JP2018069753A - Driving condition display system and driving condition display program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technology that enables an occupant to intuitively recognize at how steep angle a vehicle is steered.SOLUTION: A driving condition display system includes a driving condition acquisition part which acquires a steering angle of a vehicle during a period when at least vehicle steering is automatically controlled, and a driving condition display part which makes a display part display a steering condition display object, which makes the steering condition display object rotate in a steering direction and which makes a speed of rotation of the steering condition display object higher as the steering angle becomes larger.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an operating status display system and an operating status display program.

  There is known a technique of projecting and displaying a direction mark indicating a direction of turning left or right or changing lanes on a front windshield glass by HUD (Head-Up Display) during automatic driving (see Patent Document 1). According to this technique, the occupant can recognize in which direction the vehicle will be steered.

Japanese Patent Laying-Open No. 2006-45705

However, it is not possible to recognize how much the vehicle is steered by merely displaying a direction mark indicating the direction of turning left or right or changing lanes. For example, there may be a problem that the occupant is surprised by a centrifugal force larger than expected.
The present invention has been made in view of the above problems, and an object of the present invention is to provide a technique capable of intuitively recognizing how much a vehicle is steered at a steep angle.

  In order to achieve the above object, a driving status display system according to the present invention displays a driving status acquisition unit that acquires a steering angle of a vehicle and a steering status display object at least during a period in which steering of the vehicle is automatically controlled. And a driving status display unit that rotates the steering status display object in the steering direction and increases the rotation speed of the steering status display object as the steering angle increases.

  In order to achieve the above object, a driving situation display program according to the present invention provides a computer, a driving situation acquisition unit for obtaining a steering angle of a vehicle at least during a period in which steering of the vehicle is automatically controlled, and a steering situation display object. Is displayed on the display unit, and the steering status display object is rotated in the steering direction, and the driving status display unit increases the rotation speed of the steering status display object as the steering angle increases.

  In the above-described configuration, it is possible to intuitively recognize how much the vehicle is steered by recognizing the speed at which the steering situation display object is rotating. Further, the steering direction can be intuitively recognized by recognizing the direction in which the steering status display object is rotating.

It is a block diagram of a driving | running state display system. 2A to 2F are diagrams showing display examples of screens. It is a flowchart of a driving | running condition display process.

Here, embodiments of the present invention will be described in the following order.
(1) Configuration of operation status display system:
(2) Operation status display processing:
(3) Other embodiments:

(1) Configuration of operation status display system:
FIG. 1 is a block diagram showing a configuration of an operation status display system 10 according to an embodiment of the present invention. The driving status display system 10 is a vehicle-mounted device such as a car navigation device mounted on a vehicle. The driving status display system 10 includes a control unit 20 and a recording medium 30. The control unit 20 includes a CPU, a RAM, a ROM, and the like, and executes an operation status display program 21 stored in the recording medium 30 or the ROM.

  The recording medium 30 records map information 30a and operation plan information 30b. The map information 30a includes node data, link data, and facility data. The node data mainly indicates information about the intersection. Specifically, the node data indicates the coordinates of the node corresponding to the intersection and the shape of the intersection. The link data indicates various information such as the number of lanes and the width of the link corresponding to the road section. A road section is a unit of road divided by intersections continuous in the length direction, and nodes exist at both ends of the link. A node to which three or more links are connected corresponds to an intersection. The link data includes shape interpolation point data. The shape interpolation point data is data indicating the coordinates of the shape interpolation point set at the center in the width direction of the road section. The control unit 20 acquires the coordinates of the node and the coordinates of the shape interpolation point, and acquires a polygonal line connecting these coordinates or an approximate curve of these coordinates as the shape of the road section. Facility data is information indicating names, attributes, and coordinates of various facilities.

  The driving plan information 30b is data defining a control target value for each target position that is the current location of the target vehicle. In the present embodiment, it is assumed that the target vehicle speed, the target acceleration / deceleration, and the target steering angle are recorded in the driving plan information 30b as the control target values. The control target value may be recorded for each time during automatic operation. The control unit 20 controls each part of the vehicle so that the current position reaches each target position, and controls each part of the vehicle so that each control target value is realized at a timing when the current position reaches each target position. The operation plan information 30b is created based on the planned travel route to the destination searched in advance. The driving plan information 30b may be modified as appropriate according to the traveling state of the vehicle. The technology for automatically controlling the vehicle is not particularly limited, and a known automatic driving control technology can be applied, and the control target value is not limited to that described above.

  The vehicle includes a GPS receiver 41, a vehicle speed sensor 42, a gyro sensor 43, a vehicle control ECU (Electronic Control Unit) 44, a steering unit 44a, an acceleration / deceleration unit 44b, and a display 45. The GPS receiver 41 receives radio waves from GPS satellites and outputs a signal for calculating the position of the vehicle via an interface (not shown). The vehicle speed sensor 42 outputs a signal corresponding to the rotational speed of the wheels provided in the vehicle. The control unit 20 acquires the vehicle speed based on a signal from the vehicle speed sensor 42. The gyro sensor 43 detects angular acceleration about turning in the horizontal plane of the vehicle, and outputs a signal corresponding to the direction of the vehicle. The control unit 20 acquires the traveling direction of the vehicle based on the signal from the gyro sensor 43. The control unit 20 acquires the current location of the vehicle based on output signals from the GPS receiving unit 41, the vehicle speed sensor 42, and the gyro sensor 43. Further, the control unit 20 may correct the current location of the vehicle on the link indicated by the map information 30a by a known map matching technique.

  The vehicle control ECU 44 is a computer for controlling each controlled device of the vehicle (not shown). The controlled device includes at least a steering unit 44a and an acceleration / deceleration unit 44b. The steering unit 44a is a mechanism for controlling the direction of the wheels (steering wheels), and includes a steering gear box that operates based on the control of the vehicle control ECU 44. The vehicle includes a steering wheel (not shown), and the steering unit 44a can be controlled by the driver operating the steering wheel. The acceleration / deceleration unit 44b includes an acceleration unit and a deceleration unit that operate based on the control of the vehicle control ECU 44. The acceleration unit is a mechanism for increasing the output of a drive source such as an engine or a motor. The speed reduction unit is a mechanism for controlling a friction brake, an engine brake, and a regenerative brake. The vehicle includes an accelerator pedal and a brake pedal (not shown), and the driver can control the acceleration / deceleration unit 44b by operating the accelerator pedal and the brake pedal.

  The vehicle control ECU 44 acquires signals indicating the control states of the steering unit 44a and the acceleration / deceleration unit 44b, and performs feedback control of the steering unit 44a and the acceleration / deceleration unit 44b based on the signals, thereby automatically according to the driving plan information 30b. Driving can be realized.

  The display 45 (display unit) is provided so that an occupant can visually recognize the inside of the vehicle. In the present embodiment, the display 45 is provided at the center of the left and right of the upper part of the dashboard of the vehicle. That is, the display 45 is provided at an intermediate position between a driver seat on which a driver is seated when performing manual driving and a passenger seat provided on the left side or the right side of the driver seat. In the present embodiment, the display 45 is a color liquid crystal display. The display 45 performs various displays according to the control of the driving status display system 10.

  The operation status display program 21 includes an automatic operation module 21a, an operation status acquisition module 21b, and an operation status display module 21c. The driving status acquisition module 21b and the driving status display module 21c are program modules that cause the control unit 20 as a computer to function as the driving status acquisition unit and the driving status display unit, respectively.

  The automatic operation module 21a is a program module that creates the operation plan information 30b described above and causes the control unit 20 to realize a function for controlling the vehicle control ECU 44 in accordance with the operation plan information 30b. That is, by the function of the automatic driving module 21a, the control unit 20 uses the well-known automatic driving control technique to obtain the driving plan information 30b that defines the target position and the control target value for automatically controlling the vehicle for each target position. create. And the control part 20 implement | achieves automatic driving control of a vehicle by outputting the control target value prescribed | regulated to the driving plan information 30b to vehicle control ECU44 sequentially.

  With the function of the automatic driving module 21a, the control unit 20 starts automatic driving when the current location of the vehicle passes a start point (first target position) defined in advance in the driving plan information 30b. Similarly, the control part 20 complete | finishes an automatic driving | operation, when the end point (last target position) prescribed | regulated to the driving plan information 30b is passed. Note that the start point may be a point at which a parked or stopped vehicle starts to move. The period from the start to the end of the automatic operation is the automatic operation period, and the automatic operation period is a period during which the steering of the steering unit 44a and the acceleration / deceleration of the acceleration / deceleration unit 44b are automatically controlled. The control unit 20 acquires the end point and the target vehicle speed from the driving plan information 30b, and derives the remaining period until the vehicle reaches the end point based on the remaining distance from the current location to the end point and the target vehicle speed. .

  The driving situation acquisition module 21b is a program module that causes the control unit 20 to realize a function of acquiring the steering angle of the vehicle at least during a period in which the steering of the vehicle is automatically controlled. First, by the function of the driving situation acquisition module 21b, the control unit 20 acquires the target steering angle from the driving plan information 30b when the current time is within the automatic driving period. The control unit 20 sets a target steering angle associated with a display target position that is a target position ahead by a predetermined read-ahead distance (for example, 3 m) from the current position among the target steering angles specified in the driving plan information 30b. To get. Further, the control unit 20 acquires the target steering direction (right steering or left steering) associated with the display target position together with the target steering angle. The prefetch distance may be set to a longer distance as the current vehicle speed increases.

  Further, the control unit 20 acquires the steering angle and the vehicle speed at least during a period in which the steering and acceleration / deceleration of the vehicle are automatically controlled by the function of the driving condition acquisition module 21b. That is, the control unit 20 acquires the target vehicle speed from the driving plan information 30b when the current time is within the automatic driving period. Specifically, the control unit 20 acquires a target vehicle speed associated with the display target position among the target vehicle speeds defined in the driving plan information 30b.

  Further, the control unit 20 acquires the steering angle and the traveling direction of the vehicle at least during the period in which the steering of the vehicle is automatically controlled by the function of the driving situation acquisition module 21b. That is, the control unit 20 derives the traveling direction from the target position defined in the operation plan information 30b when the current time is within the automatic operation period. Specifically, the control unit 20 derives the direction of a vector starting from the current location and ending at the display target position as the traveling direction. The up / down / left / right directions on the display 45 (the paper planes of FIGS. 2A to 2F) correspond to the front / rear / left / right directions of the vehicle in the real space, respectively. Note that the method of deriving the traveling direction is not limited to the method described above, and the traveling direction to the display target position is not necessarily limited.

  Note that since a finite number of target positions are defined in the operation plan information 30b, there may be a case where a target position (a display target position) ahead of the current position by the pre-reading distance is not defined. Therefore, the control unit 20 performs an interpolation operation using a target position around the display target position, a target steering angle or a target vehicle speed associated with the target position, and thereby a traveling direction or a target corresponding to the display target position. The steering angle and the target vehicle speed may be derived.

  The driving situation display module 21c displays a steering situation display object on the display unit, rotates the steering situation display object in the steering direction, and increases the rotation speed of the steering situation display object as the steering angle increases. It is a program module to be realized by the control unit 20. By the function of the driving status display module 21c, the control unit 20 displays the steering status display object on the display 45 as a display unit, so that the steering status display object can be visually recognized by a passenger seated in the driver seat and the passenger seat. To do.

  2A to 2F show display examples of the steering situation display object O1. The steering status display object O1 is a circular frame-shaped figure. The control unit 20 displays the steering situation display object O1 when the current time is within the automatic driving period, and does not display the steering situation display object O1 when the current time is not within the automatic driving period.

  By the function of the driving situation display module 21c, the control unit 20 adds a color gradation to the steering situation display object O1. Specifically, the control unit 20 displays the steering status display object O1 so that the color density (lightness) gradually changes according to the position in the diameter direction. In the present embodiment, the steering status display object O1 is blue, and the hue angle and saturation are maintained constant in gradation. The control unit 20 moves the gradation of the steering state display object O1 at a higher moving speed as the target vehicle speed associated with the display target position ahead of the current position by the pre-reading distance is higher. FIG. 2B shows a display example of the steering situation display object O1 displayed at a time later than FIG. 2A. In FIG. 2A, the portion with the highest density is located at the outer edge of the steering situation display object O1, but in FIG. 2B, the portion with the highest density has moved to the inner edge of the steering situation display object O1. The control unit 20 moves the gradation of the steering status display object O1 so that the period required for the gradation to move from the outer edge to the inner edge becomes smaller as the target vehicle speed associated with the display target position is larger.

  As shown in FIGS. 2A to 2D, the control unit 20 causes the map M to be displayed inside the steering situation display object O1 by the function of the driving situation display module 21c. Specifically, the control unit 20 draws a map M viewed from above in the vertical direction around the current location of the vehicle based on the map information 30a and displays the map M inside the steering situation display object O1. The control unit 20 displays a current location marker C indicating the current location of the vehicle on the map M, and draws the map M so that the current location marker C is located at the center of the map M. Further, the control unit 20 displays an arrow-shaped route marker A connecting the future target position indicated by the operation plan information 30b on the map M.

  2A and 2B show the steering state display object O1 when the vehicle goes straight ahead at a display target position ahead of the current position by a pre-reading distance. On the other hand, FIG. 2C and FIG. 2D show the steering status display object O1 when the vehicle makes a right turn and a left turn at a display target position ahead of the current position by a read-ahead distance. That is, FIG. 2C shows the steering situation display object O1 in a state where the target steering direction is the right direction, and FIG. 2D shows the steering situation display object O1 in a state where the target steering direction is the left direction.

  As shown in FIG. 2C, the control unit 20 rotates the steering situation display object O1 clockwise by the function of the driving situation display module 21c if the target steering direction at the display target position is the right direction. When a right-steering vehicle is viewed from vertically above, the vehicle appears to rotate clockwise. The control unit 20 rotates the steering status display object O1 around the center point (circular center) of the steering status display object O1. Note that the position of the center point of the steering situation display object O1 is constant. Although the shape of the steering situation display object O1 is rotationally symmetric about the center point, the control unit 20 can recognize the rotation of the steering situation display object O1 by adding a pattern to the steering situation display object O1. This pattern is composed of a plurality of curves that are convex in the clockwise direction.

  On the other hand, as shown in FIG. 2D, the control unit 20 rotates the steering status display object O1 counterclockwise by the function of the driving status display module 21c if the target steering direction at the display target position is the left direction. When a left-steering vehicle is viewed from vertically above, the vehicle appears to rotate counterclockwise. When the target steering direction is the left direction, the pattern of the steering status display object O1 is composed of a plurality of curves that are convex in the counterclockwise direction.

  With the function of the driving situation display module 21c, the control unit 20 increases the rotation speed of the steering situation display object O1 as the steering angle (absolute value) at the display target position increases. With the function of the driving situation display module 21c, the control unit 20 increases the rotation speed of the steering situation display object O1 as the vehicle speed increases. That is, the control unit 20 increases the rotation speed of the steering status display object O1 as the target steering angle and the target vehicle speed at the display target position increase. In the present embodiment, the control unit 20 sets the rotational speed of the steering status display object O1 having a magnitude proportional to a value obtained by multiplying the steering angle at the display target position by the target vehicle speed.

  Further, by the function of the driving situation display module 21c, the control unit 20 displays a traveling direction display object O2 indicating a traveling direction at a position on the steering situation display object O1 or a position continuous with the steering situation display object O1. In the present embodiment, the control unit 20 moves the inner diameter circle of the steering status display object O1 (a circle having the outer edge of the map M as a circumference) by a certain shift distance in a direction on the display 45 corresponding to the traveling direction. The traveling direction display object O2 is generated by attaching a color (black in FIGS. 2A to 2F) different from the steering state display object O1 to a portion where the moved inner diameter circle and the steering state display object O1 overlap. The shift distance is a distance smaller than the length obtained by subtracting the inner diameter from the outer diameter of the steering status display object O1. The traveling direction display object O2 is a crescent-shaped figure existing on the steering situation display object O1. On the other hand, the steering status display object O1 appears to be recessed by a shift distance in the traveling direction. It can be recognized that the direction in which the thickness in the diameter direction is the largest among the traveling direction display objects O2 and the direction in which the thickness in the diameter direction is the smallest among the steering status display objects O1 are the traveling directions.

  Further, the function of the driving situation display module 21c allows the control unit 20 to rotate the steering situation display object O1 when at least the remaining period until the end time of the period during which the steering of the vehicle is automatically controlled is equal to or less than a threshold value. Stop. That is, the control unit 20 derives the remaining period until the time when the vehicle reaches the end point (end time of the automatic driving period) based on the remaining distance from the current location to the end point of the automatic driving and the target vehicle speed. The remaining period is compared with a threshold (for example, 1 minute). And when it determines with the remaining period being below a threshold value, the control part 20 stops rotation of the steering condition display object O1.

  Further, the function of the driving status display module 21c allows the control unit 20 to change the display mode of the steering status display object O1 with time when the remaining period is equal to or less than the threshold value, and to change the display mode as the remaining period decreases. Increase the degree of change. 2E and 2F show display examples of the steering situation display object O1 when the remaining period until the end time of the automatic driving period is equal to or less than the threshold value. Further, when the remaining period until the end time of the automatic driving period is equal to or less than the threshold value, the control unit 20 displays the steering status as a uniform color image without adding gradation and a pattern to the steering status display object O1. An object O1 is generated.

  With the function of the driving situation display module 21c, the control unit 20 changes the position of the steering situation display object O1 as the display mode when the remaining period until the end time of the automatic driving period is equal to or less than the threshold value. 2E and 2F, a plurality of steering situation display objects O1 having different positions are displayed in gray, and the manner in which the position of the steering situation display object O1 changes is schematically shown. As shown in the map M, it is assumed that the remaining distance from the current location of the vehicle (current location marker C) to the end point E of the automatic driving is smaller in FIG. 2F than in FIG. 2E.

  As shown in FIGS. 2E and 2F, the control unit 20 determines the position of the center point of the steering status display object O1 (FIGS. 2A to 2D) when the remaining period until the end time of the automatic driving period is larger than the threshold value. A movable circle R (broken line) that is a circle as a center point is generated, and the center point of the steering situation display object O1 is randomly moved in the movable circle R. The control unit 20 generates the movable circle R so that the radius increases as the remaining period until the end time of the automatic operation period decreases. Note that the control unit 20 may increase the moving speed of the center point of the steering status display object O1 as the remaining period until the end time of the automatic driving period decreases. Regardless of the position of the steering status display object O1, the position of the map M is constant.

  Moreover, the control part 20 changes the color as a display mode of the steering condition display object O1 by the function of the driving condition display module 21c. When the remaining period until the end time of the automatic driving period is larger than the threshold, the color of the steering status display object O1 (FIGS. 2A to 2D) is blue with a constant hue angle and saturation. In the case where the remaining period until the end time of the period is equal to or less than the threshold, the control unit 20 gradually changes the hue angle so as to approach red as the remaining distance becomes smaller. In the present embodiment, the hue angle is changed so as to change from blue to red via green. At this time, the control unit 20 maintains lightness and saturation constant.

  In the present embodiment described above, it is possible to intuitively recognize how much the vehicle is steered by recognizing the speed at which the steering status display object O1 is rotating. Further, the steering direction (target steering direction) can be intuitively recognized by recognizing the direction in which the steering status display object O1 is rotating. The controller 20 increases the rotational speed of the steering status display object O1 as the vehicle speed increases. Here, since the centrifugal force acting on the occupant increases even if the target steering angle increases or the target vehicle speed increases, the rotational speed increases as the target steering angle and the target vehicle speed increase, thereby acting on the occupant. It is possible to intuitively recognize the magnitude of the centrifugal force.

  Since the control unit 20 displays the traveling direction display object O2 indicating the traveling direction at a position on the steering state display object O1, the steering state display object O1 and the traveling direction display object O2 can be visually recognized at the same time. Therefore, it is possible to recognize the steering angle and the traveling direction in association with each other.

  Moreover, the control part 20 stops rotation of the steering condition display object O1, when the remaining period until the end time of an automatic driving period becomes below a threshold value. In this configuration, by recognizing that the rotation of the steering status display object O1 has stopped, it is possible to intuitively recognize that the timing at which steering must be performed manually is approaching.

  Furthermore, when the remaining period until the end time of the automatic driving period is equal to or less than the threshold, the control unit 20 changes the display mode of the steering status display object O1 with time, and the display mode ( Increase the degree of change in color and position. Thus, by recognizing the degree of change in the display mode of the steering status display object O1 that changes over time, it is possible to intuitively recognize the degree of urgency at which the steering must be performed manually.

  Further, the control unit 20 can visually recognize the steering situation display object O1 and the map M simultaneously by displaying the map M inside the steering situation display object O1. Therefore, the road shape and steering angle represented on the map M can be recognized simultaneously. For example, by displaying a map in which the curve shape of the road on which the vehicle is traveling can be recognized, the magnitude of the steering angle and the curve shape of the road can be associated and recognized.

(2) Operation status display processing:
Next, the driving status display process executed by the function of the driving status display program 21 will be described. FIG. 3 is a flowchart of the driving status display process. It is assumed that the operation plan information 30b is created in advance when the operation status display process is executed.

  First, the control unit 20 determines whether or not the current time is within the automatic operation period (step S100). When it is not determined that the current time is within the automatic driving period (step S100: N), the control unit 20 executes the manual display mode by the function of the driving status display module 21c. The manual display mode only needs to be a mode in which a display different from that in the automatic operation period is performed, and the display content may be anything.

  On the other hand, if it is determined that the current time is within the automatic driving period (step S100: Y), the function of the driving status display module 21c causes the control unit 20 to change the direction of the traveling direction display object O2 according to the traveling direction of the vehicle. Setting is performed (step S105). Here, the traveling direction is a vector direction starting from the current position and ending at the display target position that is a target position ahead of the current position by a prefetch distance. The control unit 20 moves the inner diameter circle of the steering situation display object O1 (the circle on which the map M is displayed) by moving the steering situation display object O1 by a certain shift distance in the direction on the display 45 corresponding to the traveling direction. The overlapping portion is set as the traveling direction display object O2.

  Next, the control unit 20 acquires the remaining period up to the end time of the automatic driving period by the function of the driving condition acquisition module 21b (step S110). Specifically, the control unit 20 acquires the automatic driving end point and the target vehicle speed from the driving plan information 30b, and the vehicle reaches the end point based on the remaining distance from the current position to the end point and the target vehicle speed. The remaining period until is derived.

  Next, the control unit 20 determines whether or not the remaining period until the end time of the automatic driving period is larger than a threshold value (for example, 1 minute) by the function of the driving status display module 21c (step S115). When it is determined that the remaining period until the end time of the automatic driving period is larger than the threshold (step S115: Y), the control unit 20 uses the function of the driving state display module 21c to control the steering state display object O1 according to the target vehicle speed. The moving speed of the gradation is set (step S120). That is, the control unit 20 increases the moving speed at which the gradation of the steering status display object O1 illustrated in FIGS. 2A to 2D moves toward the center point as the target vehicle speed at the display target position ahead of the current position by the read-ahead distance increases. Set.

  Next, the control part 20 acquires a target steering direction and a steering angle by the function of the driving condition acquisition module 21b (step S125). In other words, the control unit 20 acquires the target steering direction and the target steering angle at the display target position that is ahead of the current position by a prefetch distance.

  Next, the control unit 20 determines whether or not the vehicle goes straight by the function of the driving status display module 21c (step S130). That is, the control unit 20 determines whether or not the target steering angle at the display target position is 0 (or the absolute value of the difference from 0 is within a threshold value (for example, 1 degree)).

  When it is not determined that the vehicle goes straight (step S130: N), the control unit 20 sets the rotation direction of the steering situation display object according to the target steering direction by the function of the driving situation display module 21c (step S135). The control unit 20 sets the steering status display object O1 to rotate clockwise if the target steering direction at the display target position is the right direction. At this time, the control unit 20 sets a pattern composed of a plurality of curves convex in the clockwise direction to be attached to the steering situation display object O1 (FIG. 2C). On the other hand, the control unit 20 sets the steering state display object O1 to rotate counterclockwise if the target steering direction at the display target position is the left direction. At this time, the control unit 20 sets a pattern composed of a plurality of curves convex in the counterclockwise direction to be attached to the steering situation display object O1 (FIG. 2D).

  Next, the control unit 20 sets the rotation speed of the steering status display object O1 according to the target steering angle by the function of the driving status display module 21c (step S140). That is, the control unit 20 sets the rotation speed of the steering status display object O1 so that the larger the target steering angle (absolute value) and the target vehicle speed at the display target position, the larger the target steering angle.

  As described above, when the settings for the steering status display object O1 and the traveling direction display object O2 are completed in steps S105 to S140, the control unit 20 uses the function of the driving status display module 21c to display an image according to the settings. It is displayed (step S145). That is, the control unit 20 causes the display 45 to display the steering status display object O1 and the traveling direction display object O2 together with the map M. When the above process ends, the control unit 20 returns to step S100 and repeats the same process. As a result, it is possible to display an image following changes in the remaining period, the traveling direction, the target steering angle, and the target steering direction until the end time of the automatic driving period.

  By the way, when it determines with a vehicle going straight ahead (step S130: Y), the control part 20 progresses to step S145 by the function of the driving condition display module 21c. That is, the steering state display object O1 and the traveling direction display object O2 are displayed on the display 45 together with the map M without setting for rotating the steering state display object O1. Thereby, an image like FIG. 2A and FIG. 2B can be displayed.

  Further, when it is not determined that the remaining period until the end time of the automatic driving period is larger than the threshold (step S115: N), the control unit 20 uses the function of the driving condition display module 21c to make the steering condition smaller as the remaining distance becomes smaller. The amount of change in the position of the center point of the display object O1 is set large (step S150). That is, when the remaining period until the end time of the automatic driving period is equal to or less than the threshold, the control unit 20 sets the movable circle R whose radius increases as the remaining distance decreases. In the movable circle R, the position of the center point of the steering status display object O1 moves.

  Next, by the function of the driving situation display module 21c, the control unit 20 sets the amount of change in the color of the steering situation display object O1 as the remaining period until the end time of the automatic driving period is smaller (step S155). That is, as the remaining period until the end time of the automatic driving period is smaller, the control unit 20 causes the hue angle of the color of the steering situation display object O1 to change the color of the steering situation display object O1 when the remaining period is larger than the threshold. The color of the steering situation display object O1 is set so as to change greatly from the hue angle.

  As described above, when the settings for the steering status display object O1 and the traveling direction display object O2 are completed in steps S105 to S110 and S150 to S155, the control unit 20 displays an image by the function of the driving status display module 21c. (Step S145). As a result, as shown in FIGS. 2E and 2F, the steering status display object O1 can be displayed such that the degree of change in the display mode increases as the remaining period until the end time of the automatic driving period decreases.

(3) Other embodiments:
The controller 20 may derive the centrifugal force based on the vehicle speed and the steering angle by the function of the driving status display module 21c, and rotate the steering status display object at a rotational speed having a magnitude proportional to the centrifugal force. Specifically, the control unit 20 acquires the radius of curvature corresponding to the target steering angle, and sets the rotational speed that is inversely proportional to the radius of curvature and proportional to the square of the target vehicle speed to the steering status display object O1. The rotation speed may be set. Since the characteristics of understeer and oversteer differ from vehicle to vehicle, functions and tables that can derive the radius of curvature from any target steering angle are prepared by investigating or learning the correspondence between the steering angle and the radius of curvature for each vehicle in advance. May be. Note that the radius of curvature decreases as the steering angle increases. With the above configuration, the centrifugal force can be recognized more accurately.

  In the above embodiment, the steering status display object O1 is displayed according to the target steering angle at the display target position that is the target position ahead of the current position by the pre-reading distance, but the display target position may be the current position. In this case, the control unit 20 may display the steering status display object O1 according to the target steering angle at the current location, or may display the steering status display object O1 according to the actual steering angle at the current location. That is, the control unit 20 may display the steering status display object O1 according to the actual steering angle (wheel angle) detected by the steering unit 44a at the current time and the steering direction. Similarly, the control unit 20 may display the steering status display object O1 according to the actual vehicle speed derived from the output signal of the vehicle speed sensor 42 at the current time. It should be noted that the occupant can recognize the steering angle and centrifugal force in advance by rotating the steering status display object O1 according to the target steering angle at the display target position ahead by the pre-reading distance from the current location.

  The control unit 20 does not necessarily need to set the rotation speed of the steering situation display object O1 according to the vehicle speed by the function of the driving situation display module 21c, and at least the rotation speed of the steering situation display object O1 according to the steering angle. Should be set. Further, the control unit 20 may not necessarily display the traveling direction display object O2 by the function of the driving state display module 21c, and may omit displaying the traveling direction display object O2. Furthermore, the controller 20 does not necessarily have to express the vehicle speed by the gradation of the steering situation display object O1 by the function of the driving situation display module 21c.

  Further, the control unit 20 may continue the rotation of the steering status display object O1 until the remaining period until the end time of the automatic driving period becomes zero. In this case, the control unit 20 may change the display mode of the steering status display object O1 according to the remaining period until the end time of the automatic driving period, or the display mode of the steering status display object O1 regardless of the remaining period. May not be changed. Furthermore, the steering status display object O1 does not necessarily have to be a frame-like figure, and the map M does not have to be displayed inside.

  The driving status display system only needs to be able to control the display on the display unit provided so that an occupant can visually recognize the vehicle, and may be an in-vehicle device mounted on the vehicle, or a computer provided on the vehicle. Also good. The driving status display system may be a portable terminal such as a smartphone provided with a display unit, or may be a computer outside the vehicle that controls display on the display unit in the vehicle via wireless communication. The display unit may be configured to be visible to the vehicle occupant, may be configured to be visible to the driver's seat occupant capable of manual driving, or may be configured to be visible to the passenger in the passenger seat. Alternatively, the rear seat passenger may be configured to be visible. Furthermore, the display unit may be a wearable display worn by a passenger, or a HUD that projects an image on a windshield or the like of a vehicle.

  The driving condition acquisition unit only needs to acquire the steering angle at least during a period in which the steering of the vehicle is automatically controlled, and may acquire the steering angle in automatic control instead of the steering performed by the driver. The steering angle may be a current steering angle or a future steering angle. That is, the user may be configured to recognize the current steering angle, or the user may be configured to recognize the future steering angle. The steering angle may be a target steering angle acquired from an automatic driving plan, or may be an actual steering angle acquired from a sensor provided on a steering wheel, a steering wheel, or the like. Furthermore, the driving condition acquisition unit does not necessarily acquire the steering angle itself, and may acquire a value having a unique relationship with the steering angle instead of the steering angle. For example, the driving condition acquisition unit may acquire the curvature radius of the road on which the vehicle travels as a value that is uniquely related to the steering angle, or may acquire the amount of change in the traveling direction per unit travel distance Good.

  The steering status display object may be a display figure that can be recognized as being rotated, and the shape (shape / pattern / color) may not be rotationally symmetric with respect to the rotation center. For example, the steering status display object may be recognized as if the shape is rotationally symmetric (that is, circular) and only the pattern is rotating. On the other hand, if a non-circular shape is adopted as the steering status display object, it can be recognized that the object is rotating without a pattern. The steering direction is one of right steering and left steering. The driving status display unit only needs to increase the rotational speed of the steering status display object as the steering angle increases, and may be configured so that the relationship between the rotational speed and the steering angle is represented by a monotonically increasing function. This monotonically increasing function may be any function, a linear function, or a non-linear function.

  Here, the driving status acquisition unit acquires the steering angle and the vehicle speed at least during a period in which the steering and acceleration / deceleration of the vehicle are automatically controlled, and the driving status display unit displays the steering status display object as the vehicle speed increases. The rotation speed may be increased. That is, instead of setting the rotation speed of the steering situation display object only according to the steering angle, the rotation speed of the steering situation display object may be set in consideration of the vehicle speed. Here, since the centrifugal force acting on the occupant increases even if the steering angle increases or the vehicle speed increases, the centrifugal force acting on the occupant increases by increasing the rotational speed as the steering angle and the vehicle speed increase. Can be recognized intuitively. For example, the driving condition acquisition unit may set a rotation speed having a magnitude proportional to a value obtained by multiplying the steering angle and the vehicle speed or a value obtained by adding the steering angle and the vehicle speed.

  Further, the driving status display unit may derive a centrifugal force based on the vehicle speed and the steering angle, and rotate the steering status display object at a rotational speed having a magnitude proportional to the centrifugal force. Thereby, the centrifugal force can be recognized more accurately. Specifically, by setting the rotation speed of the steering situation display object to a magnitude that is proportional to the square of the vehicle speed, the steering situation display object can be rotated at a rotation speed that is proportional to the centrifugal force. Further, by deriving a radius of curvature based on the steering angle and setting the rotation speed of the steering status display object to a magnitude that is inversely proportional to the curvature radius, the steering situation display object is rotated at a rotation speed that is proportional to the centrifugal force. Can be made.

  The driving situation acquisition unit acquires the steering angle and the traveling direction of the vehicle at least during a period in which the steering of the vehicle is automatically controlled, and the driving situation display unit displays the position on the steering situation display object or the steering. You may display the advancing direction display object which shows a advancing direction in the position following a status display object. In this configuration, since the traveling direction display object is displayed at a position on the steering situation display object or at a position continuous to the steering situation display object, the steering situation display object and the traveling direction display object can be visually recognized simultaneously. Therefore, it is possible to recognize the steering angle and the traveling direction in association with each other.

  Further, the driving status display unit may stop the rotation of the steering status display object when at least the remaining period until the end time of the period in which the steering of the vehicle is automatically controlled is equal to or less than the threshold value. In this configuration, by recognizing that the rotation of the steering status display object has stopped, it is possible to intuitively recognize that the timing at which steering must be performed manually is approaching. Note that the driving state acquisition unit may consider that the remaining period is equal to or less than the threshold when the remaining distance to the point where the steering is automatically controlled is equal to or less than the threshold. Furthermore, the driving condition acquisition unit may consider that the remaining period is equal to or less than a threshold when the reliability of information necessary for automatically controlling steering is equal to or less than a predetermined reference value. The information necessary for automatically controlling the steering may be, for example, information on the position and direction of the vehicle, or may be map information that defines the shape of the road on which the vehicle is to travel.

  The driving status display unit may change the display mode of the steering status display object with time when the remaining period is equal to or less than the threshold, and increase the degree of change in the display mode as the remaining period decreases. . In this way, by recognizing the degree of change in the display state of the steering status display object that changes over time, it is possible to intuitively recognize the degree of urgency at which the steering must be performed manually. The change in the display mode may be a change in the shape of the steering situation display object, a change in the position, a change in the pattern, or a color (color, transparency, etc.). It may be a change or a change in shape. The degree of change in the display mode may be the amount of change in the display mode per unit time, may be the amplitude of the changing value, and the remaining period is equal to or less than the threshold value. It may be the amount of change from the previous display mode.

  Furthermore, the steering status display object may be a frame-like figure, and the driving status display unit may display a map inside the steering status display object. By doing in this way, a steering situation display object and a map can be visually recognized simultaneously. Therefore, the road shape and the steering angle represented on the map can be recognized simultaneously. For example, by displaying a map in which the curve shape of the road on which the vehicle is traveling can be recognized, the magnitude of the steering angle and the curve shape of the road can be associated and recognized.

  Furthermore, the method of displaying an object that rotates at a rotational speed corresponding to the steering angle as in the present invention can also be applied as a program or method. In addition, the system, program, and method as described above may be realized as a single device, or may be realized using components shared with each part of the vehicle, and include various aspects. It is a waste. For example, it is possible to provide a navigation system, a driving status display system and method, and a program provided with the above devices. Further, some changes may be made as appropriate, such as a part of software and a part of hardware. Furthermore, the invention is also established as a recording medium for a program for controlling the apparatus. Of course, the software recording medium may be a magnetic recording medium, a magneto-optical recording medium, or any recording medium to be developed in the future.

DESCRIPTION OF SYMBOLS 10 ... Driving status display system, 20 ... Control part, 21 ... Driving status display program, 21a ... Automatic driving module, 21b ... Driving status acquisition module, 21c ... Driving status display module, 30 ... Recording medium, 30a ... Map information, 30b Operation plan information, 41 GPS receiving unit, 42 Vehicle speed sensor, 43 Gyro sensor, 44 Vehicle control ECU, 44a Steering unit, 44b Accelerating / decelerating unit, 45 Display, A Route marker, C Current location Marker, E ... End point, M ... Map, O1 ... Steering status display object, O2 ... Traveling direction display object, R ... Movable circle

Claims (8)

A driving condition acquisition unit that acquires a steering angle of the vehicle at least during a period in which steering of the vehicle is automatically controlled;
A driving status display unit that displays a steering status display object on a display unit, rotates the steering status display object in a steering direction, and increases the rotation speed of the steering status display object as the steering angle increases;
A driving status display system. The driving status acquisition unit acquires the steering angle and the vehicle speed at least during a period in which steering and acceleration / deceleration of the vehicle are automatically controlled,
The driving status display unit increases the rotation speed of the steering status display object as the vehicle speed increases.
The operation status display system according to claim 1. The driving status display unit derives a centrifugal force based on the vehicle speed and the steering angle, and rotates the steering status display object at a rotational speed having a magnitude proportional to the centrifugal force.
The operating status display system according to claim 2. The driving status acquisition unit acquires the steering angle and the traveling direction of the vehicle at least during a period in which steering of the vehicle is automatically controlled.
The driving status display unit displays a traveling direction display object indicating the traveling direction at a position on the steering status display object or a position continuous with the steering status display object;
The driving | running condition display system as described in any one of Claims 1-3. The driving status display unit stops rotation of the steering status display object when at least a remaining period until an end time of a period in which steering of the vehicle is automatically controlled is equal to or less than a threshold;
The driving | running condition display system as described in any one of Claims 1-4. The driving status display unit changes the display mode of the steering status display object over time when the remaining period is equal to or less than a threshold, and increases the degree of change in the display mode as the remaining period decreases. ,
The driving status display system according to claim 5. The steering status display object is a frame-shaped figure,
The driving status display unit displays a map inside the steering status display object;
The driving | running condition display system as described in any one of Claims 1-6. Computer
A driving condition acquisition unit for acquiring a steering angle of the vehicle at least during a period in which steering of the vehicle is automatically controlled;
A driving status display unit that displays a steering status display object on a display unit, rotates the steering status display object in a steering direction, and increases the rotation speed of the steering status display object as the steering angle increases;
Operating status display program to function as.