JP2018037001A - Vehicle driving assist system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vehicle driving assist system capable of teaching a piece of information on a position relation between another vehicle or the like and own vehicle to a driver.SOLUTION: A vehicle driving assist system (1) in an embodiment includes: a display unit (8) that displays a piece of information while superimposing on the front view on a front window (32) of the vehicle; an own vehicle prediction part (41) that predicts a travel course of own vehicle; an another vehicle prediction part (42) that predicts a travel course of the other vehicle; and control units (48 and 49) that calculate a piece of information relevant to the position relation between the other vehicle and own vehicle based on the prediction result by the own vehicle prediction part (41) and the prediction result by the other vehicle prediction part (42) and controls the display unit (8) to display the obtained information while superimposing on the front view on a front window (32).SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle driving support apparatus.

  Patent Document 1 describes a configuration in which a target travel route and an actual planned travel course of a vehicle are superimposed and displayed on a front window by HUD (Head Up Display). According to this configuration, since the driver can easily recognize the relationship between the target travel route and the planned travel course, a predictive steering input based on the driver's experience is not necessary, and the driver can be operated easily. Can do.

JP 2007-272350 A

  In the case of the above conventional configuration, the traveling schedule of the own vehicle is known, but nothing is known about the traveling of the other vehicle, so what is the positional relationship between the other vehicle and the own vehicle several seconds to several tens of seconds after the current time point? The driver can only imagine. For example, when another vehicle makes a lane change while driving on a highway, the driver can only predict what the positional relationship between the other vehicle and the vehicle will be, and what the speed difference will be. . Since the driver who is not good at driving is not good at the above-mentioned imaginary prediction, the driver is informed of the positional relationship between other vehicles (including pedestrians, bicycles, motorcycles, etc.) and the own vehicle by driving support. It is requested to do.

  An object of the present invention is to provide a vehicle driving support device capable of teaching a driver information on the positional relationship between another vehicle and the own vehicle.

  The invention of claim 1 includes a display unit (8) that displays information superimposed on a front scene on a front window (32) of the vehicle, a host vehicle prediction unit (41) that predicts a traveling course of the host vehicle, Based on the other vehicle prediction unit (42) that predicts the traveling course of the other vehicle, the prediction result by the own vehicle prediction unit (41), and the prediction result by the other vehicle prediction unit (42), the position of the other vehicle and the own vehicle A vehicle driving support device (1) including a control unit (7) that obtains information about the relationship and displays the obtained information on the front window (32) in a superimposed manner on the front scenery by the display unit (8). It is.

The block diagram of the driving assistance device for vehicles which shows a 1st embodiment. The figure explaining the structure of HUD Flow chart showing the control contents of the driving support control unit The figure which shows the example which displays the virtual image of another vehicle superimposed on the present scenery The figure which shows the example which displays the virtual image of the other vehicle traced back in the past a little The figure which shows the example which displays the virtual image which the child in the blind spot jumps out The figure which shows the example which displays the virtual image of the vehicle estimated to start from a parking position soon The figure which shows the example which displays the virtual image of the traffic signal estimated when the vehicle arrives at the intersection (the 1) The figure which shows the example which displays the virtual image of the traffic signal predicted when the vehicle reaches the intersection (part 2) The figure which shows the example which displays the virtual image of the traffic signal estimated when the vehicle arrives at the intersection (the 3) The figure which shows the example which displays the virtual image of the traffic signal estimated when the vehicle arrives at the intersection (the 4) The figure which shows the example which displays the virtual picture which the motorcycle etc. which is in the blind spot jumps out The figure which shows the example which displays the virtual image of the other vehicle which began to move after the traffic jam is resolved The flowchart which shows 2nd Embodiment and shows the content of control of a driving assistance control unit.

(First embodiment)
The first embodiment will be described below with reference to FIGS. 1 to 13. A vehicle driving support apparatus 1 according to the present embodiment is mounted on a vehicle. As shown in FIG. 1, a navigation system 2, a vehicle state detection unit 3, a vehicle position information detection unit 4, and the surroundings A situation detection unit 5, an information communication unit 6, a driving support control unit 7, a HUD (Head Up Display) 8, and an operation input unit 9 are provided.

  The vehicle state detection unit 3 is a sensor group for detecting a behavior state related to traveling of the vehicle. The vehicle state detection unit 3 includes a vehicle speed sensor 11, a lateral acceleration (lateral G) sensor 12, a longitudinal acceleration (longitudinal G) sensor 13, a yaw angular velocity sensor 14, a steering angle sensor 15, a steering torque sensor 16, A brake pedal force sensor 17, an accelerator opening sensor 18, a direction indicator switch 19 and the like are included. The own vehicle position information detection unit 4 detects the current position of the own vehicle, and includes a GPS receiving device 20, a beacon receiving device 21, and the like. The surrounding state detection unit 5 detects the surrounding state, threats, and the like of the host vehicle, and includes a camera 22, a radar 23, a solar radiation sensor 24, a temperature sensor 25, and the like.

  The information communication unit 6 receives various external information from an information center, a road camera, a traffic signal at an intersection, other vehicles, and the like. The information communication unit 6 includes a center communication unit 26 that communicates with an information center, a parking lot management center, and the like, a road-to-vehicle communication unit 27 that communicates with road cameras (such as security cameras), intersection cameras, traffic lights at intersections, and the like. An inter-vehicle communication unit 28 that communicates with other vehicles existing around the vehicle is included.

  The HUD 8 displays the image information output from the driving support control unit 7. The HUD 8 constitutes a display unit. As shown in FIG. 2, the HUD 8 is a device that displays an image on a portion 32 a of the front window 32 of the vehicle as a display screen. The HUD 8 includes a display controller 33, a video projector 34, reflection mirrors 35 and 36, and a condenser lens 37. The image projected from the image projector 34 is displayed on the part 32 a of the front window 32 via the reflection mirrors 35 and 36 and the condenser lens 37.

  A driver 38 who is driving by operating the steering wheel 30 looks through the portion 32a of the front window 32 in the forward direction of the vehicle. In FIG. 2, a position 39 is an imaging position, and an image displayed on the part 32 a of the front window 32, that is, an image on the head-up display is displayed near the driver's 38 front gazing point. . Furthermore, the position 40 is a virtual imaging position set in front of the vehicle. The image displayed on the part 32a of the front window 32 is displayed for the driver 38 so as to be superimposed on the scenery in front of the traveling direction of the vehicle (that is, the scenery) at the virtual imaging position 40. Become.

  The operation input unit 9 is a group of switches that are manually operated by a driver or the like. As shown in FIG. 5, a rotary time controller 31 provided on the steering 30 of the vehicle, a mouse, a touch panel, a mechanical switch, and the like (not shown) are provided. Including.

  The driving support control unit 7 receives information from the navigation system 2, various detection signals from the detection units 3, 4, and 5, external information from the information communication unit 6, and operation input signals from the operation input unit 9. It has a function to input and perform necessary information processing and take charge of overall control. The driving support control unit 7 generates image information to be displayed on the HUD 8, and outputs the generated image information to the HUD 8.

  In addition, as shown in FIG. 1, the driving support control unit 7 includes a host vehicle prediction unit 41, another vehicle prediction unit 42, a blind spot jump prediction unit 43, a parking lot prediction unit 44, and a traffic light prediction unit 45. , An intersection prediction unit 46, a traffic jam prediction unit 47, a display image generation unit 48, and a display control unit 49.

  The own vehicle prediction unit 41 includes various detection signals and various information from the navigation system 2, the vehicle state detection unit 3, and the own vehicle position information detection unit 4, such as a current position, a vehicle speed, a traveling direction, and a travel route. Based on the information, the traveling locus of the host vehicle, that is, the traveling course is predicted, and the predicted traveling locus information (that is, the prediction result) is output to the display image generation unit 48.

  The other vehicle prediction unit 42 is a variety of information received by the surrounding state detection unit 5, the center communication unit 26 of the information communication unit 6, the road-to-vehicle communication unit 27, the inter-vehicle communication unit 28, etc. Based on information such as the vehicle speed of the vehicle, the traveling direction of the other vehicle, the travel route of the other vehicle, etc., the travel locus of the other vehicle, that is, the travel course is predicted, and the predicted travel locus information of the other vehicle (ie, the prediction result). Is output to the display image generation unit 48.

  The blind spot projection prediction unit 43 is a variety of information received by the surrounding state detection unit 5, the center communication unit 26 of the information communication unit 6, the road-to-vehicle communication unit 27, the vehicle-to-vehicle communication unit 28, etc., such as a road camera and an intersection camera. Recognize images taken with the camera, images taken with an in-vehicle camera of other vehicles, etc., to predict the jumping out of objects such as children, bicycles, vehicles, etc. that are in blind spots such as buildings and parked vehicles Then, information on the predicted result of the predicted jump out of the child, bicycle, vehicle, etc. is output to the display image generation unit 48. In addition, the position information is received via the information communication unit 6 from a communication terminal (for example, a smartphone or an in-vehicle communication device) of a child, bicycle, or vehicle in the blind spot, so that the child, bicycle, vehicle, or the like in the blind spot is received. You may comprise so that a jump may be estimated.

  When the parking lot prediction unit 44 immediately leaves the parking lot based on various information received by the center communication unit 26, for example, information received from the parking lot management center, specifically, the parking time of the vehicle, past behavior patterns, etc. Information on prediction results such as a predicted parking position of the vehicle and prediction time is output to the display image generation unit 48.

  The traffic signal predicting unit 45 is a variety of information received by the road-to-vehicle communication unit 27, for example, information received from a traffic signal at an intersection, specifically, information on the color of the traffic light and information on the time until the color of the traffic signal changes. Based on the above, it is predicted whether or not the color of the traffic light will change when the vehicle reaches the intersection, and information on the prediction result is output to the display image generation unit 48.

  The intersection prediction unit 46 receives various information received by the road-to-vehicle communication unit 27 and the vehicle-to-vehicle communication unit 28, such as information on an image captured by an intersection camera, information on an image captured by an in-vehicle camera of a vehicle traveling at the intersection, and the like. By recognizing the image, the flying of a motorcycle or the like in a blind spot such as a vehicle traveling at an intersection is predicted, and information on the predicted prediction result of the flying of the motorcycle or the like is output to the display image generation unit 48.

  The traffic jam prediction unit 47 receives various information received by the center communication unit 26, the road-to-vehicle communication unit 27, and the vehicle-to-vehicle communication unit 28, for example, traffic jam information, information on a point where the traffic jam is resolved, and the traffic jam is resolved. Based on the information on the time required until the time is reached, the cancellation of the traffic jam is predicted, and information on the predicted prediction result of the cancellation of the traffic jam is output to the display image generation unit 48.

  The display image generation unit 48 includes the own vehicle prediction unit 41, the other vehicle prediction unit 42, the blind spot projection prediction unit 43, the parking lot prediction unit 44, the traffic signal prediction unit 45, the intersection prediction unit 46, and the traffic jam prediction unit 47. Based on the information, image information to be displayed by the HUD 8 is generated, and the generated image information is output to the display control unit 49. The display control unit 49 transmits the image information from the display image generation unit 48 to the HUD 8, and the HUD 8 displays the image information on the part 32a of the front window 32. The display image generation unit 48 and the display control unit 49 have a function as a control unit.

  Next, the operation of the above configuration will be described with reference to FIGS. The flowchart of FIG. 3 shows the content of control of the driving assistance control unit 7. First, in step S10 of FIG. 3, the driving support control unit 7 detects the detection results by various in-vehicle sensors, that is, various detection signals and various information from the vehicle state detection unit 3 and the vehicle position information detection unit 4. (For example, detection signals and information such as current position, vehicle speed, traveling direction, travel route, etc.) are acquired. Here, if the driving support control unit 7 detects a scene where another vehicle 51 joins on the highway based on the acquired information, as shown in FIG. In other words, information for inter-vehicle communication with the other vehicle 51 via the inter-vehicle communication unit 28 to predict the travel locus of the other vehicle 51 (for example, the current position of the other vehicle, the vehicle speed of the other vehicle, Information such as the traveling direction and the traveling route of other vehicles).

  Then, it progresses to step S30 and the own vehicle prediction part 41 and the other vehicle prediction part 42 of the driving assistance control unit 7 predict the traveling locus of the own vehicle and the traveling locus of the other vehicle 51 based on the acquired information. . Then, the display image generation unit 48 of the driving support control unit 7 obtains the speed vectors of the host vehicle and the other vehicle 51, and when both travel in this state, it can be seen on the front window 32 when the joining of the other vehicle 51 is completed. 4 is calculated and generated (ie, a distance, a relative speed, etc. are calculated).

  Next, the process proceeds to step S40, and the driving support control unit 7 determines whether it is necessary to display the calculation result in step S30 (that is, whether there is something to be notified). In this case, when the other vehicle 51 does not approach the host vehicle at all, it is not necessary to display, so the process proceeds to “NO” and returns to Step S10.

  When it is necessary to display in step S40 (YES), the process proceeds to step S50, and the driving support control unit 7 outputs the calculation result (that is, the virtual image 52) in step S30 to the HUD 8, and the front of the HUD 8 It is displayed in the window 32. Thereby, as shown in FIG. 4, the virtual image 52 of the other vehicle 51 is displayed superimposed on the current landscape. The virtual image 52 is displayed, for example, as a virtual image rather than a real one by being drawn with a wire frame or the like, or displayed as a thin image. Also, an auxiliary marker (for example, a line connecting the two, a plurality of small triangular marks arranged between the two, between the virtual image 52 and the actual other vehicle 51, between the two, It is preferable that a plurality of small circle marks, etc. arranged on the screen be displayed. The display of the virtual image 52 is configured to be deleted when the other vehicle 51 of the real object approaches the display position of the virtual image 52. Thereafter, the process returns to step S10, and the above-described processing is repeatedly executed.

  Next, in the display state shown in FIG. 4, when the driver rotates the time controller 31 provided on the steering wheel 30, the virtual image 52 is displayed according to the amount of rotation operation of the time controller 31 as shown in FIG. 5. The display position is configured to be close to the actual position of the other vehicle 51 (that is, to be traced back slightly in the past).

  Further, in step S30, the blind spot jump prediction unit 43 of the driving support control unit 7 obtains various information, for example, an image photographed by a road camera or an intersection camera, an image photographed by an in-vehicle camera of another vehicle, and the like. A case will be described in which an object such as a child, a bicycle, or a vehicle in a blind spot such as a building or a parked vehicle is predicted by image recognition. In this case, as shown in FIG. 6, the display image generation unit 48 of the driving support control unit 7 jumps out the child, bicycle, vehicle, etc. based on the predicted information about the jump out of the child, bicycle, vehicle, etc. An image is generated and output to the HUD 8 via the display control unit 49. As a result, as shown in FIG. 6, for example, a virtual image 53 in which a child jumps out is displayed on the front window 32 so as to be superimposed on the actual landscape.

  Next, in step S30, there was a vehicle that can be predicted that the parking lot prediction unit 44 of the driving support control unit 7 will soon leave the parking lot based on various information acquired, for example, information received from the parking lot management center. The case will be described. In this case, as shown in FIG. 7, the display image generating unit 48 of the driving support control unit 7 generates a virtual image 54 of the vehicle starting from the parking position for the predicted vehicle 51 and via the display control unit 49. To output to HUD8. Thereby, as shown in FIG. 7, a virtual image 54 of the vehicle starting from the parking position is displayed on the front window 32 so as to be superimposed on the actual parking lot landscape.

  Even in the display state shown in FIG. 7, when the driver rotates the time controller 31 provided on the steering wheel 30, the display position of the virtual image 54 is actually changed according to the rotation operation amount of the time controller 31. It is comprised so that it can approach the position of the other vehicle 51 (namely, it can go back in the past a little).

  Further, in step S30, in the acquired various information, for example, there is information received from a traffic light at an intersection, specifically, information on the color of the traffic light and information on the time until the color of the traffic light changes. The traffic light predicting unit 45 of the driving support control unit 7 changes the color of the traffic light when the vehicle reaches the intersection based on the information on the color of the traffic light and the information on the time until the color of the traffic light changes. Whether to do so is predicted, and the prediction result is transmitted to the display image generation unit 48. Then, as shown in FIG. 8, the display image generation unit 48 generates a virtual image 55 of a traffic light when the vehicle reaches the intersection based on the prediction result, and outputs the virtual image 55 to the HUD 8 via the display control unit 49. To do. Thereby, as shown in FIG. 8, a virtual image 55 of the traffic signal is displayed on the front window 32 so as to be superimposed on the actual scene of the traffic signal 56.

  Further, in the case of an intersection where a plurality of traffic lights are installed, there may be a case where the traffic lights corresponding to the virtual image 55 are not well understood. In such a case, as shown in FIG. 9, for example, a line 57 connecting the two is displayed between the virtual image 55 and the corresponding real traffic light 56 as an auxiliary marker for clearly relating the two. It is preferable to configure.

  Further, the auxiliary marker is not limited to the above-described line 56, and as shown in FIG. 10, for example, a small inverted triangle mark 58 is placed near the virtual image 55 and the real image corresponding to the virtual image 55. You may comprise so that it may each display near the traffic light 56. Further, as shown in FIG. 11, it is preferable that the number of seconds (that is, □□ s) indicating how many seconds later the image of the traffic light is displayed in the vicinity of the mark 57.

  8, 9, 10, and 11, when the driver rotates the time controller 31 provided on the steering wheel 30, the virtual image 55 is displayed according to the rotation operation amount of the time controller 31. The display position is configured to be close to the actual position of the traffic light 56 (that is, to be traced back to the past).

  Further, in step S30, the intersection prediction unit 46 of the driving support control unit 7 acquires various information, for example, information on an image captured by an intersection camera, information on an image captured by an in-vehicle camera of a vehicle traveling at the intersection, and the like. A case will be described in which jumping of a motorcycle or the like in a blind spot of a vehicle or the like traveling at an intersection is predicted by recognizing the image. In this case, as shown in FIG. 12, the display image generation unit 48 of the driving support control unit 7 generates and displays a virtual image 59 from which the motorcycle etc. jumps out based on the predicted information about the jump out of the motorcycle etc. The data is output to the HUD 8 via the control unit 49. Thereby, as shown in FIG. 12, a virtual image 59 in which, for example, a motorcycle jumps is displayed on the front window 32 so as to be superimposed on the scenery of the vehicle 60 traveling at an actual intersection.

  Even in the display state shown in FIG. 12, when the driver rotates the time controller 31 provided on the steering wheel 30, the display position of the virtual image 59 is changed according to the amount of rotation operation of the time controller 31. It is configured to be able to approach the position of the vehicle 60 (that is, to go back to the past a little).

  In step S30, the traffic jam prediction unit 47 of the driving support control unit 7 acquires various information, for example, traffic jam information, information on a point where the traffic jam is resolved, and information on the time required for the traffic jam to be resolved. The case where the cancellation of the traffic jam is predicted based on the above will be described. In this case, as shown in FIG. 13, the display image generation unit 48 of the driving support control unit 7 generates a virtual image 61 of the other vehicle that has started moving after the congestion is canceled based on the predicted information on the cancellation of the congestion. Then, the information of the generated virtual image 61 is output to the HUD 8 via the display control unit 49. As a result, as shown in FIG. 13, a virtual image 61 of the other vehicle that has started moving after the congestion is canceled is displayed on the front window 32 so as to be superimposed on the scenery of the vehicle 62 in the actual traffic jam. In this case, as an auxiliary marker, for example, an inverted triangular mark 58 is preferably displayed, and a time (for example, □□ m) required until the congestion is eliminated is preferably displayed in the vicinity of the mark 58. Further, as an auxiliary marker, a line 57 may be displayed instead of the inverted triangular mark 58.

  In this embodiment having the above-described configuration, the HUD 8 that displays information superimposed on the front scenery on the front window 32 of the vehicle, the own vehicle prediction unit 41 that predicts the traveling course of the own vehicle, and the traveling course of other vehicles The other vehicle prediction unit 42 for predicting the vehicle information is obtained, and information on the positional relationship between the other vehicle and the own vehicle is obtained based on the prediction result by the own vehicle prediction unit 41 and the prediction result by the other vehicle prediction unit 42. The HUD 8 is configured to display the information superimposed on the front window 32 on the front window 32. According to this configuration, it is possible to teach the driver information about the positional relationship between the other vehicle and the host vehicle. Thus, for example, when there is another vehicle that changes lanes while driving on an expressway, if the vehicle continues to run as it is, the sight seen by the driver will be like this: It is easy to see how the positional relationship between the vehicle and the host vehicle is.

  Further, in the above embodiment, when the information about the positional relationship between the other vehicle and the host vehicle is displayed on the front window 32 by the HUD 8, it is configured so that it can be displayed a little later in time. With respect to the positional relationship, time-series changes can be easily recognized.

  Moreover, in the said embodiment, the blind spot prediction part 43 which estimates the jumping out of the target object in the blind spot of a building or a parked vehicle is provided, and information on the prediction result of the jumping out of the object is displayed on the front window 32 by the HUD 8. Since the driver can easily recognize the jump of an object such as a child, the driver can deal with it and improve safety.

  Since it has a parking lot prediction unit 44 that predicts a vehicle that will soon leave the parking lot, and is configured to display the information on the prediction result of the vehicle that will soon leave the parking lot on the front window 32 by the HUD 8 so as to be superimposed on the front view. The driver can easily recognize an empty space in the parking lot.

  Moreover, in the said embodiment, the traffic light prediction part 45 which estimates that the color of a traffic light changes when a vehicle arrives at an intersection is provided, and the information of the prediction result of the color of the traffic light when a vehicle arrives at an intersection is HUD8. Thus, the driver can know the color of the traffic light when the vehicle reaches the intersection, so that the driver can execute the corresponding driving.

(Second Embodiment)
FIG. 14 shows a second embodiment. In addition, the same code | symbol is attached | subjected to the same structure as 1st Embodiment. In the first embodiment, the object for displaying the virtual images 52, 53, 54, 55, 59, and 61 is automatically selected. Instead, in the second embodiment, the virtual image is displayed as a virtual object. An object to be displayed, that is, an object for which a user wants to see a little virtual image in the future can be manually selected by a user (for example, a driver or a passenger).

  Specifically, in step S110 of FIG. 14, the user selects an object for which a virtual image is to be displayed, for example, a vehicle. In this case, the user selects a vehicle on which a virtual image is to be displayed by using the mouse or the touch panel of the operation input unit 9. Thereafter, the processes in steps S10, S20, S30, and S50 are executed in the same manner as in the first embodiment. After the display process by the HUD 8 is executed in step S50, the process proceeds to step S120, and it is determined whether or not the user has performed an end operation. If the end operation has not been performed (NO), the process returns to step S110, and the above-described processes are repeatedly executed. If an end operation is performed in step S120, the process proceeds to “YES” and the present control ends.

  The configurations of the second embodiment other than those described above are the same as the configurations of the first embodiment. Therefore, in the second embodiment, substantially the same operational effects as in the first embodiment can be obtained. In particular, according to the second embodiment, a driver or a passenger can manually select an object on which a virtual image is displayed, that is, an object on which a virtual image is to be viewed in the future. Since unnecessary (that is, inappropriate) virtual images are not displayed, reliability is improved and usability is improved.

  Although the present disclosure has been described with reference to the embodiments, it is understood that the present disclosure is not limited to the embodiments and structures. The present disclosure includes various modifications and modifications within the equivalent range. In addition, various combinations and forms, as well as other combinations and forms including only one element, more or less, are within the scope and spirit of the present disclosure.

In the drawings, 1 is a vehicle driving support device, 2 is a navigation system, 3 is a vehicle state detection unit, 4 is a vehicle position information detection unit, 5 is an ambient condition detection unit, 6 is an information communication unit, and 7 is driving support control. Unit, 8 HUD, 9 operation input unit, 26 information communication unit, 27 road-to-vehicle communication unit, 28 vehicle-to-vehicle communication unit, 30 steering, 31 time controller, 32 front window, 38 driver 41 is an own vehicle prediction unit, 42 is an other vehicle prediction unit, 43 is a blind spot projection prediction unit, 44 is a parking lot prediction unit, 45 is a traffic light prediction unit, 46 is an intersection prediction unit, 47 is a traffic jam prediction unit, and 48 is a display Image generation unit 49, display control unit 51, other vehicle, 52 virtual image, 53 virtual image, 54 virtual image, 55 virtual image, 56 traffic light, 57 line, 58 mark, 59 virtual Image, 60 is vehicle, 61 is Virtual image, 62 is a vehicle.

Claims (5)

A display unit (8) for displaying information superimposed on the front scenery on the front window (32) of the vehicle;
A host vehicle prediction unit (41) for predicting a traveling course of the host vehicle;
Another vehicle prediction unit (42) for predicting the traveling course of the other vehicle;
Based on the prediction result by the own vehicle prediction unit (41) and the prediction result by the other vehicle prediction unit (42), information on the positional relationship between the other vehicle and the own vehicle is obtained, and the obtained information is obtained by the display unit. A control unit (48, 49) which displays the front window (32) in a superimposed manner on the front scenery according to (8);
A vehicle driving support apparatus comprising:   The control unit (48, 49) can display the information about the positional relationship between the other vehicle and the host vehicle on the front window (32) by the display unit (8) a little later in time. The vehicle driving support device according to claim 1, configured as described above. A blind spot projection prediction unit (43) for predicting the launch of an object in the blind spot of a building or a parked vehicle,
The control unit (48, 49) is configured to cause the display unit (8) to display the information on the predicted result of jumping out of the target object on the front window (32) so as to be superimposed on the front scenery. The vehicle driving support device according to claim 1 or 2. A parking lot prediction unit (44) for predicting a vehicle that will soon leave the parking lot,
The control unit (48, 49) is configured to cause the display unit (8) to display the information on the prediction result of the vehicle that is about to leave the parking lot on the front window (32) so as to be superimposed on the scenery in front. The vehicle driving support device according to any one of claims 1 to 3. A traffic light prediction unit (45) for predicting that the color of the traffic light changes when the vehicle reaches the intersection,
The control unit (48, 49) causes the display unit (8) to display the information on the prediction result of the color of the traffic light when the vehicle reaches the intersection on the front window (32) so as to be superimposed on the scenery in front. The driving support device for a vehicle according to any one of claims 1 to 4, which is configured as described above.

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