JP2019040354A - Driving support device, and driving support method - Google Patents

Abstract

To provide a driving support device which enables a driver to promptly grasp required information, and a driving support method.SOLUTION: A driving support device configured to support a driving operation by a driver includes: acquisition means 10a, 10b, 13-15 for acquiring information indicating an outside situation of a vehicle 1; detection means 12 for detecting a direction of a line of sight of the driver; display means 11a and 11b capable of displaying information within the vehicle; and display control means which controls a display mode of the information on the display means in accordance with the direction of the line of sight of the driver that is detected by the detection means.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a driving support device and a driving support method that support a driving operation by a driver.

  2. Description of the Related Art Conventionally, there has been known a method of providing driving assistance to a driver by acquiring information indicating an external situation of the vehicle and displaying the information on a display unit provided in the vehicle. Patent Document 1 discloses a method in which a vehicle is photographed around a vehicle that becomes a blind spot from a driver by a pillar, and an image obtained thereby is displayed on a display (monitor) provided in the pillar.

JP 2007-096638 A

  It is troublesome for the driver to display all the information indicating the external situation of the vehicle sequentially on the display or to display the information on the display that is not arranged in the direction that the driver is looking. This makes it difficult to instantly grasp the necessary information.

  Therefore, an object of the present invention is to make a driver quickly grasp necessary information.

According to the present invention,
Acquisition means for acquiring information indicating an external situation of the vehicle;
Detection means for detecting the direction of the driver's line of sight;
Display means capable of displaying the information in the vehicle;
Display control means for controlling the display mode of the information on the display means according to the direction of the line of sight of the driver detected by the detection means;
A driving support device including the above is provided.

  According to the present invention, it is possible to cause a driver to quickly grasp necessary information.

The top view of the vehicle carrying a driving assistance device. The figure which looked at the front pillar from the driver's seat side. The block diagram of a driving assistance device. The flowchart which shows the example of a display control process. Display example of the front pillar display. Display example of the front pillar display.

  FIG. 1 is a plan view of a vehicle 1 equipped with a driving support apparatus A according to an embodiment of the present invention (a view of the vehicle 1 as viewed from above). The arrow FR indicates the front-rear direction of the vehicle 1, FT indicates the front side, and RR indicates the rear side. An arrow W indicates the vehicle width direction, and when viewed in the forward direction of the vehicle 1, LT indicates the left side and RT indicates the right side. The vehicle 1 is a right-hand drive passenger car (4-door sedan car), which includes left and right front pillars 2a and 2b (so-called A pillars), a front window 3 whose left and right are defined by the front pillars 2a and 2b, and driving. And 4 seats.

  The driving support apparatus A includes cameras 10 a and 10 b that capture a scene outside the vehicle that becomes a blind spot from the driver by the front pillars 2 a and 2 b of the vehicle 1 as an acquisition unit that acquires an external situation of the vehicle 1. The cameras 10a and 10b are, for example, CCD sensors. In the present embodiment, the camera 10a is fixed to the front pillar 2a and the camera 10b is fixed to the front pillar 2b. However, the present invention is not limited to this, and the cameras 10a and 10b may be provided on a side mirror or the like. The shooting ranges of the cameras 10a and 10b are set to ranges estimated to be blind spots from the driver by the front pillars 2a and 2b, respectively. In this embodiment, a driver with a general physique is in a normal sitting posture. Assuming this, the fixed ranges S1 and S2 are set around virtual horizontal lines L1 and L2 passing through the front pillars 2a and 2b from the vicinity of the center of the headrest of the seat of the driver's seat 4, respectively.

  In the present embodiment, the shooting ranges of the cameras 10a and 10b are fixed as described above, but a configuration in which the shooting range of the cameras 10a and 10b is variable by detecting the driver's line of sight may be used. Moreover, the format which image | photographs the landscape image around the vehicle 1 and extracts the range which becomes a blind spot from a driver | operator from the captured image may be sufficient.

  The driving support apparatus A includes displays 11a and 11b that are provided on the inner sides of the front pillars 2a and 2b, respectively, and can display images (videos) of scenery outside the vehicle taken by the cameras 10a and 10b. FIG. 2 is a view of the front pillars 2a and 2b as viewed from the driver's seat side, and is a view showing the arrangement of the displays 11a and 11b. The displays 11a and 11b are, for example, liquid crystal displays. The display 11a can display an image captured by the camera 10a, and the display 11b can display an image captured by the camera 10b.

  In addition, the driving support device A includes an eye point camera 12 used for detecting the direction of the driver's line of sight. The eye point camera 12 is, for example, a CCD camera, and in the case of the present embodiment, is disposed on the ceiling above the driver's seat. The eyepoint camera 12 has a shooting range set so that the driver's face can be shot. The driver's line of sight can be detected by photographing the driver's face with the eye point camera 12 and specifying the orientation of the face and the position of the eyeball by a known image analysis method.

  Further, the driving support device A includes a lidar 13 (laser radar) and a radar 14 (millimeter wave radar) as an acquisition unit that acquires an external situation of the vehicle 1. Each of the lidar 13 and the radar 14 detects an object around the vehicle 1 and measures a distance from the object. In the present embodiment, five riders 13 are provided, one at the front corner of the vehicle 1, one at the center of the rear, and one at each side of the rear. Five radars 14 are provided, one at the front center of the vehicle 1, one at the front corner, and one at the rear corner.

  Furthermore, the driving assistance apparatus A includes a front camera 15 that captures the front of the vehicle 1 as an acquisition unit that acquires an external situation of the vehicle 1. In the case of the present embodiment, it is provided at the front part of the roof of the vehicle 1, and by analyzing an image (video) taken by the front camera 15, the outline of the object ahead and the lane markings on the road (white lines, etc.) Etc. can be extracted. Here, although not provided in the present embodiment, a rear camera for photographing the rear of the vehicle 1 may be provided at the rear portion of the roof of the vehicle.

  FIG. 3 is a block diagram of the driving support apparatus A. The CPU 20 is a processor that controls the entire driving support apparatus, and particularly executes display control processing described later. The CPU 20 is connected to an EEPROM 21, a RAM 22, and an HDD 23 (hard disk drive). The EEPROM 21 stores fixed data and programs. The RAM 22 has a work area for programs executed by the CPU 20 and stores variable data and the like. The HDD 23 stores information such as map information. These EEPROM 21, RAM 22 and HDD 23 may be other types of storage means. The CPU 20 is connected to cameras 10a and 10b, an eye point camera 12, a lidar 13, a radar 14, a front camera 15, and displays 11a and 11b.

  In the driving support device A configured as described above, information indicating the external situation of the vehicle 1 acquired by the acquisition unit (hereinafter, sometimes referred to as “external situation information”) is transmitted to the front pillars 2a and 2b. Each can be displayed on the provided displays 11a and 11b. For example, the driving support apparatus A can capture the scenery outside the vehicle that is a blind spot from the driver by the front pillars 2a and 2b, and can display the captured images on the displays 11a and 11b, respectively. In addition, the driving support apparatus A can display information on the external situation acquired by the lidar 13, the radar 14, and the front camera 15 on the displays 11a and 11b.

  However, for example, if all of the acquired external situation information is sequentially displayed on the display 11a, 11b during driving, it is troublesome for the driver, and the driver instantaneously provides information required according to the driving situation. It becomes difficult to grasp. In addition, the notification of external situation information to a display that is not arranged in the direction in which the driver is viewing during driving among a plurality of displays (for example, displays 11a and 11b) provided in the vehicle 1 This is not preferable because it may divert the attention. Therefore, the driving support apparatus A according to the present embodiment controls the display mode of information on the external situation on the display according to the direction of the driver's line of sight detected by the eye point camera 12. For example, the driving support apparatus A selects and displays notification information to be notified to the driver from the acquired external situation information according to the direction of the driver's line of sight detected by the eye point camera 12. To display. At this time, the driving support apparatus A switches the display for displaying the notification information according to the direction of the driver's line of sight detected by the eye point camera 12. Here, although this embodiment demonstrates the example which controls a display mode according to the direction of a driver | operator's eyes | visual_axis detected by the eye point camera 12 during a driving | operation, the display mode according to the driver | operator's eyes | visual_axis direction is demonstrated. This control is not limited to during operation. For example, the driving support apparatus A may control the display mode according to the direction of the driver's line of sight detected by the eye point camera 12 even when the vehicle is parked or stopped.

  Below, the example of the display control process which CPU20 in the driving assistance apparatus A of this embodiment performs is demonstrated. FIG. 4 is a flowchart illustrating an example of display control processing executed by the CPU 20. The CPU 20 repeatedly executes this display control process. Below, although the example which selects the object display which displays notification information from the displays 11a and 11b provided in front pillar 2a, 2b is demonstrated, a head-up display, a center display, etc. are provided in the vehicle. In some cases, the target display may be selected from a plurality of displays including those displays.

  In S11, the CPU 20 detects the direction of the driver's line of sight. For example, the CPU 20 causes the eye point camera 12 to photograph the driver's face, and identifies the direction of the face and the position of the eyeball by using a known image analysis method from the image obtained thereby, so that the driver's line of sight is obtained. Direction can be detected. In S12, the CPU 20 determines whether or not the right front pillar 2a (right pillar) is present in the direction of the driver's line of sight detected in S11. If it is determined that the right front pillar 2a is present in the direction of the driver's line of sight, the process proceeds to S14, and the CPU 20 displays the notification information on the display 11a provided on the right front pillar 2a. Set to. On the other hand, if it is determined that the right front pillar 2a does not exist in the direction of the driver's line of sight, the process proceeds to S13.

  In S13, it is determined whether or not the left front pillar 2b (left pillar) exists in the direction of the driver's line of sight detected in S11. If it is determined that the left front pillar 2b in the direction of the driver's line of sight exists, the process proceeds to S15, and the CPU 20 displays the notification information on the display 11b provided on the left front pillar 2b. Set to. On the other hand, if it is determined that the left front pillar 2b does not exist in the direction of the driver's line of sight, the process returns to S11. Here, in this embodiment, the display which exists in the direction of a driver | operator's eyes | visual_axis among the some displays provided in the vehicle was selected as an object display. However, the present invention is not limited to this, and the display closest to the driver's line of sight among the plurality of displays provided in the vehicle may be selected as the target display.

  S16 to S18 are steps in which notification information to be notified to the driver is selected from the information on the external situation acquired by the acquisition unit, and the selected notification information is displayed on the target display set in S14 or S15. is there. The acquisition units include the cameras 10a and 10b, the lidar 13, the radar 14, and the front camera 15. The external situation information includes landscape images taken by the cameras 10a and 10b, the lidar 13, the radar 14, and the front, respectively. Information about an object approaching the vehicle 1 detected by the camera 15 can be included.

  In S16, the CPU 20 selects a landscape image photographed by the camera (10a or 10b) of the front pillar (2a or 2b) determined to exist in the direction of the driver's line of sight as the notification information, and displays the target display (11a or 11a). 11b). For example, when the vehicle 1 is traveling on a curved road in the right direction, the driver's line of sight is directed toward the right front pillar 2a, and a blind spot may be generated by the front pillar 2a. Therefore, the CPU 20 sets the display 11a of the right front pillar 2a as the target display based on the direction of the driver's line of sight detected in S11 (S15), and as shown in FIGS. 5 and 6, the camera 10a The landscape image photographed in is displayed on the display 11a as notification information. FIG. 5 is a display example of the display 11a when a vehicle is traveling on a road with a plurality of lanes. FIG. 6 is a display example of the display 11a when the vehicle 1 is traveling on a curved road in the right direction. Here, regarding displays other than the target display, it is preferable that nothing is displayed, for example, the power is turned off or the lighting is turned off.

  In S17 to S20, among the information on the approaching object to the vehicle 1 acquired by the acquisition unit such as the lidar 13, the radar 14, and the front camera 15, information that should alert the driver is displayed in the direction of the driver's line of sight. It is the process of selecting according to this and displaying on a target display.

  In S17, the CPU 20 determines whether or not the driver is looking at the door mirror based on the direction of the driver's line of sight detected in S11. If it is determined that the driver is looking at the door mirror, the process proceeds to S18. For example, when the driver is looking at the right door mirror, the driver is likely to change the course in the right direction. At this time, the vehicle is careful about the right rear of the vehicle 1 by the door mirror. Attention to the right side of 1 (including right front) may be reduced.

  Therefore, in S18, the CPU 20 determines the approaching object on the side of the vehicle 1 on the door mirror side (direction of the driver's line of sight) viewed by the driver among the information on the approaching object detected by the lidar 13, the radar 14, or the like. As shown in FIG. 5, the selected information is displayed on the target display to alert the driver. In the example shown in FIG. 5, it is assumed that an approaching object (parallel running vehicle) is detected on the right side (right front), and information 31 “Right side approaching!” Is displayed on the display 11a. ing. Note that the attention information is not limited to characters but may be symbols.

  On the other hand, if it is determined in S17 that the driver is not looking at the door mirror, the process proceeds to S19 assuming that the vehicle 1 is looking diagonally forward. For example, as shown in FIG. 6, when the driver is looking diagonally right forward of the vehicle 1 such as when driving on a right curve road, Attention to an approaching object in a direction different from the direction of the person's line of sight may be reduced. On the other hand, about the diagonally right front of the vehicle, it is the direction that the driver is viewing, and when information on the approaching object in that direction is displayed on the target display, the driver's attention is directed to the target display. Will be distracted from the approaching object.

  Therefore, in S19, the CPU 20 obtains information on the approaching object in a direction (for example, the left side or the rear left side) different from the direction of the driver's line of sight among the information on the approaching object detected by the lidar 13, the radar 14, or the like. As notification information, as shown in FIG. 6, the selected information is displayed on the target display to alert the driver. In the example illustrated in FIG. 6, it is assumed that an approaching object (for example, a following vehicle) is detected on the left rear side of the vehicle 1, and information 32 indicating “left rear approaching!” Is displayed on the display 11 a.

  Thus, in this embodiment, according to the direction of the driver's line of sight detected by the eye point camera, the notification information to be notified to the driver is selected from the acquired information on the external situation and displayed on the display. . Thus, only the information required by the driver can be notified to the driver, so that the driver can concentrate more on driving.

<Summary of Embodiment>
1. The driving support device of the above embodiment is
A driving support device that supports a driving operation by a driver,
Acquisition means (for example, 10a, 10b, 13, 14, 15) for acquiring information indicating the external situation of the vehicle (for example, 1);
Detection means (for example, 12) for detecting the direction of the driver's line of sight;
Display means (for example, 11a, 11b) capable of displaying the information in the vehicle;
Display control means (for example, 20) for controlling the display mode of the information on the display means according to the direction of the line of sight of the driver detected by the detection means.

  According to this embodiment, it becomes possible for the driver to instantly grasp information required according to the driving situation.

2. In the above embodiment,
The display control means causes the display means to display information selected according to the direction of the driver's line of sight detected by the detection means, among the information obtained by the obtaining means.

  According to this embodiment, only the information necessary for the driver can be notified to the driver.

3. In the above embodiment,
The display control means selects information on an object approaching the vehicle in a direction different from the direction of the driver's line of sight detected by the detection means among the information acquired by the acquisition means. Display on the display means.

  According to this embodiment, the driver's attention that can be lowered in a direction different from the direction of the driver's line of sight can be alerted.

4). In the above embodiment,
When the display control unit determines that the driver is looking at the door mirror based on the direction of the driver's line of sight detected by the detection unit, the display control unit includes the information acquired by the acquisition unit. Information on an object approaching the side of the vehicle is selected and displayed on the display means.

  According to this embodiment, it is possible to call attention to the side of the vehicle that can be lowered while the driver is looking at the door mirror.

5. In the above embodiment,
The display means includes a plurality of displays (for example, 11a and 11b),
The display control means switches a target display for displaying information among the plurality of displays according to the direction of the driver's line of sight detected by the detection means.

  According to this embodiment, it is possible to reduce a reduction in driver's attention due to notifying information to a display that is not arranged in the direction in which the driver is looking.

6). In the above embodiment,
The display control means selects, as the target display, a display closest to the driver's line of sight detected by the detection means among the plurality of displays.

  According to this embodiment, notification information can be notified to the driver more safely.

7). In the above embodiment,
The display means includes displays provided on the inner sides of the left and right front pillars (for example, 2a and 2b).

  According to this embodiment, notification information can be displayed on the driver's line of sight while traveling on a curved road.

8). In the above embodiment,
The acquisition means includes photographing means (for example, 10a, 10b) for photographing a scenery outside the vehicle that becomes a blind spot from the driver by a front pillar,
The display control means displays the scenery outside the vehicle imaged by the imaging means on the display of the front pillar closest to the direction of the driver's line of sight detected by the detection means.

  According to this embodiment, the driver can be made aware of the scenery outside the vehicle that becomes a blind spot from the driver by the front pillar.

9. The driving support method of the above embodiment is
A driving support method for supporting driving by a driver,
An acquisition step of acquiring information indicating an external situation of the vehicle;
A detection step of detecting a direction of the driver's line of sight;
A display control step of controlling a display mode of the information according to the direction of the driver's line of sight detected in the detection step.

  According to this embodiment, it becomes possible for the driver to instantly grasp information required according to the driving situation.

1: vehicle, 2a, 2b: front pillar, 3: front window, 4: driver's seat, 10a, 10b: camera, 11a, 11b: display, 12: eyepoint camera, 13: lidar, 14: radar, 15: front Camera, 20: CPU

Claims (9)

A driving support device that supports a driving operation by a driver,
Acquisition means for acquiring information indicating an external situation of the vehicle;
Detecting means for detecting the direction of the driver's line of sight;
Display means capable of displaying the information in the vehicle;
Display control means for controlling the display mode of the information on the display means according to the direction of the line of sight of the driver detected by the detection means;
A driving support apparatus comprising:   The display control means causes the display means to display information selected according to the direction of the driver's line of sight detected by the detection means among the information acquired by the acquisition means. The driving support apparatus according to claim 1.   The display control means selects information on an object approaching the vehicle in a direction different from the direction of the driver's line of sight detected by the detection means among the information acquired by the acquisition means. The driving support apparatus according to claim 2, wherein the driving support apparatus displays the information on a display unit.   When the display control unit determines that the driver is looking at the door mirror based on the direction of the driver's line of sight detected by the detection unit, the display control unit includes the information acquired by the acquisition unit. The driving support apparatus according to claim 2 or 3, wherein information relating to an object approaching a side of the vehicle is selected and displayed on the display means. The display means includes a plurality of displays,
The said display control means switches the object display which displays information among these several displays according to the direction of the said driver | operator's eyes | visual_axis detected by the said detection means. The driving support device according to any one of the above.   The said display control means selects the display nearest to the direction of the said driver | operator's eyes | visual_axis detected by the said detection means among these several displays as the said object display, The said display is characterized by the above-mentioned. Driving assistance device.   The driving support apparatus according to claim 5, wherein the display unit includes a display provided inside each of the left and right front pillars. The acquisition means includes photographing means for photographing a scenery outside the vehicle that becomes a blind spot from the driver by a front pillar,
The display control means displays a vehicle exterior scenery imaged by the photographing means on a display of a front pillar closest to the direction of the driver's line of sight detected by the detection means. The driving support device according to 1. A driving support method for supporting driving by a driver,
An acquisition step of acquiring information indicating an external situation of the vehicle;
A detection step of detecting a direction of the driver's line of sight;
A display control step for controlling the display mode of the information according to the direction of the driver's line of sight detected in the detection step;
A driving support method comprising:

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