JP2017187839A - Vehicular display method and vehicular display apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicular display method enabling an occupant to grasp the cause of the occurrence of a rapid motion to a vehicle itself in the case of such motion occurring due to automatic control, thus giving the occupant a sense of security.SOLUTION: A display method includes the steps of: detecting a surrounding condition of a vehicle itself (S1, S2); discriminating occurrence of a rapid motion of an automobile due to automatic control of the vehicle itself (S7); generating an image representing a surrounding condition including an occurrence cause of the rapid motion on the basis of the surrounding condition in the case of the occurrence of the rapid motion being discriminated (S8); and displaying the image on image display means 7 disposed inside the vehicle itself after the occurrence of the rapid motion (S9).SELECTED DRAWING: Figure 12

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 on a display means 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 ( (See Patent Document 1). According to the driving support apparatus described in Patent Literature 1, the occupant knows in advance the direction in which the vehicle should move in order to avoid danger by confirming the moving direction of the simulated vehicle displayed on the display means. be able to.

  In a vehicle equipped with a conventional driving support device, when contact with an obstacle such as another vehicle is predicted, automatic control such as sudden braking or turning to avoid contact is added, and the own vehicle A sudden movement may occur. When a sudden motion occurs, the occupant cannot afford to check the surrounding situation of the host vehicle, and it may be difficult to understand why the sudden motion has occurred, that is, the cause of the sudden motion. Even if the direction for avoiding contact is displayed as in the driving support device described in Patent Document 1, it is difficult to keep an eye on the occurrence of the sudden movement, and as long as the display is seen, the cause of the sudden movement is not observed. As a result, there is a problem that the occupant feels uneasy.

JP 2008-129718 A

  In view of the above-described problems, the present invention provides a vehicle display that makes it possible for the occupant to easily grasp the cause of the sudden movement when a sudden movement occurs in the own vehicle by automatic control, and gives the occupant a sense of security. It is an object to provide a method and a display device for a vehicle.

  According to one aspect of the present invention, it is determined whether or not automatic control of the own vehicle is executed according to the surrounding situation of the own vehicle, and when it is determined that automatic control is executed, Based on the situation, an image showing the surrounding situation including the cause of the automatic control is generated. And the display method for vehicles and the display apparatus for vehicles characterized by displaying the image containing the generation cause of automatic control on an image display means are provided.

  According to the present invention, when it is determined that automatic control is executed, a vehicle display method that allows the occupant to easily grasp the cause of the automatic control and gives the occupant a sense of security, and A vehicle display device 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 camera 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. FIG. 4A to FIG. 4C are top views sequentially showing the situation before, during, and after the occurrence of the sudden movement of the host vehicle according to the first embodiment of the present invention. FIG. 5A and FIG. 5B are schematic diagrams respectively showing images showing the left rear and right rear situations of the host vehicle generated by the image generation unit according to the first embodiment of the present invention. . FIG. 6A to FIG. 6C are schematic diagrams respectively showing examples of images indicating the control direction of the host vehicle generated by the image generation unit according to the first embodiment of the present invention. It is the schematic which shows the example of a display of the image by the image display means which concerns on the 1st Embodiment of this invention. FIGS. 8A and 8B are top views sequentially showing the situation before and at the time of occurrence of the sudden movement of the host vehicle according to the first embodiment of the present invention. FIG. 9A and FIG. 9B are schematic diagrams respectively showing images showing the situation in front of the host vehicle generated by the image generation unit according to the first embodiment of the present invention. It is a top view which shows the example of arrangement | positioning of the camera of the own vehicle which concerns on the 1st Embodiment of this invention. It is the schematic which shows the bird's-eye view image of the own vehicle produced | generated by the image generation part which concerns on the 1st Embodiment of this invention. It is a flowchart for demonstrating an example of the display method for vehicles which concerns on the 1st Embodiment of this invention. It is a flowchart for demonstrating another example of the 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 the schematic which shows the example of a display of the image by the image display means which concerns on other embodiment of this invention. It is the schematic which shows the example of a display of the image by the image display means which concerns on other embodiment of this invention.

  Hereinafter, first and second 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 following embodiments exemplify apparatuses and methods for embodying the technical idea of the present invention, and the technical idea of the present invention is the material, shape, structure, and arrangement of components. Etc. are 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)
The vehicle display device according to the first embodiment of the present invention can be mounted on the host vehicle, and includes a control device 1, an ambient condition detection means 10, and an image display means 7, as shown in FIG. . 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 an obstacle detection means 2, a lane detection means 3, and a plurality (two) of imaging means 4a and 4b so as to detect the surrounding situation of the host vehicle.

  As the obstacle detection means 2, 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 2 are not particularly limited. For example, a plurality of obstacle detection means 2 may be installed at the front, side, and rear of the host vehicle. The obstacle detection means 2 detects obstacles such as other vehicles, utility poles and walls existing around the host vehicle, and outputs the relative position, distance, relative speed, etc. between the host vehicle and the obstacle to the control device 1. .

  As the lane detection means 3, for example, a sensor using a camera can be used. The number and arrangement positions of the lane detection means 3 are not particularly limited, and for example, a plurality of lane detection means 3 may be installed in front of or behind the host vehicle. The lane detection means 3 detects the traveling lane and the adjacent lane of the host vehicle divided by the lane boundary, for example, by extracting a lane boundary such as a white line in the image captured by the camera, and detects the detected traveling lane and adjacent The relative position and distance of the lane are output 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 means 4a and 4b sequentially image surrounding conditions of the host vehicle. For example, as illustrated in FIG. 2, the imaging unit 4 a is installed on the left side surface of the host vehicle 101 so that the left rear of the host vehicle 101 is set as an imaging range R <b> 1. The imaging means 4b is installed on the right side surface of the host vehicle 101 so that the right rear side of the host vehicle 101 is 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, 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 lane position acquisition unit 11, a sudden motion necessity determination unit 12, a control information calculation unit 13, a vehicle control unit 14, a sudden motion identification unit 15, an image generation unit 16, and a display control unit 17. The in-lane position acquisition unit 11, the sudden motion necessity determination unit 12, the control information calculation unit 13, the vehicle control unit 14, the sudden motion identification unit 15, the image generation unit 16, and the display control unit 17 function in the control device 1. It may be provided as a separate case, or may be provided as separate cases.

  The in-lane position acquisition unit 11 determines in which lane the obstacle is present based on the relative position of the obstacle detected by the obstacle detection unit 2 and the relative position of the lane detected by the lane detection unit 3. And the distance and relative speed between the vehicle 101 and the obstacle along the lane are acquired.

  The sudden action necessity determination unit 12 determines the risk of contact between the host vehicle 101 and the obstacle based on the distance and relative speed between the host vehicle 101 and the obstacle along the lane acquired by the in-lane position acquisition unit 11. Is calculated. The contact risk is an index indicating the degree of possibility that the host vehicle 101 and the obstacle are in contact with each other. The higher the contact risk, the higher the possibility that the host vehicle 101 and the obstacle are in contact with each other. For example, the contact risk is calculated higher as the distance between the host vehicle 101 and the obstacle is shorter, and the contact risk is calculated higher as the relative speed between the host vehicle 101 and the obstacle is higher. Furthermore, the contact risk may be calculated higher as the speed of the host vehicle 101 is higher.

  The contact risk can be calculated by using at least the distance between the host vehicle 101 and the obstacle, but in addition to the distance between the host vehicle 101 and the obstacle, the relative speed between the host vehicle 101 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 101 and the obstacle, the distance and relative speed in the direction (traveling direction) along the lane acquired by the in-lane position acquisition unit 11 may be used. The detected linear distance and relative speed between the host vehicle 101 and the obstacle may be used.

Here, an example of a method for calculating the contact risk by the sudden action necessity determination unit 12 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 101 collides with the preceding other vehicle, assuming that the current relative speed is maintained, and the relative margin between the host vehicle 101 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 101 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 sudden action necessity determination unit 12 further determines whether or not the own vehicle 101 needs sudden action according to an obstacle by determining whether or not the calculated contact risk is equal to or greater than a predetermined threshold. That is, when the contact risk is equal to or higher than a predetermined threshold value, the sudden action necessity determination unit 12 determines that the host vehicle 101 needs to move quickly to avoid an obstacle, and when the contact risk is less than the predetermined threshold value. It is determined that a sudden operation of the host vehicle 101 for avoiding an obstacle is unnecessary. The predetermined threshold can be set as appropriate, and may be stored in advance in a storage device of the control device 1. The sudden action necessity determination unit 12 predicts the future behavior of the host vehicle such as the vehicle speed, the yaw rate, the jerk, and the turning radius, and if any of the actions exceeds a predetermined value, the sudden action is determined according to the obstacle. May be identified as necessary.

  The control information calculation unit 13 determines that the host vehicle 101 and the obstacle are in trouble when the contact risk is determined to be greater than or equal to a predetermined threshold by the sudden action necessity determination unit 12 and the sudden action of the host vehicle 101 is necessary for the obstacle. Control information including a control direction and a control amount of the host vehicle 101 for automatic control so as to avoid contact with an obstacle is calculated based on a relative position, a distance, a relative speed, and the like with the object.

  The control directions are, for example, the right turning direction (right direction) and the left turning direction (left direction) controlled by the steering means 6a, the rapid acceleration direction (forward) controlled by the acceleration means 6b, and the sudden deceleration controlled by the braking means 6c. Includes direction (backward). In addition, it includes right rear by a combination of right turn and sudden deceleration, left rear by a combination of left turn and sudden deceleration direction, right front by combination of right turn and sudden acceleration direction, and left front by left turn and sudden acceleration direction .

  The control amount corresponds to the control direction and the control target for controlling in that control direction. For example, the steering torque amount of the steering means 6a for sudden turning, the braking amount of the braking means 6c for sudden deceleration, The amount of depression of the acceleration means 6b for acceleration, or a combination thereof is included. The control direction and the control amount can be appropriately selected according to the relative position, distance, relative speed, etc. between the host vehicle 101 and the obstacle.

  The vehicle control unit 14 automatically controls the steering unit 6a, the braking unit 6c, and the acceleration unit 6b, which are control targets, using the control information including the control direction and the control amount calculated by the control information calculation unit 13. Thus, the host vehicle 101 is controlled so as to avoid contact with an obstacle.

  The sudden action identifying unit (automatic control determining unit) 15 identifies the occurrence of a sudden action of the host vehicle 101 by the automatic control by the system based on the control amount calculated by the control information calculating unit 13. When the control amount calculated by the control information calculation unit 13 is equal to or greater than a predetermined threshold value, the sudden action identification unit 15 causes the host vehicle to It is determined that a sudden operation occurs in 101. On the other hand, when the control amount calculated by the control information calculation unit 13 is less than a predetermined threshold, the sudden action identification unit 15 determines that no sudden action occurs. The predetermined threshold value can be appropriately set according to the type of control amount such as the steering torque amount and the braking amount, and may be stored in advance in the storage device of the control device 1 or the like.

  When the automatic control is executed in the host vehicle 101, the image generation unit 16 generates an image including the cause of the occurrence of the automatic control. Specifically, when it is identified by the sudden action identifying unit 15 that a sudden action will occur, the surrounding situation including the cause of the sudden action is determined based on the surrounding situation of the host vehicle 101 detected by the surrounding situation detection means 10. Generate the image shown. In the first embodiment of the present invention, the cause of the sudden action is an obstacle whose contact risk is determined to be equal to or higher than a predetermined threshold by the sudden action necessity determination unit 12 and is known. For example, the image generation unit 16 acquires images captured by the imaging units 4a and 4b when the obstacle causing the sudden action enters the imaging ranges R1 and R2 of the imaging units 4a and 4b.

  For example, as shown in FIG. 4A, a situation is assumed in which the other vehicle 102 preceding the host vehicle 101 suddenly stops while the host vehicle 101 is traveling. The obstacle detection unit 2 detects the distance, relative position, relative speed, and the like between the host vehicle 101 and the other vehicle 102. The lane detection means 3 detects the lane L0 divided by the lane boundary lines L1 and L2 by detecting the lane boundary lines L1 and L2. The in-lane position acquisition unit 11 acquires the relative position and the like of the other vehicle 102 in the lane L0.

  The sudden action necessity determination unit 12 calculates the risk of contact with the other vehicle 102 using the distance and relative speed between the host vehicle 101 and the other vehicle 102 detected by the obstacle detection means 2. The sudden movement necessity determination unit 12 further determines that the sudden movement of the host vehicle 101 to avoid contact with an obstacle is necessary by determining that the calculated contact risk is equal to or greater than a predetermined threshold. The control information calculation unit 13 calculates a control direction for avoiding contact with the other vehicle 102 as a right turn (right direction), and calculates a steering torque amount as a control amount. The vehicle control unit 14 automatically steers the steering means 6a using the control direction and the control amount calculated by the control information calculation unit 13, and makes a sudden turn by turning right as shown in FIG. Operation occurs. After the occurrence of the sudden movement, as shown in FIG. 4C, when the host vehicle 101 passes the other vehicle 102, the other vehicle 102 enters the imaging range R1 of the imaging means 4a. The image generation unit 16 acquires images captured by the imaging units 4a and 4b at this timing.

  The image generation unit 16 generates an image (ambient situation image) indicating the surrounding situation including the cause of the sudden action using the images taken by the imaging units 4a and 4b at the timing shown in FIG. FIG. 5A is an image I1 imaged by the imaging means 4a at the timing shown in FIG. The image I1 displays the situation on the left rear side of the host vehicle 101, similarly to the mapping of the left side mirror. In the image I1, the left side surface of the host vehicle 101, the lane boundary line L1 that divides the traveling lane L0 of the host vehicle 101, and obstacles that are located behind the host vehicle 101 and cause the occurrence of sudden action are shown. The vehicle 102 is reflected.

  Further, as shown in FIG. 5A, the image generation unit 16 emphasizes the other vehicle 102 by superimposing a frame-shaped mark M0 surrounding the other vehicle 102 that is the obstacle causing the sudden movement. It may be displayed. The method for highlighting the other vehicle 102 is not limited to this, and for example, an arrow pointing to the other vehicle 102 may be displayed. By highlighting the other vehicle 102, the occupant can easily identify that the other vehicle 102 is an obstacle causing the sudden movement.

  On the other hand, FIG. 5B is an image I2 imaged by the imaging means 4b at the timing shown in FIG. The image I2 displays the situation on the right rear side of the host vehicle 101, similarly to the mapping of the right side mirror. The image I2 includes a right side surface of the host vehicle 101 and a lane boundary line L2 that divides the traveling lane L0 of the host vehicle 101. The image I2 does not show the other vehicle 102 that is the obstacle causing the sudden movement, but the image I2 is captured at the same timing as the image I1 and shows a situation in a different direction from the image I1. By displaying, it becomes easier for the occupant to grasp the surrounding conditions of the host vehicle 101 during the sudden movement.

  It should be noted that the images sequentially picked up by the image pickup means 4a and 4b are sequentially recorded in the storage device or the like of the control device 1, and the image generation unit 16 picks up the image pickup means 4a and 4b from the plurality of recorded picked-up images. A captured image at the time when an obstacle enters the imaging ranges R1 and R2 may be extracted. For example, the imaging means 4a and 4b are provided so as to image the front of the host vehicle 101, and after the sudden motion identification unit 15 identifies the sudden motion, the obstacle causing the sudden motion is captured in real time. Even if it is difficult, the image generation unit 16 can generate an image showing the surrounding situation including the cause of the sudden motion using the image captured before the sudden motion is identified.

  The image generation unit 16 may further generate an image that displays a mark indicating the control direction of the host vehicle 101 when the sudden movement occurs. For example, the mark indicates the right direction in the case of a right turn, the left direction in the case of a left turn, the rear or lower direction in the case of sudden deceleration, and the front or upper direction in the case of sudden acceleration. Note that the mark indicating the control direction of the host vehicle 101 when the sudden motion occurs may be superimposed on the image including the surrounding situation including the obstacle causing the sudden motion.

  For example, as shown in FIG. 6A, the image generation unit 16 displays a mark indicating the control direction of the host vehicle 101 at the time of occurrence of a sudden motion. An image (control direction image) I3 for displaying the own vehicle icon) M1 and the second simulated vehicle (own vehicle icon) M2 is generated. In FIG. 6A, 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. Then, the image generation unit 16 displays the second simulated vehicle M2 so as to be lit or blinked while being shifted in a direction corresponding to the control direction with reference to the position of the first simulated vehicle M1. The control direction at the time of occurrence of a sudden movement in the direction in which the simulated vehicle M2 is displaced is shown. Further, by moving the second simulated vehicle M2 in the direction corresponding to the control direction from the position of the first simulated vehicle M1, the control direction at the time of occurrence of a sudden movement may be indicated in the moving direction.

  For example, as shown in FIG. 6A, in the case of a right turn, the second simulated vehicle M2 is moved rightward with respect to the first simulated vehicle M1. In the case of a left turn, the second simulated vehicle M2 is moved leftward with respect to the first simulated vehicle M1. In the case of sudden deceleration (backward), the second simulated vehicle M2 is moved backward (downward in the image) with respect to the first simulated vehicle M1. In the case of rapid acceleration, the second simulated vehicle M2 is moved forward (upward in the image) with respect to the first simulated vehicle M1. In the case of a right turn and rapid deceleration, the second simulated vehicle M2 may be moved to the right rear, or may be moved to the right in priority to the right turn. In the case of left turn and rapid deceleration, the second simulated vehicle M2 may be moved to the left rear, or may be moved to the left in priority to the left turn. In the case of a right turn and rapid acceleration, the second simulated vehicle M2 may be moved to the right front, or may be moved to the right in priority to the right turn. In the case of left turn and rapid acceleration, the second simulated vehicle M2 may be moved to the left front, or may be moved to the left in priority to the left turn.

  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, a series of movements in which the second simulated vehicle M2 appears at the position of the first simulated vehicle M1, disappears after moving, and then reappears at the position of the first simulated vehicle M1 is periodically repeated. Also good. Furthermore, according to the control amount calculated by the control information calculation unit 13, the movement amount D1 of the second simulated vehicle M2 and the above-described series of movement periods may be changed. For example, the movement amount D1 of the second simulated vehicle M2 may be increased and the frequency of a series of movements may be increased as the control amount is increased.

  Further, as shown in FIG. 6B, the image generation unit 16 uses the second simulated vehicle based on the direction of the first simulated vehicle M1 according to the control direction calculated by the control information calculation unit 13. You may incline the direction of M2. For example, in the case of a right turn, as shown in FIG. 6B, the direction of the second simulated vehicle M2 is tilted to the right at a predetermined angle θ1, and the second simulated vehicle M2 is rotated clockwise. . In the case of a left turn, the direction of the second simulated vehicle M2 is tilted to the left, and the second simulated vehicle M2 is rotated counterclockwise. Furthermore, the predetermined angle θ1 for inclining the direction of the second simulated vehicle M2 may be changed according to the steering torque amount calculated by the control information calculation unit 13. For example, the larger the steering torque amount, the larger the predetermined angle θ1 for tilting the direction of the second simulated vehicle M2.

  In addition, instead of moving the second simulated vehicle M2, the image generation unit 16 uses the position of the first simulated vehicle M1 as a starting point to indicate a direction corresponding to the control direction, as shown in FIG. 6C. M3 may be displayed. In the case of a right turn, as shown in FIG. 6C, the arrow M3 points to the right direction of the first simulated vehicle M1. In the case of a left turn, the left direction of the first simulated vehicle M1 is indicated. In the case of sudden acceleration, it points to the front of the first simulated vehicle M1, and in the case of sudden deceleration, it points to the rear of the first simulated vehicle M1. Further, the length D2 and the shape of the arrow M3 may be changed according to the control amount calculated by the control information calculation unit 13. For example, the length D2 of the arrow M3 may be increased and the size of the arrow M3 may be increased as the control amount is increased. Note that the mark indicating the control direction of the host vehicle 101 when a sudden movement occurs is not limited thereto, and for example, “left” indicating that the control direction is the left direction, or that the control direction is the right direction. A mark including character information such as “right” may be displayed.

  As shown in FIG. 7, the display control unit 17 continuously displays the images I1, I2, and I3 generated by the image generation unit 16 for a predetermined time (for example, 5 seconds) after the occurrence of the sudden movement. To display. The display times of the images I1, I2, and I3 can be set as appropriate, and may be stored in advance in the storage device of the control device 1 or the like. If the images I1, I2, and I3 have already been generated by the image generation unit 16 before the occurrence of the sudden operation or at the time of the occurrence of the sudden operation, the display control unit 17 uses the images I1, I2, and I2 by the image generation unit 16. The images I1, I2, and I3 may be displayed continuously from the time when I3 is generated, that is, before or after the occurrence of the sudden action until after the sudden action. In other words, the display control unit 17 displays the images I1, I2, and I3 after the occurrence of the sudden action, in addition to starting the display of the images I1, I2, and I3 after the sudden action occurs, Alternatively, the display of the images I1, I2, and I3 is started from the occurrence of the sudden action, and the display is continued until after the sudden action occurs.

  The display control unit 17 may change the display times of the images I1, I2, and I3 according to the control amount calculated by the control information calculation unit 13. For example, the display time of the images I1, I2, and I3 may be lengthened as the control amount increases. When the control amount is large, it is considered that the occupant often wants to confirm the cause of the sudden movement, so that the occupant can easily confirm by increasing the display time. Instead of setting the display time or in parallel with setting the display time, the display control unit 17 displays the image I1 when a switch provided in the host vehicle 101 or the touch panel of the image display means 7 is operated. , I2 and I3 may be stopped.

  Next, as shown in FIG. 8A, a case where the imaging unit 4c mounted on the host vehicle 101 sets the imaging range R3 in front of the host vehicle 101 will be described. Assume a situation in which the other vehicle 102 preceding the host vehicle 101 suddenly stops while the host vehicle 101 is traveling. The sudden action necessity determination unit 12 determines that the contact risk between the host vehicle 101 and the other vehicle 102 is equal to or greater than a predetermined threshold. The control information calculation unit 13 calculates a right turn as a control direction for avoiding contact with the other vehicle 102, and calculates a steering torque amount of the steering means 6a as a control amount. The sudden action identifying unit 15 identifies the occurrence of the sudden action by determining that the control amount calculated by the control information calculating unit 13 is equal to or greater than a predetermined threshold. The image generation unit 16 acquires an imaging range when the other vehicle 102 enters the imaging range R3 of the imaging unit 4c, and generates an image indicating the surrounding situation including the other vehicle 102.

  As shown in FIG. 8B, when the vehicle control unit 14 automatically controls the steering means 6a to turn right so as to avoid the other vehicle 102, a sudden action occurs. After the occurrence of the sudden action, the display control unit 17 causes the image display unit 7 to display the image generated by the image generation unit 16.

  For example, as illustrated in FIG. 9A, the image generation unit 16 acquires a captured image I <b> 4 indicating a surrounding situation including the other vehicle 102 in front of the vehicle. The image generation unit 16 may further highlight the frame-shaped mark M4 surrounding the other vehicle 102 in an overlapping manner. Further, as shown in FIG. 9B, the image generation unit 16 displays a simulated vehicle M5 of the host vehicle 101, and marks such as an arrow M6 indicating the control direction of the host vehicle 101 are superimposed with the simulated vehicle M5 as a starting point. May be. As a result, the cause of the sudden movement and the control direction of the host vehicle 101 are displayed together, so that the occupant can easily grasp the causal relationship between the cause of the sudden movement and the control result.

  Next, as shown in FIG. 10, a case where a plurality of imaging means 4a, 4b, 4c, 4d are mounted on the left side, the right side, the front side, and the rear side of the host vehicle 101 will be described. When the sudden motion identification unit 15 identifies the occurrence of the sudden motion, the image generation unit 16 performs coordinate conversion of the plurality of captured images by the plurality of imaging units 4a, 4b, 4c, and 4d at the time when the sudden motion occurs. As a result, the overhead image I5 as shown in FIG. 11 is generated.

  In the bird's-eye view image I5, the other vehicle 102 that is an obstacle causing the sudden movement and the lane L0 divided by the lane boundary lines L1 and L2 are reflected. The image generation unit 16 further superimposes and highlights a frame-shaped mark M7 surrounding the other vehicle 102 that is an obstacle causing the sudden movement. Further, the image generating unit 16 arranges the simulated vehicle M8 of the own vehicle 101, and displays the arrow M9 from the simulated vehicle M8 as a starting point to indicate the control direction of the own vehicle 101. According to the bird's-eye view image I5 shown in FIG. 11, the other vehicle 102 that is the obstacle causing the sudden movement and the control direction of the host vehicle 101 can be displayed in one image. It is possible to make it easier for the occupant to grasp the causal relationship between the cause of occurrence and the control result.

  Next, an example of the vehicle 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. 12 can be repeatedly executed at a predetermined control cycle.

  In step S <b> 1, the obstacle detection unit 2 detects an obstacle present around the host vehicle 101 and detects a distance, a relative position, and a relative speed between the host vehicle 101 and the obstacle. In step S <b> 2, the lane detection unit 3 detects the position of the lane around the host vehicle 101. In step S3, the in-lane position acquisition unit 11 calculates the relative position of the obstacle in the lane from the relative position of the obstacle detected by the obstacle detection unit 2 and the position of the lane detected by the lane detection unit 3. Etc.

  In step S4, the risk of contact between the host vehicle 101 and the obstacle is determined based on the distance and relative speed between the obstacle and the obstacle along the lane acquired by the in-lane position acquisition unit 11. Is calculated. In step S5, whether or not the sudden movement of the host vehicle 101 is necessary to avoid an obstacle is determined by determining whether or not the sudden contact necessity determination unit 12 has a calculated contact risk equal to or greater than a predetermined threshold. judge. If the contact risk is less than the predetermined threshold value and it is determined that the sudden movement of the host vehicle 101 is unnecessary, the process is completed. On the other hand, if the contact risk is equal to or higher than the predetermined threshold value and it is determined that the sudden movement of the host vehicle 101 is necessary, the process proceeds to step S6.

  In step S6, the control information calculation unit 13 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 sudden action necessity determination unit 12. calculate. The vehicle control unit 14 uses the control information including the control direction and the control amount calculated by the control information calculation unit 13 to automatically control the steering means 6a and the like so as to avoid contact with the obstacle.

  In step S <b> 7, the sudden action identification unit 15 determines whether or not a sudden action has occurred by determining whether or not the control amount calculated by the control information calculation unit 13 is equal to or greater than a predetermined threshold. If the control amount is less than the predetermined threshold value, it is determined that no sudden action occurs, and the process is completed. On the other hand, when the control amount is greater than or equal to the predetermined threshold, it is determined that a sudden operation caused by the system such as the vehicle control unit 14 occurs at the current timing or at a timing before and after that, and the process proceeds to step S8.

  In step S8, based on the relative position with respect to the obstacle, the image generation unit 16 picks up images taken by the imaging means 4a and 4b at the timing when the obstacle causing the sudden action enters the imaging ranges R1 and R2. Is extracted, and an image showing the surrounding situation including the cause of the sudden motion and the control direction of the host vehicle 100 when the sudden motion occurs is generated. It should be noted that the obstacle causing the sudden movement is an obstacle whose contact risk is determined to be greater than or equal to a predetermined threshold in step S5 and is known. In step S <b> 9, the display control unit 17 causes the image display unit 7 to display the image generated by the image generation unit 16 continuously for a predetermined time after the occurrence of the sudden action.

  In step S7, the case where the sudden action identifying unit 15 identifies the occurrence of the sudden action using the control amount calculated by the control information calculating unit 13 has been described. However, as shown in FIG. The sudden action identifying unit 15 may determine in advance whether or not the sudden action has occurred by determining whether or not the contact risk calculated by the sudden action necessity determining unit 12 is equal to or greater than a predetermined threshold. . That is, the sudden action identifying unit 15 may identify that a sudden action occurs when the contact risk calculated by the sudden action necessity determining unit 12 is equal to or greater than a predetermined threshold.

  As described above, according to the first embodiment of the present invention, it is determined whether or not the automatic control of the host vehicle is executed, and it is determined that the automatic control is executed. The images I1, I2, I4, and I5 showing the surrounding situation including the cause of the automatic control based on the surrounding situation are shown, and the occupant knows the cause of the occurrence of the automatic control. Will be able to.

  Furthermore, even if it cannot be determined in advance that automatic control is executed by determining that automatic control is executed when automatic control is executed, the timing at which automatic control is executed Thereafter, the images I1, I2, I4, and I5 showing the surrounding conditions including the cause of the automatic control are shown. As a result, the occupant can surely know the cause of the occurrence of the automatic control after the timing of executing the automatic control.

  Furthermore, after executing the automatic control, an image is displayed on the image display means provided in the own vehicle, so that the reason why the occupant is automatically controlled, that is, the cause of the automatic control. Even if it cannot be understood, if the images I1, I2, I4, and I5 are confirmed after the automatic control is executed, the cause of the automatic control can be easily grasped later. Therefore, it is possible to give the passengers a sense of security with respect to the automatic control of the system.

  Furthermore, after the occurrence of a sudden movement due to the automatic control of the vehicle by the system, by displaying images I1, I2, I4, and I5 indicating the surrounding conditions including the cause of the sudden movement, the occupant can detect the sudden movement. Even if the cause of the sudden motion, that is, the cause of the sudden motion cannot be understood, if the images I1, I2, I4, and I5 are confirmed after the sudden motion occurs, the cause of the sudden motion can be determined afterwards. It can be easily grasped. Therefore, it is possible to give the passengers a sense of security with respect to the automatic control of the system.

  Furthermore, in addition to the surrounding situation including the obstacle causing the sudden movement, the images I3 to I5 including the marks M1 to M3, M5, M6, M8, and M9 indicating the control direction of the host vehicle 101 are displayed. Thus, the occupant can easily grasp the causal relationship between why the sudden motion has occurred, that is, the cause of the sudden motion and how to avoid contact with the sudden motion, that is, the control result.

  Further, as the marks M1 and M2 indicating the control direction of the host vehicle 101, the first simulated vehicle M1 and the second simulated vehicle M2 simulating the host vehicle 101 are displayed so as to overlap each other, and the first simulated vehicle M1 is displayed. By displaying the second simulated vehicle M2 in a direction corresponding to the control direction of the host vehicle 101 with the position of the vehicle as a reference, the control direction of the host vehicle 101 can be presented to the passenger in an easily understandable manner. .

  Furthermore, by calculating the control amount of the own vehicle 101 based on the surrounding situation of the own vehicle 101 and identifying the occurrence of a sudden action when the control amount of the own vehicle 101 is equal to or greater than a predetermined threshold, It is possible to accurately determine that a sudden operation occurs at the timing.

(Second Embodiment)
As shown in FIG. 14, the vehicle display device according to the second embodiment of the present invention detects the yaw rate detection means (yaw rate sensor) 21 that detects the yaw rate of the host vehicle 101 and the acceleration of the host vehicle 101. The acceleration detection means (acceleration sensor) 22 and further points differ from the configuration of the vehicle display device according to the first embodiment of the present invention shown in FIG.

  Based on the yaw rate of the host vehicle 101 detected by the yaw rate sensor 21, the sudden motion identification unit 15 identifies the occurrence of a sudden operation (sudden turn) of the host vehicle 101. For example, when the yaw rate rate of the host vehicle 101 is equal to or greater than a predetermined threshold, the sudden motion identification unit 15 determines that the host vehicle 101 has made a sudden turn, and when the yaw rate rate of the host vehicle 101 is less than the predetermined threshold. It is determined that the vehicle did not make a sudden turn. The sudden motion identification unit 15 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 15 identifies the occurrence of sudden motion (rapid acceleration / deceleration) of the host vehicle 101 based on the acceleration of the host vehicle 101 detected by the acceleration sensor 22. For example, the sudden motion identification unit 15 determines that the host vehicle 101 has accelerated rapidly when the acceleration of the host vehicle 101 is equal to or greater than a predetermined threshold, and rapidly accelerates when the acceleration of the host vehicle 101 is less than the predetermined threshold. Judge that it did not. Further, the sudden action identification unit 15 determines that the vehicle has rapidly decelerated if the acceleration of the host vehicle 101 is less than a predetermined threshold, and determines that the vehicle has not decelerated suddenly if the acceleration of the host vehicle 101 is greater than or equal to the predetermined threshold. To do. The sudden motion identification unit 15 may identify the occurrence of sudden acceleration / deceleration by calculating the jerk from the acceleration and comparing the jerk with a predetermined threshold value. High responsiveness can be obtained by using jerk.

  According to the second embodiment of the present invention, as in the first embodiment of the present invention, after the occurrence of a sudden action due to automatic control such as emergency avoidance by the system, the cause of the occurrence of the sudden action By displaying the surrounding situation including the obstacle that has become a sudden motion, even if the occupant cannot understand why the sudden motion occurred, that is, the cause of the sudden motion, If the image is checked later, the cause of the sudden movement can be easily grasped later. Therefore, it is possible to give the passengers a sense of security with respect to the automatic control of the system.

  Further, the sudden movement identification unit 15 identifies the occurrence of sudden movement (rapid turn) based on the yaw rate of the host vehicle 101 detected by the yaw rate sensor 21, so that the occupant can instantly identify the sudden turn. Even if it is not possible to grasp, it can be confirmed after a sudden turn. Further, by identifying the occurrence of sudden movement (rapid acceleration / deceleration) based on the acceleration of the host vehicle 101 detected by the acceleration sensor 22, the occupant cannot instantly grasp the sudden acceleration / deceleration of the vehicle. Can be confirmed after abrupt acceleration / deceleration.

(Other embodiments)
As described above, the present invention has been described according to the first and second embodiments. However, it should not be understood that the descriptions 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 addition, the case where the display control unit 17 starts displaying an image after the occurrence of a sudden motion when a sudden motion has occurred has been mainly described, but an arbitrary image is displayed on the image display means 7 during normal traveling. The image displayed on the image display unit 7 may be switched so that the image generated by the image generation unit 16 is displayed after the occurrence of the sudden motion when the sudden motion occurs. The arbitrary image includes, for example, an image of route guidance by a car navigation system and an image showing the current surrounding situation of the host vehicle 101. In addition, the display control unit 17 may display an image displayed during normal traveling in addition to the image generated by the image generation unit 16 when a sudden action occurs. In this case, it is possible to simultaneously grasp the cause of the sudden movement while confirming the current surrounding situation. If the timing at which the sudden motion is identified is before the sudden motion occurs, the timing for starting the display of the image including the cause of occurrence may be from anywhere, and may be from the timing at which the sudden motion is identified (predicted). Further, the image including the cause of occurrence may be displayed even when a sudden action is occurring.

  Further, as an image during normal driving, as shown in FIG. 15, an image I1 showing the left rear situation by the imaging means 4a, an image I2 showing the right rear situation by the imaging means 4b, and an image showing the control direction of the host vehicle I3 may be displayed sequentially. The image I3 indicating the control direction of the host vehicle 101 displays simulated vehicles M1 and M2 and a contact risk display area M10. When the occurrence of the sudden action is identified, the image generation unit 16 may blink the contact risk display area M10. Moreover, you may change the color of the front-back direction of the contact risk display area M10 according to the vehicle speed limit of a vehicle. The image generation unit 16 also highlights the color of the second simulated vehicle M2 and the brightness so that the second simulated vehicle M2 is highlighted when the contact risk is determined to be high by the sudden action necessity determination unit 12. May be changed. As a result, the occupant can easily grasp the sudden movement and the predicted control direction of the host vehicle 101 before the sudden movement occurs.

  Further, as an image to be displayed on the image display means 7 after the occurrence of the sudden movement, the image I3 indicating the control direction of the host vehicle 101 is not displayed, and the captured image I1 in the rear left situation shown in FIG. Only the right rear captured image I2 shown in FIG. 5B may be displayed adjacent to the image display means 7 as shown in FIG. Further, as the image to be displayed on the image display means 7 after the occurrence of the sudden action, only one of the causes of the left rear captured image I2 and the right rear captured image I3 may be displayed.

  Further, the image generation unit 16 may generate a computer graphics (CG) image instead of using the images captured by the imaging units 4a and 4b. The CG image can be generated based on the relative position and distance from the obstacle detected by the obstacle detection means 2, the relative position of the lane detected by the lane detection means 3, and the like. For example, the captured image I1 in the left rear state illustrated in FIG. 5A, the captured right image I2 illustrated in FIG. 5B, and the front illustrated in FIGS. 9A and 9B. A CG image corresponding to the captured image I4 in the situation and the overhead image I5 shown in FIG. 11 can be generated.

  For example, even when it is difficult to capture an obstacle, the occupant can be made aware of the cause of the sudden movement by generating a CG image. Further, it is possible to determine whether or not an obstacle can be imaged by the imaging units 4a and 4b, etc., and when it is determined that imaging is possible, a captured image may be employed, and when it is determined that imaging is impossible, a CG image may be employed.

  Further, the image generation unit 16 may generate a moving image of a predetermined time instead of generating a still image as an image indicating the surrounding situation including the cause of occurrence of the sudden action. It is only necessary that the obstacle causing the sudden action is reflected in a part of the time axis of the moving image. By displaying the moving image, it is possible for the occupant to easily grasp the change in the surrounding situation before and after the occurrence of the sudden movement. Moreover, the display control part 17 may display a moving image on the image display means 7 only once, and may display it repeatedly several times. Further, the display control unit 17 may display the moving image in slow motion instead of displaying the moving image with the actual imaging time.

  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 ... Obstacle detection means 3 ... Lane detection means 4a, 4b, 4c, 4d ... Camera 6a ... Steering means 6b ... Acceleration means 6c ... Braking means 7 ... Image display means 10 ... Ambient condition detection means 11 ... Lane Inner position acquisition unit 12 ... sudden motion necessity determination unit 13 ... control information calculation unit 14 ... vehicle control unit 15 ... sudden motion identification unit 16 ... image generation unit 17 ... display control unit 21 ... yaw rate sensor 22 ... acceleration sensor 101 ... self Vehicle 102 ... other vehicle

Claims (12)

Detecting the surroundings of the vehicle,
Determining whether or not automatic control of the host vehicle is executed according to the surrounding situation;
When it is determined that the automatic control is to be executed, generating an image showing an ambient condition including a cause of the automatic control based on the ambient condition;
A vehicle display method comprising: displaying the image on image display means provided in the host vehicle. The step of determining whether or not the automatic control is executed includes
The vehicle display according to claim 1, further comprising: determining that the automatic control is executed when the automatic control of the host vehicle is executed according to the surrounding situation. Method. Displaying the image comprises:
3. The vehicle display method according to claim 1, further comprising displaying the image on an image display means provided in the host vehicle after the automatic control is executed. Performing the automatic control of the vehicle,
Identifying the occurrence of a sudden movement of the vehicle,
Generating the image comprises:
4. The method according to claim 1, further comprising: generating an image indicating an ambient condition including a cause of the automatic control based on the ambient condition when the occurrence of the sudden action is identified. The vehicle display method according to claim 1. Generating the image comprises:
The vehicle according to any one of claims 1 to 4, further comprising displaying a mark indicating a control direction of the host vehicle when the automatic control is executed in the image. Display method. Generating the image comprises:
Displaying the first and second simulated vehicles simulating the own vehicle as the marks in the image,
The vehicle display method according to claim 5, further comprising: shifting the position of the second simulated vehicle in a direction corresponding to the control direction with reference to the position of the first simulated vehicle. Identifying the occurrence of said sudden action
The vehicle display method according to claim 4, further comprising identifying that the sudden movement occurs based on a control amount of the automatic control. Displaying the image comprises:
The vehicle display method according to claim 7, comprising increasing the display time of the image as the control amount increases. Further comprising detecting an acceleration of the host vehicle,
Identifying the occurrence of said sudden action
The vehicle display method according to any one of claims 4 to 8, further comprising identifying the occurrence of the sudden movement based on the detected acceleration. Further comprising detecting the yaw rate of the host vehicle,
Identifying the occurrence of said sudden action
The vehicle display method according to any one of claims 4 to 9, further comprising identifying the occurrence of the sudden movement based on the detected yaw rate rate. Identifying whether a sudden action of the host vehicle is required;
If it is identified that the sudden action is required, an image including the first and second simulated vehicles simulating the host vehicle is displayed on the image display means before the sudden action occurs, 2. The vehicle according to claim 1, further comprising: shifting the second simulated vehicle in a direction corresponding to a direction avoiding the contact while highlighting the second simulated vehicle with reference to the position of the one simulated vehicle. Display method. An ambient condition detecting means for detecting an ambient condition of the host vehicle;
An automatic control determination unit that determines whether or not automatic control of the host vehicle is executed according to the surrounding situation;
An image generation unit that generates an image indicating an ambient condition including a cause of the automatic control based on the ambient condition when it is determined that the automatic control is performed;
An image display means provided in the host vehicle and displaying the image.

Images