JP2018184091A - Driving assistance device, driving assistance method and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To display a predicted route for an own vehicle more clearly.SOLUTION: A driving assistance device 10 includes: an acquisition unit 22 for acquiring information to be used for route prediction for an own vehicle and information showing surrounding conditions of the own vehicle; a route prediction unit 24 for calculating a predicted route for the own vehicle by using the information acquired by the acquisition unit 22, and detecting obstacles on the predicted route for the own vehicle; an image generation unit 26 for superimposing a vehicle image showing a predicted position of the own vehicle on a vehicle surrounding image for the own vehicle acquired by the acquisition unit 22, and generating a predicted route image in which a display position of a vehicle image changes along the predicted route for the own vehicle on the vehicle peripheral image; and a display control unit 28 for displaying the predicted route image on a display device. When an obstacle is detected on the predicted route of the own vehicle, the image generation unit 26 generate a predicted route image with a different display mode than in a situation where no obstacle is detected.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a driving support device, a driving support method, and a program.

  2. Description of the Related Art In recent years, there has been known an apparatus that presents a driver with a vehicle periphery image captured by an in-vehicle camera for the purpose of assisting driving during parking. For example, a rear image obtained by imaging the rear of the vehicle is displayed, or an overhead image generated by combining images from a plurality of in-vehicle cameras is displayed. In addition, a guide display for preventing contact with an obstacle ahead of the host vehicle, a guide display indicating a planned parking position of the host vehicle according to the steering amount of the host vehicle, and the like are superimposed on the overhead image (for example, Patent Documents). 1).

JP 2006-27334 A

  When parking, it is necessary to drive the host vehicle while adjusting the steering angle of the steering wheel while paying attention to contact with other vehicles and obstacles around the host vehicle. When the parking space is small, it is often necessary to move the vehicle forward or backward little by little while changing the rudder angle according to the position of the vehicle. Under such circumstances, it is preferable that a display capable of supporting the driver's appropriate driving operation more precisely is provided.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a technique for displaying the predicted course of the host vehicle in an easy-to-understand manner.

  A driving support device according to an aspect of the present invention uses an acquisition unit that acquires information used for course prediction of the host vehicle and information indicating a surrounding situation of the host vehicle, and a predicted course of the host vehicle using information acquired by the acquisition unit. And a vehicle path image indicating the predicted position of the host vehicle is superimposed on the vehicle surrounding image of the host vehicle acquired by the acquiring unit, and the obstacle prediction unit detects the obstacle on the predicted path of the host vehicle. The image generation part which produces | generates the predicted course image from which the display position of a vehicle image changes on a vehicle periphery image along a predicted course, and the display control part which displays a predicted course image on a display apparatus are provided. When an obstacle is detected on the predicted route of the host vehicle, the image generation unit generates a predicted route image having a different display mode compared to the case where the obstacle is not.

  Another aspect of the present invention is a driving support method. This method obtains information used for predicting the course of the host vehicle and calculates the predicted course of the host vehicle, acquires information indicating the surrounding situation of the host vehicle and detects an obstacle on the predicted course of the host vehicle. The vehicle image indicating the predicted position of the host vehicle is superimposed on the vehicle peripheral image obtained by imaging the periphery of the host vehicle, and the display position of the vehicle image changes on the vehicle peripheral image along the predicted course of the host vehicle. Generating a predicted course image; and displaying the predicted course image on a display device. The predicted course image is generated such that when an obstacle is detected on the predicted course of the host vehicle, the display mode is different from that when the obstacle is not detected.

  Note that any combination of the above-described constituent elements and the constituent elements and expressions of the present invention replaced with each other among methods, apparatuses, systems, etc. are also effective as an aspect of the present invention.

  According to the present invention, the predicted course of the host vehicle can be displayed more easily.

It is a figure which shows typically the condition which parks the own vehicle in a parking space. It is a functional block diagram which shows typically the structure of a driving assistance device. It is a figure which shows typically the locus | trajectory of a prediction course. It is a figure for demonstrating typically the detection method of the obstruction on a prediction course. It is a figure for demonstrating typically the detection method of the obstruction on a prediction course. It is a figure which shows a predicted course image typically. It is a figure which shows typically the animation display of a predicted course image. It is a figure which shows typically the animation display of a predicted course image. FIGS. 9A and 9B are diagrams schematically illustrating a predicted course image according to a modification. It is a figure which shows typically the animation display of the predicted course image which concerns on a modification. It is a figure which shows typically the animation display of the predicted course image which concerns on a modification. It is a flowchart which shows the flow of a driving assistance method typically.

  Embodiments of the present invention will be described below with reference to the drawings. Specific numerical values and the like shown in the embodiments are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  FIG. 1 is a diagram schematically illustrating a situation in which the host vehicle 60 is parked in the parking space 52, and shows a state in which the host vehicle 60 is moved backward to enter the parking space 52. A plurality of parking spaces are arranged in the parking lot 50, and other vehicles 62 a and 62 b are parked on both sides of the vacant parking space 52. Other vehicles 62c and 62d are also parked in front of the parking space 52. Under such circumstances, the driver driving the host vehicle 60 prevents the vehicle from coming into contact with other vehicles 62a, 62b, 62c, and 62d located in the vicinity of the host vehicle, while in the vacant parking space 52. It is necessary to perform a driving operation so that 60 is contained.

  If it is an expert driver, the driving operation at the time of parking may not be so difficult. However, there are a certain number of drivers who are not good at parking, and the own vehicle 60 smoothly moves toward the parking space 52 while avoiding contact with surrounding obstacles in a limited space in the parking lot 50. I often find it difficult to proceed. As the cause, it is difficult to accurately grasp the situation around the host vehicle 60 and it is difficult to accurately predict the course of the host vehicle 60. As a result, it is time-consuming to move the host vehicle 60 backward or forward little by little while adjusting the steering angle of the steering wheel, and to grasp the surrounding situation each time. In addition, if the surrounding vehicle is likely to come into contact with the surrounding obstacle 60 or if the vehicle 60 protrudes from the frame of the parking space 52, the parking may be performed again from the beginning or it may be necessary to switch back. Therefore, it becomes very troublesome. Furthermore, care must be taken not to come in contact with surrounding obstacles even during redoing or turning back of the parking lot, which may annoy the driver.

  According to the present embodiment, there is provided a driving support device that displays the situation around the host vehicle 60 and the predicted course of the host vehicle 60 in an easy-to-understand manner. The driving support device generates a predicted course image in which a vehicle image indicating a predicted position of the host vehicle 60 is superimposed on a vehicle periphery image, and the vehicle image moves like an animation along the trajectory of the predicted path of the host vehicle 60. The predicted course image to be displayed is displayed. In addition, when an obstacle is detected on the predicted route, it is possible to display a predicted route image with a different display mode compared to the case where the obstacle is not, and there is a possibility of touching the obstacle on the predicted route. Arouse. According to the present embodiment, the situation around the host vehicle 60 is indicated by the vehicle peripheral image, and the predicted course of the host vehicle 60 on the image is clearly shown in the moving image. Therefore, the driver can intuitively grasp whether or not the steering angle of the host vehicle 60 is appropriate, and to what distance the host vehicle 60 may be advanced while maintaining the current steering angle. Thereby, the difficulty of the driving operation at the time of parking can be reduced, and driving operation can be supported suitably.

  FIG. 2 is a functional block diagram schematically showing the configuration of the driving support device 10. Each functional block shown in the figure can be realized by hardware such as a computer CPU and memory, or a mechanical device, and can be realized by software by a computer program or the like. It is drawn as a functional block to be realized. Therefore, those skilled in the art will understand that these functional blocks can be realized in various forms by a combination of hardware and software.

  The driving support device 10 includes a touch display 12 and a control device 18. The touch display 12 includes a display device 14 and an input device 16. The display device 14 is a display device such as a liquid crystal display, and is attached to the position of the center console or dashboard of the vehicle. The input device 16 is a so-called touch panel sensor, and is provided in the display area of the display device 14. Note that the input device 16 is not a touch type, and may be configured with buttons or the like arranged around the display device 14. Moreover, the display apparatus 14 may be provided in the position of the rear view mirror for visually recognizing the vehicle rear, and may be comprised as a head-up display. The driving support device 10 may not include the touch display 12 and may control display on a display device such as a display different from the driving support device 10.

  The control device 18 generates a predicted course image of the host vehicle 60 and causes the display device 14 to display the generated predicted course image. The control device 18 is connected to the vehicle-mounted camera 30, the steering angle sensor 32, the vehicle speed sensor 34, the shift lever 36, and the obstacle sensor 38, and acquires information necessary for generating a predicted course image from these. Note that these pieces of information may be acquired through a CAN (Controller Area Network).

  The control device 18 includes an acquisition unit 22, a course prediction unit 24, an image generation unit 26, and a display control unit 28.

  The acquisition part 22 acquires the information used for the course prediction of the own vehicle. The acquisition unit 22 acquires information indicating the steering angle of the host vehicle 60 from the steering angle sensor 32, and acquires information indicating the vehicle speed of the host vehicle 60 from the vehicle speed sensor 34. The acquisition unit 22 acquires information indicating the shift lever position from the shift lever 36, and acquires information about whether the host vehicle 60 moves forward or backward.

  The acquisition unit 22 acquires information indicating the surrounding situation of the host vehicle. The acquisition unit 22 acquires an image obtained by capturing the periphery of the host vehicle 60 from the in-vehicle camera 30. For example, the acquisition unit 22 acquires images captured by each of a plurality of cameras provided at four locations on the front, rear, left, and right sides of the host vehicle 60 and performs viewpoint conversion processing as if the periphery of the host vehicle 60 is viewed from above. The applied overhead image can be generated. Note that the image acquired by the acquisition unit 22 is not particularly limited, and an arbitrary image necessary for generating a vehicle peripheral image indicating a peripheral situation of the host vehicle 60 such as a rear image of the host vehicle 60 may be acquired.

  The acquisition unit 22 detects an obstacle existing around the host vehicle 60 from the obstacle sensor 38. For example, the acquisition unit 22 acquires information related to the distance and direction from the vehicle 60 to the obstacle from sensors provided at a plurality of positions on the front, rear, left and right of the vehicle 60. The type of the obstacle sensor 38 is not particularly limited. For example, an ultrasonic sensor, an infrared sensor, a millimeter wave radar, a stereo camera, a LIDAR (Light Detection and Ranging) sensor, or the like can be used. In addition, the distance to the obstacle around the own vehicle 60 may be calculated from the parallax information obtained by comparing a plurality of images captured by the in-vehicle camera 30 while the own vehicle 60 moves.

  The course prediction unit 24 calculates the predicted course of the host vehicle 60 using the information acquired by the acquisition unit 22. The course prediction unit 24 calculates a predicted course of the host vehicle 60 mainly based on the steering angle information and the shift lever position information. For example, when the shift lever is at a position where it can move forward, such as the D range, the course ahead of the host vehicle 60 is predicted based on the steering angle. On the other hand, when the shift lever is at a reversible position such as the R range, the course behind the host vehicle 60 is predicted based on the steering angle. The course prediction unit 24 predicts a limited range of courses in the vicinity of the host vehicle 60, and for example, predicts a course about a range of about 5 m to 15 m from the host vehicle 60. The prediction range of the course prediction unit 24 may be limited to a range included in the vehicle surrounding image 70.

  FIG. 3 is a diagram schematically showing the predicted course paths C1, C2, C3, C4, and C5, and shows the predicted course when the host vehicle 60 moves backward. The calculated predicted course changes according to the steering angle of the host vehicle 60. For example, when the host vehicle 60 travels straight, the predicted course becomes the first trajectory C1 and the steering angle is very large. The predicted course becomes the fifth locus C5. Further, when the rudder angle is medium, the predicted course changes according to the magnitude of the rudder angle as a second trajectory C2, a third trajectory C3, and a fourth trajectory C4. The range in which the trajectory of the predicted course is calculated is limited, and in the illustrated example, a distance of about 2 to 3 times the total length of the host vehicle 60, for example, 5 m to 15 m is calculated.

  The course prediction unit 24 further detects the presence or absence of an obstacle on the predicted course of the host vehicle 60 using the information acquired by the acquisition unit 22. The course prediction unit 24 generates a map indicating the positional relationship between the host vehicle 60 and obstacles around the host vehicle 60 based on the information acquired from the obstacle sensor 38. The map indicating the position of the obstacle can be generated from information on the distance and direction from the host vehicle 60 to the obstacle, for example. The course prediction unit 24 detects the obstacle on the predicted course by superimposing the calculated course on the map indicating the position of the obstacle.

  FIG. 4 is a diagram for schematically explaining an obstacle detection method on a predicted course. FIG. 4 illustrates the case where the predicted course of the host vehicle is the third trajectory C3, and the third trajectory C3 is superimposed on a map showing the positional relationship of obstacles existing around the host vehicle 60. In addition, a plurality of predicted positions 64 of the host vehicle 60 indicated by broken lines are superimposed along the predicted track C3. Each predicted position 64 indicated by a broken line indicates an area occupied by the vehicle body when the host vehicle 60 moves along the predicted course, and indicates a predicted passing area through which the vehicle body passes when the host vehicle 60 moves. The course prediction unit 24 calculates each predicted position 64 at intervals of about 10 cm to 50 cm, for example. The size of the area occupied by each predicted position 64 may be set to be the same as the outer shape of the host vehicle 60, or may be set larger than the outer shape of the host vehicle 60 in consideration of a margin of about 10 cm to 50 cm. The course prediction unit 24 may calculate a predicted passage area in which the predicted positions 64 are continuously connected instead of calculating the plurality of discrete predicted positions 64.

  The course prediction unit 24 determines whether or not the calculated predicted passage area and the obstacle overlap. The course prediction unit 24 determines, for example, whether or not there is an obstacle in each of the calculated plurality of predicted positions 64, and identifies the predicted position 64 that overlaps the obstacle. FIG. 4 illustrates a case where a part of the plurality of predicted positions 64 calculated along the track C3 of the predicted course and the other vehicle 62b overlap. In such a case, the course prediction unit 24 determines that there is an obstacle on the predicted course of the host vehicle 60, and specifies the predicted position 64 determined to have an obstacle. For example, among the plurality of predicted positions 64 shown in FIG. 4, some predicted positions 64a and 64b overlapping with the other vehicle 62c are specified.

  FIG. 5 is a diagram for schematically explaining an obstacle detection method on the predicted route, and shows a case where no obstacle is detected on the predicted route. FIG. 5 illustrates the case where the predicted course of the host vehicle is the fourth trajectory C4, and the surrounding other vehicles 62a to 62d are within the region of the plurality of predicted positions 66 calculated along the trajectory C4 of the predicted course. The case where it does not exist is shown. In such a case, the course prediction unit 24 determines that there is no obstacle on the predicted course of the host vehicle 60. Obstacles detected by the course prediction unit 24 are not particularly limited, and preferably include structures such as pillars and walls, passers-by, and the like.

  The image generation unit 26 generates a predicted route image in which a vehicle image indicating a predicted position of the host vehicle is superimposed on a vehicle periphery image obtained by capturing the periphery of the host vehicle. The vehicle peripheral image is an image using information acquired by the acquisition unit 22, and is generated based on, for example, an image captured by the in-vehicle camera 30. The vehicle peripheral image is, for example, a bird's-eye view image that has been subjected to viewpoint conversion processing as if the periphery of the host vehicle 60 is viewed from above. A first vehicle image indicating the current position of the host vehicle 60 and a second vehicle image indicating the predicted position of the host vehicle 60 are superimposed on the vehicle peripheral image.

  FIG. 6 is a diagram schematically showing the predicted course image 72. The predicted course image 72 is generated by superimposing the first vehicle image 80 and the second vehicle image 82 on the vehicle surrounding image 70. The vehicle surrounding image 70 is a bird's-eye view image showing the current situation in which the periphery of the host vehicle 60 is imaged. The first vehicle image 80 and the second vehicle image 82 are symbol images imitating the host vehicle 60 viewed from above. The first vehicle image 80 is displayed at the current position of the host vehicle 60, and the second vehicle image 82 is displayed at the predicted position of the host vehicle 60. The predicted track C may or may not be displayed on the predicted track image 72.

  The second vehicle image 82 is preferably displayed as a translucent image so that a portion overlapping the second vehicle image 82 is not hidden. If a non-transparent image is superimposed, the frame line or obstacle of the parking space 52 superimposed on the second vehicle image 82 is hidden, and the positional relationship between the frame line and the obstacle and the predicted position of the vehicle. This may be difficult to understand. In addition, by using an image composed only of a frame portion showing the contour of the host vehicle 60 as the second vehicle image 82, the range that is hidden by being superimposed on the second vehicle image 82 is reduced. The decrease may be suppressed.

  The second vehicle image 82 is preferably displayed in a different form from the first vehicle image 80 so that it can be distinguished from the first vehicle image 80 at a glance. For example, the second vehicle image 82 is configured to be different from the first vehicle image 80 in shape, color, transparency, outline thickness, line type, and the like. As an example, the first vehicle image 80 may be configured as an image imitating the shape of the host vehicle 60 in detail, while the second vehicle image 82 may be configured as a simple rectangular image. In addition, the first vehicle image 80 and the second vehicle image 82 may be differentiated by making at least one of hue, brightness, and saturation different.

  When an obstacle is detected on the predicted course, the image generation unit 26 generates a predicted course image 72 having a display mode different from that when no obstacle is detected. The image generation unit 26 changes the display mode of the second vehicle image 82 according to whether or not an obstacle is detected. For example, when an obstacle is detected, the second vehicle image 82 is displayed in a display color such as red or yellow, or the second vehicle image 82 is displayed to increase the lightness or saturation of the second vehicle image 82. It is a display to call attention to the high possibility of contact. On the other hand, when no obstacle is detected on the predicted course, the second vehicle image 82 is displayed in a display color such as green or blue, or the brightness or saturation of the second vehicle image 82 is reduced. The display indicates that the possibility of contact with an obstacle is low. In addition, as the predicted course image 72 having a display mode different from the case where no obstacle is detected, the display color of the entire image is changed to be a reddish image, or the brightness and saturation of the entire image are changed. The display mode of the entire image or a part of the image may be varied by superimposing an image for arousing or the like.

  The image generation unit 26 generates a predicted course image 72 that changes the display position of the second vehicle image 82 like an animation. For example, the image generation unit 26 generates a plurality of predicted course images 72 in which the second vehicle image 82 is superimposed on each of the plurality of predicted positions 64 illustrated in FIG. 4. By displaying such a plurality of predicted course images 72 in order, an animation display of the predicted course image 72 in which the display position of the second vehicle image 82 changes in a direction away from the first vehicle image 80 is realized. The image generation unit 26 may generate a moving image in which the position of the second vehicle image 82 on the vehicle peripheral image 70 changes instead of generating the plurality of predicted course images 72.

  The display control unit 28 causes the display device 14 to display the predicted course image 72 generated by the image generation unit 26. The display control unit 28 reproduces and displays the plurality of predicted course images 72 generated by the image generation unit 26 in order, so that the predicted course image 72 is displayed as an animation on the display device 14.

  FIG. 7 is a diagram schematically showing an animation display of the predicted course images 72a, 72b, 72c, and shows a case where the display position of the second vehicle image 82 is changed along the third locus C3 of FIG. As shown in the drawing, the display positions of the second vehicle images 82 a, 82 b and 82 c are different from each other in the plurality of predicted course images 72 a to 72 c, and the second vehicle images 82 a to 82 c are stepped from the first vehicle image 80. Arranged so as to be separated from each other. On the other hand, the display position of the first vehicle image 80 indicating the current position is fixed.

  In FIG. 7, the second vehicle image 82c displayed so as to overlap the other vehicle 62b that is an obstacle is displayed in a display mode different from the second vehicle images 82a and 82b displayed without overlapping the obstacle. For example, the second vehicle images 82a and 82b that do not overlap the obstacle are displayed in green or blue, whereas the second vehicle image 82c that overlaps the obstacle is displayed in red or yellow. Thereby, when the own vehicle 60 is moved backward by a certain distance or more with the current steering angle, it is possible to effectively alert the other vehicle 62b to contact.

  The display control unit 28 displays the plurality of predicted course images 72a to 72c in order, so that the second vehicle image 82 moves and is displayed like an animation. The image generation unit 26 generates more (for example, five, ten, twenty, thirty, etc.) predicted course images so that the movement of the second vehicle image 82 is displayed smoothly. Good. Further, the second vehicle image 82 may be continuously moved instead of changing the position of the second vehicle image 82 stepwise.

  The display control unit 28 repeatedly displays the plurality of predicted course images 72a to 72c so that the state in which the first vehicle image 80 moves away from the second vehicle image 82 is repeatedly displayed. Good. For example, after displaying the third predicted course image 72c, the animation display may be started again in order from the first predicted course image 72a. If the first predicted course image 72a is displayed immediately after the display of the third predicted course image 72c, the display becomes complicated. Therefore, the third predicted course image 72c is displayed for a certain time (for example, 0.5 seconds to 1 second). Degree) may be displayed and then switched to the first predicted course image 72a. That is, the second vehicle image 82 may be fixed for a certain period of time at the beginning and end of the animation display.

  When the predicted course of the host vehicle 60 changes while the predicted course image 72 is displayed, the image generation unit 26 generates a predicted course image 72 in which the display position of the second vehicle image 82 is changed according to the change of the predicted course. To do. For example, when the steering angle of the steering wheel is changed while the predicted course image 72 is displayed, the predicted course is calculated according to the changed steering angle, and the second vehicle image 82 is displayed on the predicted course after the change. . In addition, when the shift lever is operated while the predicted course image 72 is displayed and the vehicle can move forward, the predicted course ahead of the vehicle is calculated, and the second vehicle image 82 is displayed in front of the first vehicle image 80. So that

  FIG. 8 is a diagram schematically showing an animation display of a predicted course image, and shows predicted course images 74a, 74b, and 74c after the steering angle is changed. FIG. 8 shows a case where the predicted course is changed to the fourth locus C4 by changing the rudder angle. When the rudder angle is changed, the course prediction unit 24 calculates a predicted course corresponding to the changed steering angle, and detects the presence or absence of an obstacle on the predicted course. The image generation unit 26 generates predicted course images 74 a to 74 c according to the calculation results of the course prediction unit 24. In the illustrated example, since no obstacle is detected on the predicted course, the second vehicle images 84a, 84b, and 84c that are displayed in animation are displayed in the same manner. For example, all the second vehicle images 84a to 84c are green or Displayed in blue. Thereby, when the own vehicle 60 is moved backward with the current steering angle, it is indicated that the possibility of contact with the obstacle is low.

  When the driver maintains the rudder angle corresponding to the third trajectory C3 from the predicted course images 72a to 72c shown in FIG. 7, the driver does not fit in the parking space to be entered and may contact the adjacent other vehicle 62b. Intuitively understand that there is. Further, from the predicted course images 74a to 74c shown in FIG. 8, it is intuitively possible to enter the target parking space without touching the adjacent other vehicle 62b by maintaining the steering angle corresponding to the fourth trajectory C4. Understandable. According to the present embodiment, the vehicle image is changed like an animation along the predicted route, and when there is a possibility of contact with an obstacle, the display mode is changed to change the predicted route of the host vehicle 60. It can be presented to the driver in an easy-to-understand manner.

  FIGS. 9A and 9B are diagrams schematically illustrating predicted course images 76a and 76b according to the modification. FIGS. 9A and 9B correspond to the predicted course image 72c shown in FIG. 7, and are different from the predicted course image 72c described above in that the additional images 86a and 86b are further superimposed. In FIG. 9A, the additional image 86a is superimposed so that only a part of the second vehicle image 82c that overlaps the other vehicle 62b that is an obstacle has a different display mode. In FIG. 9B, a star-shaped additional image 86b that emphasizes a collision with an obstacle is superimposed. As such additional images 86a and 86b, a display color such as red or yellow, or a display mode with higher brightness or saturation than the second vehicle image 82c is used so as to increase the alert to the user. By superimposing such additional images 86a and 86b, the driver can be emphasized and alerted that there is a possibility of contact with an obstacle. In addition, it is good also as a display mode which emphasizes the contact possibility with an obstruction more by blinkingly displaying the 2nd vehicle image 82c and the additional images 86a and 86b displayed on an obstruction.

  FIG. 10 is a diagram schematically showing an animation display of the predicted course images 72a to 72c according to the modification, and shows a display example corresponding to FIG. 7 described above. In FIG. 10, the display mode of the second vehicle images 82 a to 82 c is changed according to the distance to the obstacle that may be touched, and the display mode is changed to emphasize the touch possibility as the obstacle is approached. Different from the above display example. For example, when the distance from the other vehicle 62b with the possibility of collision is a certain distance or more, the second vehicle image 82a is displayed in green or blue. On the other hand, when the distance from the other vehicle 62b is less than a certain value, the second vehicle image 82b is displayed in yellow or the like, and when the distance from the other vehicle 62b is overlapped, the second vehicle image 82c is displayed in red. Here, the fixed distance determined to change the display mode is about 30 cm to 1 m or about 40 cm to 70 cm. In this way, by changing the display mode of the predicted course image step by step, it is possible to show the sense of distance to an obstacle with a possibility of contact in an easy-to-understand manner. The display mode may be continuously changed according to the distance from the obstacle. For example, at least one of the hue, brightness, and saturation of the second vehicle image 82 is continuously changed according to the distance from the obstacle. The display may be changed as desired.

  FIG. 11 is a diagram schematically showing an animation display of the predicted course images 76a, 76b, and 76c according to the modification, and shows a display example corresponding to FIG. 7 described above. FIG. 11 shows a display example in a state in which the other vehicle 62d moves forward behind the host vehicle 60 and blocks the course of the host vehicle 60 that is going to move backward. As a result, in FIG. 11, in the vicinity of the first vehicle image 80 indicating the current position, the second vehicle image 82b indicating that the possibility of contact with the other vehicle 62d is high, or the second vehicle image 82d indicating that the other vehicle 62d is contacted. A two-vehicle image 82c is displayed. In such a case, if the second vehicle image 82 is moved along the track C3 of the predicted course in the same manner as in FIG. 7, the second vehicle image 82 is displayed so as to penetrate the other vehicle 62d that may be contacted. . If it does so, it will appear as if there is no problem even if the host vehicle 60 is moved backward as indicated by the animation display, and there is a possibility that it will not be possible to appropriately alert the contact with the other vehicle 62d. Therefore, in this modification, the display range of the second vehicle images 82a to 82c is limited so that the second vehicle image is not displayed at a position distant from the second vehicle image 82c displayed to overlap the other vehicle 62d. To do. That is, the second vehicle images 82a to 82c are moved and displayed only in a range between the first vehicle image 80 indicating the current position of the host vehicle and the second vehicle image 82c displayed so as to overlap the obstacle. To. Thereby, the predicted course images 76a to 76c that more appropriately indicate the possibility of contact with the obstacle can be presented to the driver.

  FIG. 12 is a flowchart schematically showing the flow of the driving support method. The course prediction unit 24 calculates the predicted course of the host vehicle 60 based on the information acquired by the acquisition unit 22 (S10). When an obstacle is detected on the predicted course (Y in S12), a predicted course image is generated so that the vehicle image overlapping the obstacle in the vehicle image indicating the predicted position of the host vehicle 60 has a different display mode ( S14). On the other hand, when an obstacle is not detected on the predicted route (N in S12), a predicted route image is generated so that the vehicle image on the predicted route has the same display mode (S16). The generated predicted course image is displayed so that the position of the vehicle image changes along the predicted course (S18).

  As described above, the present invention has been described with reference to the above-described embodiment. However, the present invention is not limited to the above-described embodiment, and the configuration shown in each display example is appropriately combined or replaced. Are also included in the present invention.

  In the above-described embodiment, the case where the predicted course image is generated using the overhead image has been shown. In a modification, you may produce | generate a predicted course image using the back image which imaged the back of the own vehicle. In this case, the predicted course of the host vehicle may be visualized by superimposing an image simulating the host vehicle on the rear image and changing the superimposed position and the size of the image like animation.

  DESCRIPTION OF SYMBOLS 10 ... Driving assistance apparatus, 14 ... Display apparatus, 22 ... Acquisition part, 24 ... Course prediction part, 26 ... Image generation part, 28 ... Display control part, 30 ... Car-mounted camera, 70 ... Vehicle periphery image, 72, 74, 76 ... predicted course image, 80 ... first vehicle image, 82, 84 ... second vehicle image, 86 ... additional image.

Claims (10)

An acquisition unit for acquiring information used for predicting the course of the host vehicle and information indicating a surrounding situation of the host vehicle;
Using the information acquired by the acquisition unit, a predicted course of the host vehicle is calculated, and a path prediction unit that detects an obstacle on the predicted path of the host vehicle;
The vehicle image indicating the predicted position of the host vehicle is superimposed on the vehicle periphery image of the host vehicle acquired by the acquiring unit, and the display position of the vehicle image changes on the vehicle periphery image along the predicted course of the host vehicle. An image generation unit for generating a predicted course image;
A display control unit for displaying the predicted course image on a display device,
The said image production | generation part produces | generates the prediction course image from which a display mode differs compared with the case where an obstruction is detected on the prediction course of the own vehicle compared with the case where it is not so.   The said image generation part produces | generates the prediction course image from which the display mode of the said vehicle image differs compared with the case where an obstacle is detected on the prediction course of the own vehicle compared with the case where it is not so. The driving support device according to 1.   The image generation unit includes a vehicle image that is displayed on the vehicle periphery image so as to be superimposed on the obstacle, and does not overlap the obstacle among the vehicle images that change a display position on the vehicle periphery image. The driving assistance device according to claim 1, wherein the predicted course image is generated so that a displayed form is different from a displayed vehicle image.   The said image generation part produces | generates the predicted course image on which the additional image which emphasizes that the said obstacle and the said vehicle image overlap on the said vehicle periphery image was further superimposed. The driving support device according to claim 1.   When an obstacle is detected on the predicted course of the host vehicle, the image generation unit is configured to display a current position of the host vehicle on the vehicle peripheral image, and a display position of a vehicle image displayed on the obstacle. 5. The driving assistance apparatus according to claim 1, wherein a predicted course image in which a display position of the vehicle image is limited to a range between is generated.   The said image generation part produces | generates the prediction course image from which the display mode of the said vehicle image differs according to the distance of the said obstacle and the said vehicle image on the said vehicle periphery image of Claim 1 to 5 characterized by the above-mentioned. The driving support device according to any one of the above.   The driving support according to any one of claims 1 to 6, wherein the vehicle periphery image is an overhead image that has been subjected to a viewpoint conversion process as if the periphery of the host vehicle is viewed from above. apparatus.   The said acquisition part acquires the said vehicle periphery image from the vehicle-mounted camera of the own vehicle, and acquires the information for detecting the said obstruction from the vehicle-mounted sensor different from the said vehicle-mounted camera. The driving support device according to any one of the above. Obtaining information used to predict the course of the host vehicle and calculating the predicted course of the host vehicle;
Obtaining information indicating the surrounding situation of the host vehicle and detecting an obstacle on the predicted course of the host vehicle;
A predicted course in which a vehicle image indicating a predicted position of the host vehicle is superimposed on a vehicle peripheral image obtained by imaging the periphery of the host vehicle, and the display position of the vehicle image changes on the vehicle peripheral image along the predicted path of the host vehicle. Generating an image; and
Displaying the predicted course image on a display device,
The predicted route image is generated such that when an obstacle is detected on the predicted route of the host vehicle, the display mode is different from that when the obstacle is not detected. A function of obtaining information used for course prediction of the host vehicle and calculating a predicted course of the host vehicle;
A function of acquiring information indicating the surrounding situation of the host vehicle and detecting an obstacle on the predicted course of the host vehicle;
A predicted course in which a vehicle image indicating a predicted position of the host vehicle is superimposed on a vehicle peripheral image obtained by imaging the periphery of the host vehicle, and the display position of the vehicle image changes on the vehicle peripheral image along the predicted path of the host vehicle. The ability to generate images,
A function for causing a computer to realize a function of displaying the predicted course image on a display device,
The said predicted course image is produced | generated so that a display aspect may differ compared with the case where an obstruction is detected on the predicted course of the own vehicle compared with the case where it is not so.

Images