JP2017182588A - Display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a display device capable of readily and intuitively grasping an area where a risk may be present.SOLUTION: A display device comprises: environment recognition means for recognizing an environment around an own vehicle; image generation means for generating an image showing a road shape around the own vehicle by the use of map data prepared in advance; and image display means for displaying the image generated by the image generation means. The image generation means unifies, in the image, risk possibility areas R1-R4, including an area that cannot be recognized by the environment recognition means, in a display mode different from that for another area, and displays the risk possibility areas.SELECTED DRAWING: Figure 4

Description

  The present invention relates to a display device that displays an image of information related to the environment around the host vehicle, and more particularly to a display device that can intuitively and easily grasp a region where there is a risk.

In a vehicle such as an automobile, a display device that recognizes the situation ahead of the host vehicle by various peripheral recognition means such as a camera, a laser scanner, a radar, etc., and displays information on lane shapes, obstacles, etc. based on the recognition result Various proposals have been made.
By using such a display device, it is possible to obtain more information than can be obtained by the occupant himself / herself, and as driving assistance when the occupant is driving as a driver, the occupant is automatically It is also useful for monitoring the adequacy of operational control.

As a prior art related to the recognition of the surrounding environment of a vehicle, for example, Patent Document 1 discloses that in a vehicle collision risk avoidance system that controls a host vehicle and avoids a collision when a millimeter wave sensor detects an object. It is described that an object that cannot be detected by light has a higher degree of danger and strongly gives a warning to the driver.
Patent Document 2 describes a vehicle environment estimation device that estimates the presence of another vehicle in a blind spot region that cannot be recognized from the host vehicle based on the behavior of a preceding vehicle.

JP 2013-156793 A JP 2010-267211 A

In recent years, environment recognition technology using sensors such as cameras and radars has evolved, and it is possible to ensure safety with information based on the results of environment recognition within the detection range of the sensors.
However, if all the information based on the environment recognition result is displayed to the user (driver during manual operation), the driver's recognition load increases and the monitoring burden becomes heavy.
On the other hand, if the user can recognize the area that can be recognized by the environment recognition means and the area that cannot be recognized, it is possible to warn or recognize that the risk object appears from the area that cannot be recognized. It is easy to determine whether the environment recognition result is valid in the area.
The subject of this invention is providing the display apparatus which can grasp | ascertain the area | region where a risk may exist intuitively and easily.

The present invention solves the above-described problems by the following means.
The invention according to claim 1 is an environment recognition unit that recognizes an environment around the host vehicle, an image generation unit that generates an image showing a road shape around the host vehicle using map data prepared in advance, and the image generation unit. An image display means for displaying the image generated by the means, wherein the image generation means includes a risk potential area including an area in the image that cannot be recognized by the environment recognition means, The display device is characterized by being displayed in a unified manner in a display mode different from other regions.
According to this, the user can easily recognize the area whose safety cannot be confirmed by the environment recognizing means by displaying the area that cannot be recognized by the environment recognizing means in a display manner different from other areas. Can do.
As a result, it is possible to recognize in which area the risk is concerned and allow the user to perform appropriate monitoring.

The invention according to claim 2 is the display device according to claim 1, wherein the environment recognition means recognizes the environment based on an output of a sensor mounted on the host vehicle.
According to this, it can be set as the stand-alone structure which can be established only with the component mounted in the own vehicle, and it becomes easy to ensure reliability while preventing complication of the structure.

According to a third aspect of the present invention, the environment recognition means is mounted on another vehicle having an output of a sensor mounted on the host vehicle and an inter-vehicle communication device that travels in the vicinity of the host vehicle and can communicate with the host vehicle. The display device according to claim 1, wherein an environment is recognized based on an output of the sensor.
According to this, by using the information detected by the sensor of the other vehicle via the inter-vehicle communication, the area that can be recognized by the environment recognizing means can be expanded and the risk possibility area can be reduced.

According to a fourth aspect of the present invention, in the display device according to any one of the first to third aspects, the image generating means displays the risk potential area with a similar color. .
According to this, the effect mentioned above can be acquired reliably with a simple configuration.
Here, the display using the similar color includes filling with a single color, shading display with the similar color, and the like.

In the invention according to claim 5, the environment recognizing unit extracts a risk object in a region that can be recognized by the environment recognizing unit, and the image generating unit can estimate the estimated course of the risk object. The display device according to any one of claims 1 to 4, wherein the display device is a part of the sex region.
According to this, even in the area that can be recognized by the environment recognition means, the area that is not determined to be safe is displayed as a part of the risk possibility area in the same manner as the area that cannot be recognized by the environment recognition means. Thus, the user can be appropriately alerted.

According to a sixth aspect of the present invention, the risk object is another vehicle or a pedestrian, and the environment recognition means defines an area where the risk object can proceed when the risk object complies with traffic regulations. The display device according to claim 5, wherein the display device is set as an estimated course.
According to this, by considering the case where the risk object does not comply with traffic laws (for example, ignoring red light), the risk potential area becomes excessively large, and the risk that is very unlikely to occur in reality It becomes possible to prevent the burden on the user from increasing due to complicated monitoring.

  As described above, according to the present invention, it is possible to provide a display device that can intuitively and easily grasp a region where a risk may exist.

It is a block diagram which shows typically the structure of the vehicle in which the Example of the display apparatus to which this invention is applied is provided. It is a schematic diagram which shows arrangement | positioning of the sensors which recognize the vehicle periphery in the vehicle of an Example. It is a flowchart which shows operation | movement of the display apparatus of an Example. It is a figure which shows typically an example of the screen display in the display apparatus of an Example.

  The present invention provides a problem of providing a display device that can intuitively and easily grasp an area where a risk may exist, an area where direct environment recognition means using a sensor mounted on a vehicle cannot be recognized, and others The problem is solved by displaying the area in which the vehicle or the like can enter the course of the host vehicle with similar colors indicating the risk potential area.

Examples of display devices 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 an embodiment of a display device to which the present invention is applied.
The display device 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 a road shape ( Lane shape), information on obstacles such as other vehicles, pedestrians, buildings, etc. are displayed as images.
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.
The automatic operation control unit acquires information about the environment around the host vehicle from the environment recognition unit 60, sets a target travel line that can avoid risk objects such as other vehicles, and the actual travel line of the host vehicle 1 Vehicle travel control is performed along the target travel line.

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 constitutes the display device of the present invention in cooperation with an image generation unit 200, a display 210, and the like which will be described later.

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 vehicle periphery in the vehicle of the 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.

  In the various environment recognition means described above, the lane shape and obstacles are directly detected by sensors mounted on the vehicle such as the stereo camera 71, the laser scanner 81, and the rear side radar 91 that perform environment recognition using the sensors mounted on the vehicle 1 itself. It is the environment recognition means (direct environment recognition means) referred to in the present invention that detects the above.

  The image generation unit 200 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 device that is disposed to face a 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 in the display device of the embodiment and an example of the display screen will be described.
FIG. 3 is a flowchart illustrating the operation of the display device according to the embodiment.
Hereinafter, the steps will be described step by step.

<Step S01: Map data acquisition>
The environment recognition unit 60 acquires map data including information on the road shape, lane shape, terrain, building, and the like near the point where the host vehicle 1 is traveling from the navigation device 100.
Thereafter, the process proceeds to step S02.

<Step S02: Acquisition of target travel line information>
The environment recognition unit 60 acquires information on the target travel line that is the planned travel route of the host vehicle 1 from the automatic operation control unit 50.
Thereafter, the process proceeds to step S03.

<Step S03: Recognition of the environment around the vehicle>
The environment recognition unit 60 recognizes the environment around the host vehicle 1.
The environment recognition unit 60 detects, for example, lane shape and terrain, and various objects such as other vehicles, pedestrians, and buildings.
The information regarding these objects includes, for example, the type, the relative position from the host vehicle, the size, the shape, and the relative speed with respect to the host vehicle when moving.
Thereafter, the process proceeds to step S04.

<Step S04: Determination of Unrecognizable Area>
The environment recognition unit 60 determines an area in which environment recognition by sensors such as the stereo camera 71 and the laser scanner 81 is impossible (environment recognition impossible area).
The environment unrecognizable region includes a region that is beyond the detection limit distance of each sensor and a region that is blocked by a shield such as a building or another vehicle and has a blind spot.
Thereafter, the process proceeds to step S05.

<Step S05: Risk object extraction>
The environment recognizing unit 60 extracts an object that is assumed to have a collision risk with the host vehicle from the objects detected in step S03, and sets the object as a risk object.
The risk target object includes an object adjacent to the target travel line of the host vehicle 1 and a moving body that may approach or enter the target travel line of the host vehicle 1.
Thereafter, the process proceeds to step S06.

<Step S06: Risk Object Existence Determination>
If the environment recognition unit 60 has extracted at least one risk object in step S05, the process proceeds to step S07.
If no risk object is extracted, the process proceeds to step S09.

<Step S07: Risk object movement / movement possibility determination>
In the environment recognition unit 60, the risk object extracted in step S05 is a moving object that is currently moving, an object that is currently stopped but may start moving, or an object that does not move. Determine if it exists.
For example, the other vehicle that is stopped is recognized as an object that may start moving.
If the risk object is a moving object or an object that may start moving, the process proceeds to step S08; otherwise, the process proceeds to step S09.

<Step S08: Risk Object Course Estimation>
The environment recognition unit 60 estimates the path that the risk object can take in the future.
When the risk object is a moving object, the course is estimated based on the current speed and the traveling direction.
Further, when the risk object is an object that may start moving, a path that can be taken when the risk object complies with traffic regulations (signals, signs, lane classification, etc.) is set as the estimated path.
For example, another vehicle that has stopped due to a red light or a stop sign has a possibility of moving forward. In addition, when the turn signal lamp blinking is detected by the stereo camera 71, a left / right turn in the corresponding direction, a lane change, or the like is expected.
After completing the course estimation of the risk object, the process proceeds to step S09.

<Step S09: Risk potential area setting>
The environment recognizing unit 60 sets the area that is not recognized in step 04 and the area adjacent to the extracted risk object and its estimated path as a risk possibility area where there is a possibility of occurrence of a collision risk. Set.
Then, it progresses to step S10.

<Step S10: Display Image Data Generation>
The image generation unit 200 generates image data of a display image displayed on the display 210 based on information provided from the environment recognition unit 60.
The display image will be described later in detail.
Then, it progresses to step S11.

<Step S11: Display image output>
The image generation unit 210 transmits the image data generated in step S10 to the display 210 to display a display image.
Thereafter, the series of processing is terminated (returned).

Hereinafter, the display image in the display apparatus of an Example is demonstrated.
FIG. 4 is a diagram illustrating an example of a display image in the display device according to the embodiment.
As shown in FIG. 4, the display image simplifies the environment around the host vehicle by omitting details and the like, and displays it as an overhead view generated by computer graphics.
In this overhead view, a field of view from a virtual viewpoint set above and behind the host vehicle is shown.
In addition, in the overhead view, in addition to the host vehicle, symbols indicating various risk objects such as other vehicles, pedestrians, bicycles, buildings, etc. are displayed superimposed on the locations indicating the positions of the risk objects. .

In the example shown in FIG. 4, the host vehicle 1 is traveling on a one-lane, one-lane left-side road in an urban area.
In front of the host vehicle 1, there is an intersection J where a road on which the host vehicle is traveling and a road on the left side of one lane substantially along the vehicle width direction of the host vehicle 1 intersect.
The intersection J is provided with a pedestrian crossing along the vehicle width direction of the host vehicle 1 on the front side and the rear side when viewed from the host vehicle 1, and with a pedestrian crossing along the traveling direction of the host vehicle 1 on the left and right. ing.
The host vehicle 1 is scheduled to turn left at the intersection J as shown by a target travel line L illustrated by a broken-line arrow in FIG.

In the display image, buildings B1 to B4 that are buildings are displayed.
The building B1 is disposed on the left front side of the intersection J.
The building B2 is disposed on the right front side of the intersection J.
Building B3 is arranged on the left back side of intersection J.
Building B4 is arranged on the right back side of intersection J.
Sidewalks are formed between the buildings B1 to B4 and the roadway of each road.

In the display image, the other vehicle V1 and the pedestrians PE1 and PE2 are displayed.
The other vehicle V1 travels on the opposite lane behind the intersection J toward the host vehicle 1, and the turn signal lamp (not shown) blinking in the right turn direction is detected by the stereo camera 71.
The pedestrian PE1 is on the sidewalk in the vicinity of the building B1, and is walking on the pedestrian crossing to move to the sidewalk on the building B2 side.
The pedestrian PE2 is moving while walking on the pedestrian crossing from the building B4 side to the building B2 side.
The cyclist CY is running in parallel in the same direction as the host vehicle 1 on the sidewalk on the building B1 side.

On the road where the vehicle 1 turns right, the blind spot portion blocked by the buildings B1 and B2 is an area in which the environment cannot be recognized by the stereo camera 71 or the like, and therefore on the road surface, there is a risk possibility area R1, R2. It has become.
In such risk possibility regions R1 and R2, for example, other vehicles V2 and V3, a pedestrian PE3, and the like may exist.
Such a risk object in the blind spot cannot be recognized directly by the environment recognition means at least from the current position of the host vehicle 1, and therefore the risk possibility regions R1 and R2 can be determined to be safe. It is in an unconfirmed safety state.
However, in the example shown in FIG. 4, since the signal on the front side of the own vehicle 1 permits the progress, the other vehicles V2, V3, and the pedestrian PE3 are signals as long as they comply with traffic regulations. Since the vehicle is stopped in the waiting state, the risk of interference with the target travel line L of the host vehicle 1 is relatively low.
Similarly, the pedestrian PE1 is stopped in a signal waiting state, and the risk is relatively low.
As for the pedestrian PE2, the pedestrian PE2 is walking on the pedestrian crossing.

On the other hand, the other vehicle V1, which is an oncoming vehicle, makes a right turn immediately before the host vehicle 1, and there is a concern that the estimated course of the other vehicle V1 and the target travel line L of the host vehicle 1 are close to each other and further cross. The
Therefore, a risk possibility region R3 is set along the estimated route through which the other vehicle V1 passes when turning right.

Further, it can be estimated that the cyclist CY running in parallel with the host vehicle 1 travels straight in the intersection J from the building B1 side to the building B3 side.
In this case, since the target travel line L of the host vehicle 1 is crossed, the risk possibility region R4 is set in front of the cyclist CY.

The risk possibility regions R1 to R4 described above are displayed in a common display mode different from other regions on the display image.
For example, the risk possibility regions R1 to R4 can be displayed in gradation using a predetermined color (for example, gray) or filled with a predetermined color.
On the other hand, areas other than the risk potential areas are drawn using a plurality of colors, so that visual differences from the risk potential areas R1 to R4 are provided so that the areas can be clearly identified at a glance. Can do.

According to the embodiment described above, the following effects can be obtained.
(1) Safety cannot be confirmed by the in-vehicle sensor by displaying the regions R1 and R2 that cannot be recognized by the in-vehicle sensor such as the stereo camera 71 and the laser scanner 81 in a unified display manner different from other regions. The user can easily recognize the area.
As a result, it is possible to recognize in which area the risk is concerned and allow the user to perform appropriate monitoring.
(2) By using in-vehicle sensors such as the stereo camera 71 and the laser scanner 81 mounted on the host vehicle 1 as environment recognition means, a stand-alone configuration that can be established only by the components mounted on the host vehicle. Therefore, it is possible to prevent the configuration from becoming complicated and to ensure the reliability.
(3) By making the risk possibility regions R1 to R4 unified display with similar colors, the above-described effects can be reliably obtained with a simple configuration.
(4) By setting the estimated course of the extracted risk object as the risk possibility areas R3 and R4, even in the area that can be recognized by the in-vehicle sensor, the area that is not determined to be safe is the risk possibility area R1. As a part of ~ R4, by displaying in the same manner as the area where recognition cannot be performed, the user can be appropriately alerted.
(5) By setting risk possibility areas R3 and R4 in areas where other vehicles V1 and cyclists CY comply with the traffic light instructions, the risk object does not comply with traffic regulations. As a result, it is possible to prevent the risk potential area from becoming excessively large, and monitoring of risks that rarely occur in reality becomes complicated, thereby increasing the burden on the user.

(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 bird's-eye view (bird's-eye view). However, the display image is not limited to this, and may be a plan view or a driver's view viewed from the 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.
(5) In the embodiment, a sensor such as a stereo camera or a radar scanner mounted on the own vehicle is used as the environment recognizing means. However, the present invention is not limited to this. For example, other vehicles that travel adjacently (typically The output of the sensor mounted in the preceding vehicle) may be acquired by inter-vehicle communication, and environment recognition may be performed based on this.
(6) Although the display device of the embodiment is applied to a vehicle that performs automatic driving, the present invention is not limited to this, and is also useful for driving support of a vehicle that performs manual driving.

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 J Intersection S signal V1 to V3 Other vehicles PE1 to PE3 ~ R4 Risk potential area L Target drive line

Claims (6)

Environment recognition means for recognizing the environment around the vehicle,
Image generating means for generating an image showing a road shape around the host vehicle using map data prepared in advance;
An image display means for displaying the image generated by the image generation means,
The image generation means displays a risk potential area including an area that cannot be recognized by the environment recognition means in the image in a unified display manner different from other areas. . The display device according to claim 1, wherein the environment recognition unit recognizes the environment based on an output of a sensor mounted on the host vehicle. The environment recognition means is based on an output of a sensor mounted on the own vehicle and an output of a sensor mounted on another vehicle having a vehicle-to-vehicle communication device that travels in the vicinity of the own vehicle and can communicate with the own vehicle. The display device according to claim 1, wherein the display device recognizes an environment. The display device according to any one of claims 1 to 3, wherein the image generation unit displays the risk potential area in a similar color. The environment recognition means extracts a risk object in an area that can be recognized by the environment recognition means,
The display device according to any one of claims 1 to 4, wherein the image generation unit sets the estimated course of the risk object as a part of the risk possibility region. The risk object is another vehicle or a pedestrian,
The display device according to claim 5, wherein the environment recognizing unit sets, as the estimated course of the risk object, an area where the risk object can proceed when the risk object complies with traffic regulations.

Images