the host vehicle 100 detected by the yaw rate sensor 21, the acceleration of the host vehicle 100 detected by the acceleration sensor 22, and the like. If the occurrence of a sudden action is not identified, the process is completed. On the other hand, if the occurrence of a sudden movement is identified, the process proceeds to step S48. In step S48, the image generation unit 14 generates the control direction image I1, the left rear image I2, and the right rear image I3 at the time of occurrence of the sudden movement. In step S49, the control direction image I1, the left rear image I2, and the right rear image I3 generated by the image generation unit 14 are continuously displayed on the image display unit 7 for a predetermined time.

  As described above, according to the fourth embodiment of the present invention, the control direction of the host vehicle 100 and the direction of the host vehicle 100 after the occurrence of a sudden movement due to automatic control such as emergency avoidance by the system are described. By displaying the surrounding conditions in conjunction with each other, it is possible for the occupant to easily grasp the causal relationship between the change in the control direction of the host vehicle 100 and the cause of the control afterwards. Can be given. Further, by displaying the control direction of the host vehicle 100 and the surrounding situation as images, the occupant can selectively view the display when he / she wants to confirm the cause of the change in the control direction, and is forcedly Compared with simple information presentation, it is possible to reduce annoyance.

  Further, a control direction image I1 indicating the control direction of the host vehicle 100, a left rear image I2 indicating the rear left situation of the host vehicle 100, and a right rear image I3 indicating the rear right situation of the host vehicle 100 are generated and approached. Display, the occupant can easily grasp the control direction of the host vehicle 100, the left rear situation, and the right rear situation.

  Further, in the control direction image I1, the second simulated vehicle M2 is shifted in a direction corresponding to the control direction of the own vehicle 100 with reference to the position of the first simulated vehicle M1 so as to indicate the control direction of the own vehicle 100. By superimposing and displaying, the control direction of the host vehicle 100 can be presented to the passenger in an easily understandable manner.

  In addition, after the occurrence of a sudden movement such as emergency avoidance by the system, by displaying the surrounding situation including the obstacle that caused the sudden movement, why the crew was suddenly moved when the sudden movement occurred, That is, even if the cause of the sudden action cannot be understood, if the image is confirmed after the sudden action, the cause of the sudden action can be easily grasped later. Therefore, a sense of security with respect to the control of the system can be given to the occupant.

  Further, by identifying the occurrence of a sudden turn based on the yaw rate of the host vehicle 100 detected by the yaw rate sensor, even if the occupant cannot grasp the sudden turn instantly, After the fact can be confirmed. Furthermore, by identifying the occurrence of sudden acceleration / deceleration based on the acceleration of the host vehicle 100 detected by the speed sensor, the occupant can suddenly accelerate / decelerate even if the sudden acceleration / deceleration of the vehicle cannot be grasped instantaneously. After the fact can be confirmed.

  The sudden action identifying unit 19 may identify the occurrence of the sudden action based on the control amount calculated by the control information calculating unit 12. For example, the sudden action identifying unit 19 determines that a sudden action has occurred when the control amount calculated by the control information calculating unit 12 is equal to or greater than a predetermined threshold, and suddenly when the control amount is less than the predetermined threshold. It is determined that the vehicle has not accelerated. The predetermined threshold value can be set as appropriate according to the type of control such as sudden turning and sudden acceleration / deceleration.

(Other embodiments)
As described above, the present invention has been described according to the first to fourth embodiments. However, it should not be understood that the description and drawings constituting a part of this disclosure limit the present invention. From this disclosure, various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art.

  In the first to fourth embodiments of the present invention, the left rear image I2 showing the left rear situation of the host vehicle 100 and the right rear image I3 showing the right rear situation of the host vehicle 100 are displayed. Although the case where the surrounding situation image indicating the surrounding situation is generated has been described, the surrounding situation of the host vehicle 100 is not limited to the left rear and right rear situations, and may be, for example, the rear situation. Or just the right rear situation. Moreover, although the case where the control direction image I1, the left rear image I2, and the right rear image I3 are displayed on separate display units has been described, the control direction image and the surrounding situation image may be displayed on one display unit. For example, as shown in FIG. 27, a bird's-eye view image I4 looking down from above the host vehicle 100 may be generated by performing coordinate conversion on images captured by a plurality of cameras and further combining them. In the bird's-eye view image I4, the parking space S1 delimited by the white line L4 is displayed as a surrounding situation image, and an arrow M6 indicating the control direction of the host vehicle 100 is displayed as a control direction image.

  Further, instead of moving the second simulated vehicle M2, the image generating unit 14 starts from the position of the first simulated vehicle M1 and corresponds to the control direction of the host vehicle 100 as shown in FIG. You may display the arrow M7 which points out the direction to do. An arrow M7 shown in FIG. 28 (a) indicates a case of a left turn. Further, the length D3 and the shape of the arrow M7 may be changed according to the control amount calculated by the control information calculation unit 12. For example, the length D3 of the arrow M7 may be increased and the size of the arrow M7 may be increased as the control amount is increased. As shown in FIG. 28 (b), only the arrow M7 indicating the direction corresponding to the control direction may be displayed without displaying the first simulated vehicle M1. Further, as shown in FIG. 28C, for example, characters such as “left” indicating that the control direction of the vehicle 100 is the left direction and “right” indicating that the control direction of the vehicle 100 is the right direction. A mark M8 including information may be displayed.

  As described above, the present invention naturally includes various embodiments not described herein. Therefore, the technical scope of the present invention is defined only by the invention specifying matters according to the scope of claims reasonable from the above description.

DESCRIPTION OF SYMBOLS 1 ... Control apparatus 2 ... Lane detection means 3 ... Obstacle detection means 4a, 4b ... Imaging means 6a ... Steering means 6b ... Acceleration means 6c ... Braking means 7 ... Image display means 7a ... Control direction image display part 7b ... Left rear image Display unit 7c ... Right rear image display unit 10 ... Ambient condition detection means 11 ... Deviation determination unit 12 ... Control information calculation unit 13 ... Vehicle control unit 14 ... Image generation unit 15 ... In-lane position acquisition unit 16 ... Contact risk calculation unit 17 ... lane change determination unit 18 ... automatic control necessity determination unit 19 ... sudden motion identification unit 21 ... yaw rate sensor 22 ... acceleration sensor 100 ... own vehicle 101, 102 ... other vehicle

Claims (13)

Detecting the surroundings of the vehicle,
Calculating a control direction of the host vehicle based on the surrounding situation;
Generating an ambient image indicating the ambient situation;
Generating a control direction image indicating the control direction;
Displaying the surrounding situation image and the control direction image on an image display means provided in the host vehicle. The step of generating the ambient situation image includes
Generating a left rear image showing a left rear situation of the host vehicle and a right rear image showing a right rear situation of the host vehicle as the surrounding situation image,
Displaying the ambient situation image and the control direction image;
The vehicle display method according to claim 1, further comprising displaying the control direction image, the left rear image, and the right rear image close to each other on the image display unit. The step of generating the control direction image includes:
Displaying the first and second simulated vehicles simulating the host vehicle in the control direction image;
The vehicle display method according to claim 1, further comprising: shifting the second simulated vehicle in a direction corresponding to the control direction with reference to the position of the first simulated vehicle. The step of generating the control direction image includes:
4. When the own vehicle changes lanes, the second simulated vehicle is shifted obliquely forward on the lane change side with reference to the position of the first simulated vehicle. The vehicle display method described in 1. The step of generating the ambient situation image includes
5. The vehicle according to claim 1, further comprising displaying an arrow indicating the lane to be changed in the surrounding situation image when the own vehicle changes lanes. 6. Display method. Calculating a contact risk between the host vehicle and the obstacle;
Determining whether or not automatic control is required for the obstacle based on the contact risk, and
The step of generating the control direction image includes:
The vehicle display method according to claim 3, further comprising highlighting the second simulated vehicle when it is determined that the automatic control is necessary. The step of generating the control direction image includes:
The vehicle display method according to claim 6, comprising changing the degree of highlighting of the second simulated vehicle in accordance with a control amount of the host vehicle. Further comprising calculating a contact risk according to a distance between the host vehicle and the obstacle,
The step of generating the ambient situation image includes
The vehicle display method according to claim 1, comprising displaying the contact risk in the surrounding situation image. The step of generating the ambient situation image includes
The vehicle display method according to claim 8, further comprising: superimposing a line segment on a lane boundary line reflected in the surrounding situation image, and changing the display of the line segment according to the contact risk. . Further including the step of determining whether the lane of the host vehicle can be changed according to the distance between the host vehicle and the obstacle,
The step of generating the ambient situation image includes
8. The method according to claim 1, further comprising: superimposing and displaying a line segment indicating a determination result of whether or not the lane change is possible on a lane boundary line reflected in the surrounding situation image. Vehicle display method. Detecting the yaw rate of the vehicle;
Determining whether or not a sudden turn has occurred in the host vehicle based on the yaw rate,
Displaying the ambient situation image and the control direction image;
When it is determined that the sudden turn has occurred, the surrounding image and the control direction image at the time of the sudden turn are displayed on the image display means after the sudden turn has occurred. The vehicle display method according to any one of claims 1 to 10. Detecting the acceleration of the host vehicle;
Determining whether or not sudden acceleration / deceleration has occurred in the host vehicle based on the acceleration,
Displaying the ambient situation image and the control direction image;
When it is determined that the sudden acceleration / deceleration has occurred, after the sudden acceleration / deceleration has occurred, the surrounding image and the control direction image at the time of the sudden acceleration / deceleration are displayed on the image display means. The vehicle display method according to claim 1, wherein: An ambient condition detecting means for detecting an ambient condition of the host vehicle;
A control information calculation unit that calculates a control direction of the host vehicle based on the surrounding situation;
An image generation unit for generating an ambient situation image indicating the ambient situation and a control direction image indicating the control direction;
A display device for a vehicle, comprising: an image display unit provided in the own vehicle and displaying the surrounding situation image and the control direction image.

Images