JP2017182586A - Display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device in which user's monitoring burden is reduced when a plurality of vehicles are traveling nearby.SOLUTION: A display device includes: environment recognition means for recognizing an environment around an own vehicle; image generation means for generating an image containing information related to a distribution of another vehicle traveling around the own vehicle on the basis of a recognition result of the environment recognition means; and image display means for displaying the image. The image generation means generates grouping displays G1, G2 containing a plurality of other vehicles V1-3, V4-5, when the environment recognition means detects the plurality of other vehicles traveling adjacent to each other at relative speeds having predetermined values or less.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a display device that is provided in a vehicle such as an automobile and displays an image of the environment around the host vehicle, and more particularly to a device that reduces a user's monitoring burden when a plurality of vehicles are traveling around.

In vehicles such as automobiles, various display devices have been proposed that recognize the situation in front of the host vehicle by various peripheral recognition means and display information about lane shapes, obstacles, and the like.
By using such a display device, it is possible to obtain more information than the information obtained by the occupant himself / herself, as driving assistance when the occupant is driving as a driver, and in a vehicle that performs automatic driving, Is also useful for monitoring the validity of automatic driving control.

As a conventional technique related to recognition processing of a situation around a vehicle, for example, Patent Document 1 describes that measurement points having the same relative speed are grouped and determined as a preceding vehicle in front of the host vehicle.
In Patent Document 2, in an apparatus for detecting an interrupting vehicle entering between a preceding vehicle and the host vehicle, a point cloud plotted in a portion corresponding to the portion facing the host vehicle in another vehicle by a position detection unit Are classified and processed as subgroups.

JP 2005-182137 A JP 2008-117073 A

For example, when the host vehicle travels on a road having a plurality of lanes facing in the same direction, when many other vehicles run around the host vehicle, all the users are displayed on the image displaying the environment around the host vehicle. Monitoring individual vehicles increases the monitoring burden.
Regardless of whether it is automatic driving or manual driving, the user needs to monitor the surrounding situation. However, the fact that all the events of the surrounding vehicles are always related increases the burden of monitoring and reduces the load on the user. Will be killed.
In view of the above-described problems, an object of the present invention is to provide a display device that reduces a user's monitoring burden when a plurality of vehicles are traveling around.

The present invention solves the above-described problems by the following means.
The invention according to claim 1 is an image for generating an image including information relating to the environment recognition means for recognizing the environment around the host vehicle and the distribution of other vehicles traveling around the host vehicle based on the recognition result of the environment recognition means. A display device comprising: a generation unit; and an image display unit that displays the image, wherein the image generation unit includes a plurality of environment recognition units whose relative speed is equal to or less than a predetermined value and run adjacent to each other. When the other vehicle is detected, a grouping display indicating that the plurality of other vehicles are grouped is generated.
According to this, a plurality of vehicles traveling close to each other in the same direction at almost the same speed are regarded as an area with little information to be transmitted to the user and few change points, and are grouped and displayed as one vehicle group. Thus, it is possible to intuitively grasp which area around the host vehicle is occupied by another vehicle, and the monitoring burden can be reduced as compared with the case where a plurality of vehicles are individually recognized and monitored.

The invention according to claim 2 is the display device according to claim 1, wherein the image generation unit generates the grouping display for a plurality of vehicles traveling in the same lane.
According to this, it is possible to intuitively grasp the area occupied in lane units, and it is possible to easily and appropriately determine whether or not the lane of the host vehicle can be changed.

According to a third aspect of the present invention, the image generating means is configured such that a relative speed between a plurality of other vehicles to be subjected to the grouping display and the host vehicle is equal to or less than the predetermined value and the host vehicle is to be the grouping display target. 3. The display device according to claim 1, wherein when the vehicle travels adjacent to at least a part of another vehicle, the grouping display includes a position of the host vehicle. 4.
According to this, the user's monitoring burden can be further reduced by recognizing the vehicle group including the host vehicle as an integrated group.

The invention according to claim 4 is characterized in that, in the range in which the grouping display is generated, the display individually indicating the plurality of other vehicles is not displayed. The display device according to Item 1.
According to this, the amount of information that the user should recognize can be reduced and the monitoring burden can be reduced by not paying attention to individual vehicles within the grouped vehicle group.

The invention according to claim 5 is the display according to any one of claims 1 to 4, wherein the grouping display is displayed over the entire lane width in which the plurality of other vehicles travel. Device.
According to this, the user can intuitively grasp that it is dangerous to enter the lane where the grouped vehicle group exists.

The invention according to claim 6 is characterized in that the image display means gradually changes the display mode of the grouping display over a predetermined time when starting the display of the grouping display. 5. The display device according to any one of 5 to 5.
According to this, it becomes easy for the user to visually recognize that the display is changed, and it is possible to intuitively understand that the surrounding vehicles are grouped.

According to a seventh aspect of the present invention, the image generating means connects the plurality of grouping displays when the relative speeds of the vehicles respectively included in the plurality of grouping displays generated in the adjacent lanes are equal to or less than a predetermined value. The display device according to claim 1, wherein the display device is a display device.
According to this, by performing grouping across a plurality of lanes, the number of groups that need to be monitored can be reduced, and the monitoring burden on the user can be further reduced.

The invention according to claim 8 is to release the connection of the plurality of grouping indications when at least one of a junction point, a branch point, and an intersection point with another road exists ahead of the road on which the host vehicle is traveling. The display device according to claim 7.
According to this, the traffic flow of each lane can be easily grasped by canceling the connection of the grouping display at a place where the vehicle speed and traffic volume of each lane are likely to change.

  As described above, according to the present invention, it is possible to provide a display device that reduces the monitoring burden on the user when a plurality of vehicles are traveling around.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram schematically illustrating a configuration of a vehicle provided with a display device according to a first embodiment to which the present invention is applied. FIG. 2 is a schematic diagram illustrating an arrangement of sensors that recognize the surroundings of the vehicle in the vehicle according to the first embodiment. 3 is a flowchart illustrating the operation of the display device according to the first embodiment. FIG. 3 is a diagram illustrating an example of image display on the display device according to the first embodiment. It is a figure which shows an example of the image display in Example 2 of the display apparatus to which this invention is applied. It is a figure which shows an example of the image display in Example 3 of the display apparatus to which this invention is applied. It is a figure which shows an example of the image display in Example 4 of the display apparatus to which this invention is applied. It is a figure which shows an example of the image display in Example 5 of the display apparatus to which this invention is applied. It is a flowchart which shows operation | movement of Example 6 of the display apparatus to which this invention is applied. FIG. 18 is a diagram illustrating an example of image display on the display device according to the sixth embodiment.

  The present invention relates to a problem of providing a display device that reduces a user's monitoring burden when a plurality of vehicles are traveling around, and grouping display that surrounds a plurality of adjacent other vehicles that run at substantially the same speed. Solved by doing.

Embodiment 1 of a display device to which the present invention is applied will be described below.
FIG. 1 is a block diagram schematically showing the configuration of a vehicle provided with Example 1 of a display device to which the present invention is applied.
The display device 1 of the embodiment is provided in a vehicle 1 that is an automobile such as a passenger car having an automatic driving function, for example, and relates to a risk around the own vehicle with respect to a user such as a user (for example, a driver during manual driving). Information or the like is displayed as an image.
Based on the information presented by the display device, the user can monitor the lane shape and obstacles ahead of the host vehicle, and can verify the validity of the automatic driving control when the automatic driving control is executed.

As shown in FIG. 1, the vehicle 1 includes an engine control unit 10, a transmission control unit 20, a behavior control unit 30, an electric power steering (EPS) control unit 40, an automatic operation control unit 50, an environment recognition unit 60, and a stereo camera control. A unit 70, a laser scanner control unit 80, a rear side radar control unit 90, a navigation device 100, a road-vehicle communication device 110, a vehicle-vehicle communication device 120, an image generation unit 200, a display 210, and the like are provided.
Each unit described above is configured as a unit having, for example, information processing means such as a CPU, storage means such as RAM and ROM, an input / output interface, and a bus for connecting them. These units can communicate with each other via an in-vehicle LAN system such as a CAN communication system.

The engine control unit 10 comprehensively controls an engine that is a driving power source for the vehicle 1 and its accessories.
For example, a 4-stroke gasoline engine is used as the engine.
The engine control unit (ECU) 10 can control the engine output torque by controlling the throttle valve opening, fuel injection amount and injection timing, ignition timing, and the like of the engine.
In a state in which the vehicle 1 is driven in accordance with the driving operation of the driver, the engine control unit 10 causes the engine torque so that the actual torque of the engine approaches the driver required torque set based on the operation amount of the accelerator pedal. Control the output.
Further, when the vehicle 1 performs automatic driving, the engine control unit 10 controls the output of the engine in accordance with a command from the automatic driving control unit 50.

The transmission control unit (TCU) 20 controls the transmission and auxiliary equipment (not shown) that switches between forward and backward movements of the vehicle while shifting the rotational output of the engine.
When the vehicle 1 performs automatic driving, the transmission control unit 20 performs range switching such as forward / backward travel and setting of a gear ratio in accordance with a command from the automatic driving control unit 50.
As the transmission, for example, chain-type, belt-type, toroidal-type CVT, and various automatic transmissions such as step AT, DCT, AMT having a plurality of planetary gear sets can be used.
In addition to a transmission mechanism such as a variator, the transmission includes a starting device such as a torque converter, a dry clutch, a wet clutch, and a forward / reverse switching mechanism that switches between a forward travel range and a reverse travel range. Yes.

The transmission control unit 20 is connected to a forward / reverse switching actuator 21, a range detection sensor 22, and the like.
The forward / reverse switching actuator 21 drives a forward / reverse switching valve that switches an oil passage that supplies hydraulic pressure to the forward / reverse switching mechanism, and switches forward / backward travel of the vehicle.
The forward / reverse switching actuator 21 is an electric actuator such as a solenoid, for example.
The range detection sensor 22 is a sensor (switch) that determines whether the currently selected range in the transmission is for forward movement or reverse movement.

The behavior control unit 30 individually controls the wheel cylinder hydraulic pressures of the hydraulic service brakes provided on the left and right front and rear wheels, respectively, to control the vehicle behavior such as understeer and oversteer, and wheel lock during braking. Anti-lock brake control to recover
A hydraulic control unit (HCU) 31, a vehicle speed sensor 32, and the like are connected to the behavior control unit 30.

The HCU 31 includes an electric pump that pressurizes brake fluid that is a working fluid of a hydraulic service brake, a valve that individually adjusts the hydraulic pressure supplied to the wheel cylinder of each wheel, and the like.
When the vehicle 1 performs automatic driving, the HCU 31 generates a braking force on the wheel cylinder of each wheel in response to a braking command from the automatic driving control unit 50.
The vehicle speed sensor 32 is provided at the hub portion of each wheel, and generates a vehicle speed pulse signal having a frequency proportional to the rotational speed of the wheel.
It is possible to calculate the traveling speed (vehicle speed) of the vehicle by detecting the frequency of the vehicle speed pulse signal and performing a predetermined calculation process.

The electric power steering (EPS) control unit 40 comprehensively controls an electric power steering device that assists a steering operation by a driver with an electric motor and its auxiliary devices.
The EPS control unit 40 is connected to a motor 41, a steering angle sensor 42, and the like.

The motor 41 is an electric actuator that assists the steering operation by the driver by applying assist force to the steering system of the vehicle, or changes the steering angle during automatic driving.
When the vehicle 1 performs automatic driving, the motor 41 applies torque to the steering system in accordance with the steering command from the automatic driving control unit 50 so that the steering angle of the steering system approaches a predetermined target steering angle. To steer.
The rudder angle sensor 42 detects the current rudder angle in the vehicle steering system.
The steering angle sensor 42 includes, for example, a position encoder that detects the angular position of the steering shaft.

  When the automatic operation mode is selected, the automatic operation control unit 50 outputs a control command to the engine control unit 10, the transmission control unit 20, the behavior control unit 30, the EPS control unit 40, and the like described above to automatically operate the vehicle. The automatic operation control for running the vehicle automatically is executed.

When the automatic driving mode is selected, the automatic driving control unit 50 advances the own vehicle according to information about the situation around the own vehicle provided from the environment recognition unit 60 and a command from a driver (not shown). Automatic driving that automatically sets the target travel locus, automatically accelerates (starts), decelerates (stops), switches forward and backward, steers, etc., and automatically drives the vehicle to a preset destination Run.
In addition, the automatic operation mode is a manual operation in which a manual operation by a driver is performed when the user desires a manual operation or when it is difficult to continue the automatic operation in response to a predetermined release operation from the user. Return to operation mode is possible.

An input / output device 51 is connected to the automatic operation control unit 50.
The input / output device 51 outputs information such as alarms and various messages to the user from the automatic operation control unit 50 and accepts input of various operations from the user.
The input / output device 51 includes, for example, an image display device such as an LCD, an audio output device such as a speaker, and an operation input device such as a touch panel.

The environment recognition unit 60 recognizes information around the host vehicle.
The environment recognition unit 60 is based on information provided from the stereo camera control unit 70, the laser scanner control unit 80, the rear side radar control unit 90, the navigation device 100, the road-to-vehicle communication device 110, the vehicle-to-vehicle communication device 120, and the like. Thus, the vehicle recognizes obstacles such as parked vehicles, traveling vehicles, buildings, terrain, pedestrians and cyclists around the host vehicle, and the lane shape of the road on which the host vehicle runs.
The environment recognition unit 60 functions as environment recognition means in the present invention in cooperation with these devices, sensors, units, and the like.

The stereo camera control unit 70 controls a plurality of stereo cameras 71 provided around the vehicle and performs image processing on an image transmitted from the stereo camera 71.
Each stereo camera 71 is configured by, for example, a pair of camera units including, for example, an imaging optical system such as a lens, a solid-state imaging device such as a CMOS, a drive circuit, and a signal processing device arranged in parallel. .
The stereo camera control unit 70 recognizes the shape of the subject imaged by the stereo camera 71 and the relative position with respect to the host vehicle based on the image processing result using a known stereo image processing technique.
For example, the stereo camera control unit 70 can detect white lines at both ends of the lane ahead of the host vehicle and recognize the lane shape.
The laser scanner control unit 80 controls the laser scanner 81 and recognizes various objects such as vehicles and obstacles around the vehicle as 3D point group data based on the output of the laser scanner 81.

The rear side radar control unit 90 controls the rear side radar 91 provided on each of the left and right sides of the vehicle, and detects an object existing on the rear side of the host vehicle based on the output of the rear side radar 91. Is.
For example, the rear side radar 91 can detect another vehicle approaching from the rear side of the host vehicle.
For example, a radar such as a laser radar or a millimeter wave radar is used as the rear side radar 91.

FIG. 2 is a schematic diagram illustrating an arrangement of sensors for recognizing the surroundings of the vehicle according to the first embodiment.
Stereo cameras 71 are provided at the front, rear, and left and right sides of the vehicle 1, respectively.
A plurality of laser scanners 81 are provided in a distributed manner so that no blind spots are generated around the vehicle 1. The rear side radar 91 is disposed, for example, on the left and right sides of the vehicle body of the vehicle 1, and the detection range is set in the vehicle. It arrange | positions toward the back side and the vehicle width direction outer side.

The navigation apparatus 100 includes, for example, a host vehicle position measurement unit such as a GPS receiver, a data storage unit that stores map data prepared in advance, a gyro sensor that detects the front-rear direction of the host vehicle, and the like.
The map data has road information such as roads, intersections, and interchanges at the lane level.
The road information includes not only the three-dimensional lane shape data but also information that becomes restrictions on traveling such as whether or not each lane (lane) can be turned right and left, a temporary stop position, a speed limit, and the like.
The navigation device 100 has a display 101 incorporated in an instrument panel.
The display 101 is an image display device on which various information output from the navigation device 100 to the driver is displayed.
The display 101 is configured with a touch panel, and also functions as an input unit for performing various operation inputs from the driver.

  The road-to-vehicle communication device 110 communicates with a ground station (not shown) through a communication system conforming to a predetermined standard, and provides information on traffic jam information, traffic signal lighting state, road construction, accident site, lane regulation, weather, road surface conditions, and the like. To get.

  The inter-vehicle communication device 120 communicates with other vehicles (not shown) through a communication system that conforms to a predetermined standard, and information on the vehicle state such as the position, azimuth, acceleration, and speed of the other vehicles, vehicle type, vehicle size, etc. Information on vehicle attributes is acquired.

  The image generation unit 200 is an image generation unit that generates an image (environment image) including information on the environment around the host vehicle displayed on the display 210 based on the environment recognition result transmitted from the environment recognition unit 60.

The display 210 is an image display means arranged to face the vehicle occupant.
The display 210 has, for example, an LCD incorporated in an interior member such as an instrument panel.

Next, an operation at the time of image display and an example of screen display in the display device according to the first embodiment will be described.
FIG. 3 is a flowchart illustrating the operation of the display device according to the first embodiment.
Hereinafter, the steps will be described step by step.

<Step S01: Lane shape recognition>
The environment recognition unit 60 recognizes the lane shape of the host vehicle travel lane on the road around the host vehicle and the lane adjacent thereto.
The recognition of the lane shape is performed, for example, by detecting the position and shape of the white line provided along both ends of each lane by stereo image processing using an image captured by the stereo camera 71.
Thereafter, the process proceeds to step S02.

<Step S02: Other Vehicle Relative Position / Relative Speed Detection>
The environment recognition unit 60 recognizes other vehicles that travel around the host vehicle, and detects a relative position and a relative speed with respect to the host vehicle for each of the recognized other vehicles.
Thereafter, the process proceeds to step S03.

<Step S03: Generation of Lane Shape / Other Vehicle Distribution Image>
The image generation unit 200 generates an image (environment image) indicating the environment around the host vehicle based on the information (recognition result) provided from the environment recognition unit 60.
The image includes information on the lane shape of each lane around the host vehicle and information on the distribution of other vehicles on each lane.
Thereafter, the process proceeds to step S04.

<Step S04: Determination of grouping possibility>
The environment recognition unit 60 has a relative speed between the other vehicles of the plurality of other vehicles detected in step S02 is substantially the same (below a predetermined threshold), and a relative distance between the other vehicles is the same. It is determined whether or not there is a vehicle that is driving nearby (below a predetermined threshold value) and is adjacent to the same lane.
Here, the relative speed and relative distance between the other vehicles can be calculated from the relative speed and relative distance of the other vehicles recognized by the environment recognition unit 60 with respect to the host vehicle.
Here, the groupable vehicle group may be three or more vehicles.
If there are a plurality of such vehicles, they are extracted as a group of vehicles that can be grouped, and the process proceeds to step S05. In other cases, the process proceeds to step S06.

<Step S05: Grouping display generation>
The image generation unit 200 generates a grouping display indicating that a plurality of other vehicles extracted as a group of vehicles that can be grouped in step S04 are grouped.
The grouping display is displayed superimposed on the image generated in step S03.
Thereafter, the process proceeds to step S06.

<Step S06: Image Display Output>
The image generation unit 200 outputs the generated image data, displays it on the display 210, and presents it to the user.
Thereafter, the series of processes is terminated (returned).

Hereinafter, image display in the display device of Example 1 will be described.
FIG. 4 is a diagram illustrating an example of image display in the display device according to the first embodiment.
In FIG. 4, a display image 211 displayed on the display 210 shows a state where the vehicle is traveling on a high-standard automobile exclusive road such as an expressway having three lanes on one side.
The road on which the host vehicle 1 is traveling is, for example, a straight road having an overtaking lane LP, a first traveling lane L1, and a second traveling lane L2 in order from the right side.
Between each lane, the white line extended along the lane edge is provided.
The host vehicle 1 is traveling in the first travel lane L1.

In the example shown in FIG. 4, other vehicles V1, V2, and V3 are traveling on the overtaking lane LP in order from the front side.
Other vehicles V4 and V5 are traveling in order from the front side in front of the host vehicle 1 in the first travel lane L1.
Other vehicles V6 and V7 are traveling in order from the front side in the second traveling lane L2.
Here, the other vehicles V1, V2, and V3 are extracted as a group of vehicles that can be grouped in step S05, and are surrounded by a grouping display G1 indicating the same group.
Similarly, the other vehicles V4 and V5 are also extracted as a group of vehicles that can be grouped in step S05, and are surrounded by a grouping display G2 indicating the same group.
The grouping displays G1 and G2 are displayed so as to surround other vehicles in the same group by, for example, an annular line.
At this time, the display mode such as the color and brightness inside the grouping display may be different from the outside.

Note that when starting display of such grouping display, the display mode is gradually changed over a predetermined time.
For example, the display may be performed with a low luminance at first, and then the luminance may be gradually changed to a final display luminance over a predetermined time.
Further, the display color and shape may be changed.

According to Example 1 demonstrated above, the following effects can be acquired.
(1) A plurality of other vehicles V1 to V3 and V4 to V5 traveling close to each other in the same direction at substantially the same speed are regarded as a region with little information to be transmitted to the user and few change points, and each is regarded as one vehicle group. By grouping and displaying grouping displays G1 and G2, it is possible to intuitively grasp which area around the host vehicle 1 is occupied by other vehicles, and when a plurality of vehicles are individually recognized and monitored The monitoring burden can be reduced.
(2) By grouping other vehicles for each lane, it is possible to intuitively grasp the area occupied by each lane, and easily and appropriately determine whether or not the lane of the host vehicle can be changed. Can do.
(3) By changing the display mode of the grouping display over a predetermined time at the start of the grouping display, it becomes easier for the user to visually recognize that the display is changing, and the surrounding vehicles are grouped. Can understand it intuitively.

Next, a second embodiment of the display device to which the present invention is applied will be described.
In each of the embodiments described below, portions that are substantially the same as those in the previous embodiment are denoted by the same reference numerals, description thereof is omitted, and differences are mainly described.
The display device according to the second embodiment is an example in which, when the relative speed and the relative distance between the own vehicle and another vehicle traveling in the same lane are each equal to or less than a predetermined value, the own vehicle is also subject to grouping display. 1 and different.
FIG. 5 is a diagram showing an example of image display in the second embodiment of the display device to which the present invention is applied.
In the example shown in FIG. 5, the host vehicle 1 is included in the group display G3.
According to the second embodiment described above, in addition to the effects that are substantially the same as the effects of the first embodiment described above, the vehicle group including the host vehicle is recognized as an integrated group, thereby further reducing the monitoring burden on the user. Can be reduced.

Next, a third embodiment of the display device to which the present invention is applied will be described.
The display device of the third embodiment is different from the first embodiment in that individual vehicles are not displayed inside the grouping display.
FIG. 6 is a diagram illustrating an example of image display in the display device according to the third embodiment.
In FIG. 6, the other vehicles V <b> 1 to V <b> 5 are actually hidden, but are shown with broken lines for easy understanding. (Same as in FIG. 8)
According to the third embodiment described above, in addition to the effects substantially similar to the effects of the first embodiment described above, the user recognizes by not letting attention to individual vehicles within the grouped vehicle group. The amount of information to be suppressed can be reduced, and the monitoring burden can be reduced.

Next, a fourth embodiment of the display device to which the present invention is applied will be described.
FIG. 7 is a diagram illustrating an example of image display in the display device according to the fourth embodiment.
In the display device of the fourth embodiment, grouping displays G4 and G5 are displayed instead of the grouping displays G1 and G2 of the first embodiment.
The grouping displays G4 and G5 have a bar shape that connects the other vehicles V1 to V3 and the other vehicles V4 and V5, respectively.
Also in the fourth embodiment described above, substantially the same effect as that of the first embodiment described above can be obtained.

Next, a display device according to a fifth embodiment to which the present invention is applied will be described.
FIG. 7 is a diagram illustrating an example of image display in the display device according to the fifth embodiment.
In the display device according to the fifth embodiment, grouping displays G6 and G7 are displayed instead of the grouping displays G1 and G2 according to the first embodiment.
The grouping displays G6 and G7 are specific displays such as filling the entire lane width of the overtaking lane LP and the first traveling lane L1, for example, in a predetermined color in the area where the other vehicles V1 to V3 and the other vehicles V4 and V5 exist. It is displayed according to the aspect.
According to the fifth embodiment described above, in addition to the effects substantially the same as the effects of the first embodiment described above, it is intuitive to the user that it is dangerous to enter the lane where the grouped vehicle group exists. Can be grasped.

Next, a sixth embodiment of the display device to which the present invention is applied will be described.
The display device of the sixth embodiment is different from the first embodiment in that the grouping displays provided in the adjacent lanes are connected and displayed when a predetermined condition is satisfied.
That is, in the sixth embodiment, a grouping display across a plurality of lanes can be generated.
FIG. 9 is a flowchart illustrating the operation of the display device according to the sixth embodiment.
Hereinafter, the steps will be described step by step.

<Step S11: Lane Shape Recognition>
The environment recognition unit 60 recognizes the lane shape of the host vehicle travel lane on the road around the host vehicle and the lane adjacent thereto.
Thereafter, the process proceeds to step S12.

<Step S12: Other vehicle relative position / relative speed detection>
The environment recognition unit 60 recognizes other vehicles that travel around the host vehicle, and detects a relative position and a relative speed with respect to the host vehicle for each recognized other vehicle.
Thereafter, the process proceeds to step S13.

<Step S13: Lane Shape / Other Vehicle Distribution Image Generation>
The image generation unit 200 generates an image (environment image) indicating the environment around the host vehicle based on the information (recognition result) provided from the environment recognition unit 60.
Thereafter, the process proceeds to step S14.

<Step S14: Determination of grouping possibility>
The environment recognition unit 60 has a relative speed between the other vehicles of the plurality of other vehicles detected in step S02 is substantially the same (below a predetermined threshold), and a relative distance between the other vehicles is the same. It is determined whether or not there is a vehicle that is nearby (below a predetermined threshold) and is traveling adjacent to the same lane.
If there are a plurality of such vehicles, they are extracted as a group of vehicles that can be grouped, and the process proceeds to step S15. In other cases, the process proceeds to step S16.

<Step S15: Grouping display generation>
The image generating unit 200 generates a grouping display indicating that these are grouped by surrounding a plurality of other vehicles extracted as a group of vehicles that can be grouped in step S14.
The grouping display is displayed superimposed on the image generated in step S13.
Thereafter, the process proceeds to step S16.

<Step S16: Judging road conditions>
The environment recognition unit 60, for example, based on information from the navigation device 100 or the like, at a predetermined distance in front of the host vehicle, the road where the host vehicle travels and other roads merge, branch, cross, junction, interchange, Determine if there are any intersections.
If there is such a junction, the process proceeds to step S19, and otherwise, the process proceeds to step S17.

<Step S17: Judgment for Group Connection>
When a plurality of grouping displays are generated in step S15, the image generation unit 200 has a relative speed equal to or lower than a predetermined value (substantially constant speed) and close to an adjacent lane (for example, in the traveling direction of each group). The presence or absence of the arranged grouping display is determined.
If such a grouping display is present, it is determined that connection is possible, and the process proceeds to step S18. Otherwise, the process proceeds to step S19.

<Step S18: Grouping display connection>
The image generation unit 200 sets the grouping display determined to be connectable in step S17 as a display integrally connected across the lanes.
Thereafter, the process proceeds to step S19.

<Step S19: Image display output>
The image generation unit 200 outputs the generated image data, displays it on the display 210, and presents it to the user.
Thereafter, the series of processes is terminated (returned).

FIG. 9 is a diagram illustrating an example of image display in the display device according to the sixth embodiment.
In the example shown in FIG. 9, the running conditions of the surrounding vehicles are the same as in FIG. 4, but the average speed of the vehicle group (other vehicles V1 to V3) included in the grouping display G1 in the first embodiment and the grouping display G2 The relative speed with respect to the average speed of the vehicle group (other vehicles V4, V5) included in the vehicle is less than a predetermined value, and the relative distance between the grouping displays G1, G2 is less than the predetermined value.
The image generation unit 200 generates a grouping display G8 obtained by connecting the grouping displays G1 and G2 in the first embodiment and displays the grouping display G8 on the display 210.

According to the sixth embodiment described above, in addition to the effects substantially similar to the effects of the first embodiment described above, the number of groups that need to be monitored can be reduced by performing grouping across multiple lanes. , The monitoring burden on the user can be further reduced.
In addition, when there is a junction with a road junction or branch in front of the host vehicle 1, the traffic for each lane can be changed at a place where the vehicle speed, traffic volume, etc. are likely to change by releasing the grouping display. Can be easily grasped.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
(1) The configuration of the display device and the configuration of the vehicle are not limited to the above-described embodiments, and can be changed as appropriate. In the embodiments, the vehicle is a passenger car, but the present invention can also be applied to commercial vehicles such as freight cars, trucks, buses, motorcycles, and other various special vehicles.
(2) In the embodiment, the vehicle uses an engine as a driving power source. However, the present invention is not limited to this, and an electric motor or a hybrid system that combines an engine and an electric motor is used as a driving power source. Can also be used.
(3) The type and arrangement of sensors for recognizing the environment around the host vehicle are not limited to the above-described embodiments, and can be changed as appropriate. For example, various sensors such as a millimeter wave laser, a laser radar, a monocular camera, and an ultrasonic sonar can be used in combination with or in place of the sensors in the embodiments.
Environment recognition using information obtained by road-to-vehicle communication or vehicle-to-vehicle communication, or map data possessed by positioning means such as GPS and navigation devices, in combination with or in place of sensors mounted on the vehicle itself May be performed.
(4) In the embodiment, the display image is a plan view. However, the display image is not limited to this, and may be a bird's-eye view (bird's-eye view) or a driver's view viewed from a virtual driver viewpoint. Further, 3D display may be performed using a display capable of 3D display. Further, the display is not limited to the display provided on the instrument panel, and may be displayed by, for example, a head-up display that projects an image on the windshield.

DESCRIPTION OF SYMBOLS 1 Vehicle 10 Engine control unit 20 Transmission control unit 21 Forward / reverse switching actuator 22 Range detection sensor 30 Behavior control unit 31 Hydraulic control unit (HCU)
32 Vehicle speed sensor 40 Electric power steering (EPS) control unit 41 Motor 42 Steering angle sensor 50 Automatic operation control unit 51 Input / output device 60 Environment recognition unit 70 Camera control unit 71 Stereo camera 80 Laser scanner control unit 81 Laser scanner 90 Rear side Radar control unit 91 Rear side radar 100 Navigation device 101 Display 110 Road-to-vehicle communication device 120 Vehicle-to-vehicle communication device 200 Image generation unit 210 Display 211 Display image LP Overtaking lane L1 First traveling lane L2 Second traveling lane V1 to V7, etc. Vehicle G1-G8 Grouping display

Claims (8)

Environment recognition means for recognizing the environment around the vehicle,
Image generating means for generating an image including information on the distribution of other vehicles traveling around the host vehicle based on the recognition result of the environment recognizing means;
An image display means for displaying the image, comprising:
The image generation means indicates that the plurality of other vehicles are grouped when the environment recognition means detects a plurality of other vehicles having a relative speed of a predetermined value or less and traveling adjacent to each other. A display device that generates a grouping display. The display device according to claim 1, wherein the image generation unit generates the grouping display for a plurality of vehicles traveling in the same lane. The image generation means is configured such that a relative speed between the plurality of other vehicles to be subjected to the grouping display and the own vehicle is equal to or less than the predetermined value, and the own vehicle is adjacent to at least a part of the other vehicles to be the grouping display target. 3. The display device according to claim 1, wherein, when traveling, the position of the host vehicle is included in the grouping display. 4. The display device according to any one of claims 1 to 3, wherein in the range in which the grouping display is generated, the display individually indicating the plurality of other vehicles is not displayed. The display device according to any one of claims 1 to 4, wherein the grouping display is displayed over the entire lane width in which the plurality of other vehicles travel. The image display means gradually changes the display mode of the grouping display over a predetermined time when the display of the grouping display is started. The display device described. The image generation means connects the plurality of grouping displays when the relative speeds of the vehicles respectively included in the plurality of grouping displays generated in the adjacent lanes are equal to or less than a predetermined value. The display device according to any one of claims 1 to 6. The connection of the plurality of grouping indications is canceled when there is at least one of a junction point, a branch point, and an intersection point with another road ahead of the road on which the host vehicle is traveling. The display device described.

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