JP2022039614A - Information display device for vehicle - Google Patents

Abstract

To display a traveling space to be traveled by a vehicle and allows an occupant to know that the vehicle will be safely driven within the traveling space on an automatic driving vehicle.SOLUTION: An information display device 3 comprises: a traveling space setting unit 35; an obstruction information acquisition unit 36; and a display control main unit 38. The traveling space setting unit acquires a vehicle route from an automatic driving control device, and sets a traveling space for traveling of the vehicle along the route. The obstruction information acquisition unit acquires the presence/absence of obstructions that prevents traveling and danger avoidance information in a case where an obstruction is present from the automatic driving control device. The display control unit displays the traveling space set by the traveling space setting unit on a display device, and displays the obstruction acquired by the obstruction information acquisition unit and the danger avoidance information in the traveling space.SELECTED DRAWING: Figure 2

Description

The present disclosure relates to an information display device for displaying the safety of automatic driving by the automatic driving control device in a vehicle provided with an automatic driving control device for automatically driving the vehicle.

As described in Patent Document 1, in an autonomous driving vehicle, it is proposed that information such as the course of the vehicle by autonomous driving, the content of travel control, obstacles and moving objects existing in the surroundings, etc. is displayed on the display device. Has been done.

According to the information display device of this proposal, the occupant can grasp the movement of the vehicle by automatic driving from the display image of the display device and understand the reason.

Japanese Unexamined Patent Publication No. 2019-66937

However, as a result of detailed examination by the inventor, the information display device of the above proposal displays information on an abnormality in the road surface in the traveling space where the vehicle is scheduled to travel, an elevated object over the traveling space, and the like. The problem was found that it could not be done.

That is, in the information presenting device proposed above, when the road surface is depressed in front of the vehicle in the traveling direction or when there is an elevated object, the occupant can grasp these on the control device side that performs automatic driving. It may be uneasy because it cannot be confirmed.

One aspect of the present disclosure is that in an autonomous vehicle, it is desirable to display the traveling space in which the vehicle is to be traveled so that the occupant can understand that the vehicle is safely driven in the traveling space. ..

The information display device according to one aspect of the present disclosure is provided in a vehicle provided with an automatic driving control device (5) that sets a course according to the surrounding conditions of the vehicle and automatically drives the vehicle, and the vehicle is provided by the automatic driving control device. It is configured to display the driving space of the vehicle, which guarantees the driving safety of the vehicle.

That is, the information display device of the present disclosure includes a traveling space setting unit (35), an obstacle information acquisition unit (36), and a display control unit (38).
The traveling space setting unit acquires the course of the vehicle from the automatic driving control device, and sets the traveling space when the vehicle travels along the course.

The obstacle information acquisition unit acquires information on the presence or absence of obstacles that hinder the running of the vehicle in the traveling space and danger avoidance information when the obstacles are present from the automatic driving control device.
Then, the display control unit displays the traveling space set by the traveling space setting unit on the display device (15) mounted on the vehicle so that the inside of the space becomes smaller as the distance from the vehicle increases.

Further, the display control unit displays the obstacles acquired by the obstacle information acquisition unit and the danger avoidance information in the traveling space displayed on the display device.
Therefore, the display device displays the traveling space of the vehicle and the obstacles recognized by the automatic driving control device in the traveling space, and the automatic driving control device displays the depression of the road surface and the road. When the above elevated objects are recognized, they will also be displayed as obstacles.

Therefore, when the occupant finds an obstacle existing in front of the traveling direction of the vehicle during the automatic driving of the vehicle by the automatic driving control device, the automatic driving control device can detect the obstacle by looking at the display of the display device. You will be able to confirm whether or not you are aware of it.

Further, when the automatic driving control device drives the vehicle so as to avoid the recognized obstacle, the information indicating that fact is displayed on the display device as the danger avoidance information. Therefore, when there is an obstacle in front of the vehicle in the traveling direction, the occupant confirms that the vehicle is automatically driven so as to avoid the obstacle by looking at the danger avoidance information displayed on the display device. be able to.

As described above, according to the information display device of the present disclosure, the display device can display a space in which the running safety of the vehicle is guaranteed by the automatic driving control device as the running space of the vehicle. Therefore, it is possible to notify the occupants that the operation control by the automatic operation control device is properly performed and give a sense of security.

Further, in the unlikely event that the automatic driving control device cannot recognize an obstacle in the traveling space, the occupant can detect that fact from the display image of the display device and perform the braking operation and the steering operation. Therefore, according to the information display device of the present disclosure, it is possible to promote danger avoidance by manual operation of the occupant, and it is possible to improve the running safety of the vehicle.

It is a block diagram which shows the structure of the vehicle-mounted system of an embodiment. It is a block diagram which shows the functional structure of an information display device. It is a flowchart which shows the traveling space setting process executed by an information display device. It is a flowchart which shows the traveling space display process executed by an information display device. It is a flowchart which shows the external object display process executed by an information display device. 6A, 6B, and 6C are explanatory views for explaining the traveling space set by the traveling space setting process, respectively. 7A, 7B, and 7C are explanatory views showing changes in the traveling space due to steering to the left of the vehicle, respectively, and FIGS. 7D, 7E, and 7F are for steering to the right of the vehicle, respectively. It is explanatory drawing which shows the change of the traveling space accompanying. 8A, 8B, and 8C are explanatory views showing display images of a traveling space that changes with vehicle steering, respectively. 9A, 9B, and 9C are explanatory views showing display images of obstacles and external objects in the traveling space, respectively. 10A, 10B, and 10C are explanatory views showing display images when there is a lane adjacent to the traveling lane of the vehicle, respectively. 11A, 11B, and 11C are explanatory views showing display images displayed when a vehicle enters an intersection, respectively. 12A, 12B, and 12C are explanatory views showing a modified example of the display image displayed when the vehicle enters the intersection, respectively.

An exemplary embodiment of the present disclosure will be described with reference to the drawings.
[Constitution]
First, the configuration of the in-vehicle system 1 of the present embodiment will be described. The in-vehicle system 1 is mounted on the vehicle.

As shown in FIG. 1, the in-vehicle system 1 includes an information display device 3, an automatic driving control device 5, a locator ECU 7, a travel control ECU 9, a peripheral monitoring sensor 11, and a communication module 21. Each of these configurations is connected to each other by a communication bus 29 so as to be communicable with each other.

Here, the information display device 3 includes a microcomputer including a CPU 31 and, for example, a semiconductor memory such as a RAM or a ROM (hereinafter referred to as a memory 33).
A meter display 15, a CID (Center Information Display) 17, and a HUD (Head-Up Display) 19 are connected to the information display device 3 as display devices.

Each function of the information display device 3 is realized by the CPU 31 executing a program stored in a non-transitional substantive recording medium. In this example, the memory 33 corresponds to a non-transitional substantive recording medium in which a program is stored. In addition, when this program is executed, the method corresponding to the program is executed. The information display device 3 may be provided with one microcomputer or may be provided with a plurality of microcomputers.

As shown in FIG. 2, the information display device 3 has functions as a traveling space setting unit 35, an obstacle information acquisition unit 36, an external object information acquisition unit 37, and a display control unit 38 of the present disclosure. The functions of each of these units will be described in detail later with reference to the flowcharts shown in FIGS. 3 to 5.

Next, the automatic driving control device 5 includes an automatic driving ECU 41 and a driving support ECU 43. The automatic driving ECU 41 is an in-vehicle ECU that realizes an automatic driving function. Autonomous driving is a function that automatically performs driving operations on behalf of the occupants of the vehicle. The automatic operation ECU 41 enables, for example, automatic operation of level 3 or higher. The level of autonomous driving is the autonomous driving level specified by the American Society of Automotive Engineers of Japan.

The automatic operation ECU 41 acquires locator information and map information from the locator ECU 7. The locator information and map information will be described later. Further, the automatic driving ECU 41 acquires detection information from the peripheral monitoring sensor 11. The detection information will be described later.

The automatic driving ECU 41 recognizes the traveling environment of the vehicle based on the locator information, the map information, and the detection information. Examples of the traveling environment include the position and speed of a target existing around the vehicle, the traveling and shape of the vehicle, and the like. In addition, examples of the target include other vehicles existing around the own vehicle, pedestrians, bicycles, animals, fixed objects, road signs, depressions on the road surface, and the like.

The automatic driving ECU 41 generates a vehicle course, that is, a planned travel route, based on the recognized driving environment. The automatic driving ECU 41 executes acceleration / deceleration control, steering control, and the like of the vehicle so that the vehicle travels along the generated planned travel route in cooperation with the travel control ECU 9.

The driving support ECU 43 is an in-vehicle ECU that realizes a driving support operation that supports the driving operation of a vehicle occupant. The driving support ECU 43 enables, for example, advanced driving support of about level 2 or partial automatic driving control.

The locator ECU 7 includes a GNSS (Global Navigation Satellite System) receiver, an inertial sensor, and the like. The locator ECU 7 combines the positioning signal received by the GNSS receiver, the measurement result of the inertial sensor, the vehicle speed information output to the communication bus 29, and the like, and sequentially measures the position and traveling direction of the vehicle. The locator ECU 7 sequentially outputs locator information to the communication bus 29. The locator information is information indicating the position and traveling direction of the vehicle.

The locator ECU 7 further includes a map database 51. The map database 51 is mainly composed of a large-capacity storage medium. A large amount of map data is stored in the storage medium. Map data includes three-dimensional map data and two-dimensional map data. The three-dimensional map data is so-called high-precision map data. The 3D map data includes information necessary for advanced driving support and automatic driving. The three-dimensional map data includes three-dimensional shape information of roads, detailed information of each lane, and the like.

The locator ECU 7 reads the map data around the current position of the vehicle from the map database 51. The locator ECU 7 provides map information together with locator information to the driving support ECU 43, the automatic driving ECU 41, and the like. The map information is information including map data read from the map database 51.

The in-vehicle system 1 acquires locator information and map information from a user terminal such as a smartphone or a navigation device instead of the locator ECU 7, and provides the acquired locator information and map information to the driving support ECU 43, the automatic driving ECU 41, and the like. You may.

The travel control ECU 9 is an electronic control device including a microcontroller as a main body. The travel control ECU 9 generates vehicle speed information based on the detection signal of the wheel speed sensor. Wheel speed sensors are provided on the hub portion of each wheel of the vehicle. The vehicle speed information is information indicating the current traveling speed of the vehicle. The travel control ECU 9 sequentially outputs vehicle speed information to the communication bus 29.

The travel control ECU 9 has at least the functions of a brake control ECU and a drive control ECU. The travel control ECU 9 determines the braking force generated on each wheel of the vehicle based on any one of an operation command based on the driving operation of the occupant of the vehicle, a control command from the driving support ECU 43, and a control command from the automatic driving ECU 41. Control and output control of the power source of the vehicle are continuously implemented.

The peripheral monitoring sensor 11 is an autonomous sensor that monitors the surrounding environment of the vehicle. The peripheral monitoring sensor 11 can detect a target existing around the vehicle. The peripheral monitoring sensor 11 provides the detection information to the driving support ECU 43, the automatic driving ECU 41, and the like via the communication bus 29. The detection information is information indicating the position, speed, etc. of the detected target.

The peripheral monitoring sensor 11 includes, for example, a camera unit 53, a millimeter wave radar 55, and the like. The camera unit 53 may be configured to include a monocular camera or may be configured to include a compound eye camera. The camera unit 53 can photograph, for example, the front range, the side range, the rear range, and the like of the vehicle. The detection information includes, for example, at least one of the image pickup data generated by the camera unit 53 photographing the surroundings of the vehicle and the analysis result of the image pickup data.

The millimeter wave radar 55 irradiates a millimeter wave or a quasi-millimeter wave toward the periphery of the vehicle. The millimeter wave radar 55 receives the reflected wave reflected by the target. The detection information includes, for example, the detection result of the millimeter wave radar 55. The peripheral monitoring sensor 11 may further include a rider, sonar, and the like.

Each of the meter display 15 and the CID 17 has a configuration mainly composed of, for example, a liquid crystal display or an OLED (Organic Light Emitting Diode) display. The meter display 15 and the CID 17 display various images on the display screen based on the control signal and the video data acquired from the information display device 3.

The meter display 15 is installed, for example, in front of the driver's seat of the vehicle. The CID 17 is installed, for example, above the center cluster of the vehicle. The CID 17 has a touch panel function. The CID 17 detects, for example, a touch operation and a swipe operation on the display screen by a vehicle occupant or the like.

The HUD 19 projects the light of the image formed in front of the occupant of the vehicle onto the windshield based on the control signal and the video data acquired from the information display device 3. The light of the image reflected on the vehicle interior side of the vehicle by the windshield is perceived by the vehicle occupants. In this way, the HUD 19 displays a virtual image in the space in front of the windshield. The occupant of the vehicle visually recognizes the virtual image displayed by the HUD 19 so as to overlap the foreground of the vehicle.

The communication module 21 can perform wireless communication with a communication target located outside the vehicle. Examples of communication targets include other vehicles, management centers, and the like.
[Control processing]
Next, in the information display device 3, a control process executed to realize the functions of the traveling space setting unit 35, the obstacle information acquisition unit 36, the external object information acquisition unit 37, and the display control unit 38 will be described. do.

This control process is a process that is repeatedly executed by the CPU 31 when the vehicle is automatically driven by the automatic driving ECU 41, and is a traveling space setting processing shown in FIG. 3, a traveling space display processing shown in FIG. 4, and a traveling space display processing. The external object display process shown in FIG. 5 is included.

As shown in FIG. 3, in the traveling space setting process, the CPU 31 first selects whether or not the traveling space is selected as a display image to be displayed on the meter display 15 as a display device during automatic driving of the vehicle in S100. To judge. In addition, S represents a step.

Then, when it is determined in S100 that the traveling space is not selected as the display image during automatic driving, the CPU 31 ends the traveling space setting process, and when it is determined that the traveling space is selected, it is determined. Move to S110.

In S110, information on the vehicle and the course, such as the position, speed, steering amount, driving path and surrounding lane conditions, and the presence / absence of an intersection, is acquired from the automatic driving ECU 41 as the traveling status of the vehicle.

Then, in the following S120, the vehicle determines whether or not to enter the intersection based on the traveling condition acquired in S110. An intersection is a connection point where a plurality of roads are connected, such as a crossroad, a three-way junction such as a T-junction, and a multi-junction where five or more roads intersect.

In S120, for example, when the vehicle is approaching the intersection and the distance between the vehicle and the intersection is not more than a predetermined distance, it is determined that the vehicle enters the intersection. The predetermined distance may be set so that the higher the vehicle speed, the longer the distance, depending on the vehicle speed.

When it is determined in S120 that the vehicle enters the intersection, the CPU 31 shifts to S130. In S130, a basic traveling space that expands forward in the direction of travel when the vehicle is automatically driven along the course is obtained based on the position, speed, and steering amount of the vehicle, and the basic traveling space is used as an intersection connected to an intersection. By adding the traveling space of the road, the traveling space for the intersection is set.

As shown in FIG. 6C, as shown in FIG. 6C, the traveling spaces 60L and 60R of the intersection seen from the left and right windows of the vehicle are arranged on the left and right of the basic traveling space 60 in front of the traveling direction seen from the windshield of the vehicle. It is set by doing.

Next, when it is determined in S120 that the vehicle does not enter the intersection, the CPU 31 shifts to S140, and from the lane condition acquired in S110, the vehicle is traveling on a multi-lane road, and the vehicle It is determined whether or not the vehicle next to the traveling lane, which is the traveling lane, is an oncoming lane.

Then, when it is determined in S140 that the lane next to the traveling lane of the vehicle is the oncoming lane, the CPU 31 shifts to S150 and widens the basic traveling space 60 ahead of the traveling direction of the vehicle toward the oncoming lane. A driving space of 60 W for the lane is set.

Further, when it is determined in S140 that the lane next to the traveling lane is not the oncoming lane, the CPU 31 shifts to S160, and from the lane condition acquired in S110, the lane next to the traveling lane of the vehicle is next to the traveling lane. , Judge whether the driving lane and the traveling direction are the same lane.

Then, when it is determined in S160 that the lane next to the traveling lane of the vehicle is the same direction lane, the CPU 31 shifts to S170 and widens the basic traveling space 60 ahead of the traveling direction of the vehicle toward the same direction lane. A traveling space of 60 W for multiple lanes is set.

As shown in FIG. 6B, the traveling space 60W for multiple lanes set in S150 and S170 expands the basic traveling space to the oncoming lane or the same direction lane side which is an adjacent road to the traveling lane of the vehicle. It is set by inserting a boundary line 62 indicating the boundary between both lanes.

Next, in S160, when it is determined that the vehicle is not in the same direction next to the driving lane, that is, when the vehicle is traveling on a road without a center line or the like, the CPU 31 shifts to S180. Then, the basic traveling space 60 in front of the traveling direction of the vehicle is set as the traveling space.

As shown in FIG. 6A, the basic traveling space 60 represents a space from the current position of the vehicle to a position separated by a predetermined distance, and is set so that the inside of the space becomes smaller as the distance from the vehicle increases.

Further, the distance to the tip of the traveling space is set so that the distance becomes longer as the vehicle speed increases, and a frame line 61 is set in the traveling space for each predetermined distance. The frame line 61 is similarly set in the left and right traveling spaces 60L and 60R for the crossroads shown in FIG. 6C and in the traveling spaces 60W for multiple lanes shown in FIG. 6B.

Therefore, the occupant can grasp the distance to the tip of the traveling space by looking at the frame line 61 of the traveling space 60, 60L, 60R, 60W displayed on the meter display 15.
Then, when the traveling space is set in S130, S150, S170, or S180 as described above, the CPU 31 temporarily ends the traveling space setting process and executes the traveling space display process shown in FIG.

As shown in FIG. 4, in the traveling space display processing, the CPU 31 first displays the traveling space set in the traveling space setting processing in S200 on the meter display 15 as a display device.

In S200, the steering direction and steering amount of the vehicle are acquired from the automatic driving ECU 41, and the distant region where the inside of the space becomes smaller in the traveling space is separated from the center position of the display region of the traveling space according to the steering direction and steering amount. To display the driving space.

That is, in S200, when the vehicle is steered to the left, as shown in FIGS. 7A to 7C, the distant region of the traveling space shifts to the left from the center position of the display region, and the shift amount is the steering amount. The traveling space is displayed so that the larger the value is, the larger the space is.

Further, in S200, when the vehicle is steered to the right, as shown in FIGS. 7D to 7F, the distant region of the traveling space shifts to the right from the center position of the display region, and the shift amount is the steering amount. The traveling space is displayed so that the larger the value is, the larger the space is.

Further, when displaying the traveling space in S200, as shown in FIGS. 8A to 8C, boundary lines 62L and 62R representing the left and right boundaries of the current traveling lane of the vehicle are also displayed.
Therefore, the occupant can confirm the change of course of the vehicle by the automatic driving ECU 41 from the display screen of the meter display 15.

Further, when there is an obstacle in the traveling space, the obstacle is displayed in the traveling space in the processing after S210. Therefore, the occupant can see the obstacles in the automatic driving ECU 41 from the display screens shown in FIGS. 8A to 8C. You can also confirm that you are changing course after confirming that there are no objects.

When the traveling space of the vehicle is displayed on the meter display 15 in S200 in this way, the CPU 31 shifts to S210 and acquires an obstacle that hinders the traveling of the vehicle in the displayed traveling space from the automatic driving ECU 41. ..

In S210, all obstacles recognized by the automatic operation ECU 41 are acquired. These obstacles include other vehicles such as preceding vehicles and oncoming vehicles, moving objects such as pedestrians, bicycles, and animals, fixed objects such as structures and elevated objects installed on the road surface, and signs on the road surface. The depression of the road surface, etc. can be mentioned.

Further, in S210, when the automatic driving ECU 41 performs danger avoidance operation such as course change, deceleration, vehicle stop, etc. in order to avoid the acquired obstacle, the information is acquired from the automatic driving ECU 41 as danger avoidance information. do.

Then, in the following S220, the CPU 31 determines whether or not there is an obstacle in the currently displayed traveling space based on the information acquired in S210, and determines that there is no obstacle in the currently displayed traveling space. Then, the traveling space display process is terminated.

Further, when it is determined in S220 that there is an obstacle in the traveling space being displayed, the CPU 31 shifts to S230 and is recognized by the automatic driving ECU 41 in the traveling space currently being displayed. Display all obstacles. In this case, when the obstacle is moving by a moving object, the moving direction is displayed in an identifiable manner.

Then, in the following S240, the CPU 31 determines whether or not there is danger avoidance information for the obstacle displayed in S230, and if it is determined that there is no danger avoidance information, the traveling space display process ends.

Further, when it is determined in S240 that there is danger avoidance information for the obstacle displayed in S230, the process proceeds to S250. Then, in S250, the danger avoidance operation performed under the control of the automatic driving ECU 41 is identifiablely displayed in or around the traveling space being displayed based on the danger avoidance information, and the traveling space display process is completed. do.

As a result, in S200, various obstacles that hinder the running of the vehicle are displayed in the traveling space displayed on the meter display 15, and when the automatic driving ECU 41 performs danger avoidance operation for the obstacles, , The driving operation will be displayed in an identifiable manner.

For example, when the basic traveling space 60 shown in FIG. 6A is set as the traveling space, as illustrated in FIGS. 9A to 9C, other vehicles 64 and the road depression 65 are included in the basic traveling space 60. A pedestrian crossing 67, an object 68 such as an elevated object installed above the road, and the like are displayed. Further, when the automatic driving ECU 41 changes the course so as to avoid the depression 65 of the road, an arrow 66 indicating the change of course is displayed as shown in FIG. 6A.

When an object 68 such as an elevated object exists, the user cannot accurately grasp the position of the object 68 only by displaying the object 68 in the traveling space 60. Therefore, in S230, when displaying an object 68 such as an elevated object in the traveling space 60, as shown in FIG. 9C, a frame line indicating the distance to the object 68 is separated from the frame line 61 of the traveling space. 61A is displayed identifiable.

That is, as illustrated in FIG. 9C, the user can display the frame line 61A and the plane surrounded by the frame line 61A in a predetermined display form having a color and shape different from those of the other frame lines 61. , The position of the object 68 can be easily grasped on the display screen.

Further, when the traveling space 60W for multiple lanes shown in FIG. 6B is set as the traveling space, in addition to the obstacles and danger avoidance operations exemplified in FIG. 9, as illustrated in FIGS. 10A to 10B. Therefore, another vehicle 64 traveling in the oncoming lane or the same direction lane is also displayed as an obstacle. In this case, the other vehicle 64 is displayed forward or backward so that the moving direction can be identified.

Then, as shown in FIGS. 10B and 10C, when an obstacle such as a pedestrian 70 exists in the oncoming lane or the same direction lane, the obstacle is also displayed in the traveling space 60W.
Further, when the pedestrian 70 is moving toward the traveling lane of the vehicle and the automatic driving ECU 41 performs a danger avoidance operation such as deceleration to the pedestrian 70 or stopping the vehicle, "deceleration!" And "brake!" A message 72 indicating the operation is also displayed.

Further, when the message 72 of the danger avoidance operation is displayed in this way, the pedestrian 70, which is the target of the danger avoidance operation, is displayed so as to be identifiable in a display form different from the normal display. The display form different from the normal display is set by, for example, attaching a color label for identification to the display target, changing the display color of the display target, or blinking the display target. ..

On the other hand, when the traveling space for the intersection shown in FIG. 6C is set as the traveling space, there are obstacles in the traveling spaces 60L and 60R of the left and right intersections as illustrated in FIGS. 11A to 11C. Is displayed. In this case, the obstacle is displayed so as to be identifiable whether it is approaching the intersection or away from the intersection.

When the obstacle is another vehicle 64 approaching the intersection and the autonomous driving ECU 41 performs a danger avoidance operation such as deceleration or vehicle stop in front of the intersection in order to avoid a collision with the other vehicle 64. Also displays a message 72 indicating the operation.

Further, when the message 72 indicating the danger avoidance operation is displayed in this way, the CPU 31 also displays the other vehicle 64, which is the target of the danger avoidance operation, in a display form different from the normal display so as to be identifiable. ..

Next, the CPU 31 executes the traveling space display processing as described above, and when the meter display 15 displays the traveling space and obstacles in the traveling space, the CPU 31 executes the external object display processing shown in FIG.

As shown in FIG. 5, in the external object display processing, the CPU 31 first acquires the position, behavior, and warning information of the external object existing around the traveling space being displayed from the automatic driving ECU 41 in S310. .. Note that the warning information is information on an external object that is monitored by the automatic driving ECU 41 side as it may interfere with the running of the vehicle.

Then, in the subsequent S320, it is determined from the position and behavior of the external object acquired in S310 whether or not the external object can hinder the running of the vehicle.
That is, in S320, when the external object is a moving object such as another vehicle, a pedestrian, a bicycle, an animal, etc. and is located within a predetermined distance range from the traveling space of the vehicle, the external object is an obstacle to the traveling of the vehicle. Judge that it can be.

Then, in the following S330, all the external objects determined to be an obstacle to the traveling of the vehicle and the behavior of the external objects are displayed around the traveling space currently being displayed.
For example, in S320, when a pedestrian is detected as an external object that may hinder the running of the vehicle, in S330, as shown in FIGS. 9A and 9, all the detected pedestrians 70 are used in the running space. Display around.

Further, in S330, the moving direction and moving speed of the displayed pedestrian 70 are detected from the behavior of the external object acquired in S310, and the moving direction and moving speed are displayed for each pedestrian 70.
In the present embodiment, the moving direction and the moving speed of the pedestrian 70 are displayed by the direction of the arrow and the number of arrows, and the higher the moving speed, the larger the number of arrows. Further, the arrow is not displayed for the stopped pedestrian 70.

Next, in S340, based on the monitoring information acquired in S310, it is determined whether or not there is an external object that the automatic driving ECU 41 is alerting to among the external objects displayed in S330. Then, when the automatic driving ECU 41 determines in S340 that there is an external object under alert, it shifts to S350 and displays alert information for the external object under alert.

For example, in FIGS. 9A and 9B, when the pedestrians 70A, 70B, 70C are monitored by the automatic driving ECU 41 because they may enter the traveling space, the pedestrians 70A, 70B, 70C are used. , It is displayed in a display form different from that of other pedestrians 70. That is, by attaching a color label for identification to the display target, changing the display color of the display target, and blinking the display target, the display target is displayed in a display format different from that of other external objects.

Further, in S340, when displaying the warning information of an external object, the display form is changed according to the warning level on the automatic driving ECU 41 side. For example, for an external object having a high movement speed and a high alert level, such as the pedestrian 70B shown in FIG. 9A, the display color is set to red. Further, for an external object having a low moving speed and a medium alert level, such as the pedestrian 70A shown in FIG. 9A, the display color is set to yellow. Further, an external object such as the pedestrian 70C shown in FIG. 9B, which is stopped in front of the pedestrian crossing 67 and has a low alert level, is displayed in blue.

Therefore, the occupant can confirm the external object that the automatic driving ECU 41 recognizes and is wary of from the display form of the external object displayed around the traveling space of the vehicle on the display screen of the meter display 15.

Then, when the warning information is displayed in S350, the CPU 31 ends the external object display process. Further, the CPU 31 also ends the external object display process even when a negative determination is made in S320 or S340.

The traveling space setting process shown in FIG. 3 functions as the traveling space setting unit 35 of the present disclosure. Further, the traveling space display process and the external object display process shown in FIGS. 4 and 5 function as the display control unit 38 of the present disclosure. Further, in the traveling space display process and the external object display process, the processes of S210 and S310 that acquire various information from the automatic driving ECU 41 function as the obstacle information acquisition unit 36 and the external object information acquisition unit 37, respectively.
[effect]
As described above, the information display device 3 of the present embodiment displays the traveling space ahead of the vehicle in the traveling direction on the meter display 15 when the vehicle is automatically driven.

Further, the information display device 3 acquires and displays the positions and behaviors of obstacles existing in the traveling space and external objects existing around the traveling space and affecting the traveling of the vehicle from the automatic driving ECU 41. Display in or around the driving space inside.

Then, when the automatic driving ECU 41 performs vehicle control for avoiding a collision with the obstacle or an external object, the control information is also acquired and displayed on the meter display 15.
Therefore, according to the information display device 3 of the present embodiment, the traveling space in which the traveling safety of the vehicle is guaranteed by the automatic driving ECU 41 can be displayed on the meter display 15 during the automatic driving of the vehicle.

Therefore, the occupant can confirm from the display contents that the automatic driving ECU 41 is functioning normally. Therefore, according to the information display device 3 of the present embodiment, the occupant can be given a sense of security by displaying the traveling space on the meter display 15.

Further, in the unlikely event that the automatic driving ECU 41 cannot recognize an obstacle in the traveling space or an external object that affects the traveling of the vehicle, the occupant detects that fact from the display image of the meter display 15 and brakes. Operation and steering operation can be performed.

Therefore, according to the information display device 3 of the present embodiment, it is possible to realize danger avoidance by manual operation of the occupant, and it is possible to improve the running safety of the vehicle.
[Modification example]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and can be variously modified and implemented.

For example, in the above embodiment, in addition to displaying the obstacles recognized by the automatic driving ECU 41 and the danger avoidance information for the obstacles in the traveling space of the vehicle, the information exists outside the traveling space and affects the traveling of the vehicle. It has been described as displaying information about an external object that gives.

However, it is only necessary to display obstacles and danger avoidance information for obstacles in the traveling space. That is, in this way, the automatic driving ECU 41 can recognize the obstacle and notify the occupant that the danger avoidance operation for the obstacle is to be performed, so that the intended object of the present disclosure can be achieved.

Further, in the above embodiment, when the vehicle passes through the intersection, the traveling spaces 60L and 60R of the intersection displayed on the left and right of the basic traveling space 60 in front of the vehicle in the traveling direction are as shown in FIGS. 12A to 12C. , It may be set so as to spread in the vertical direction with respect to the basic traveling space 60.

Next, in the above embodiment, as shown in FIG. 7, the traveling space is displayed so that the distant region is separated from the center position of the display region to the left or right according to the steering direction and steering amount of the vehicle. The steering information used for this display may be acquired before the vehicle is actually steered.

That is, the automatic driving control device 5 causes the traveling control ECU 9 to steer the vehicle by outputting steering information indicating the steering direction and steering amount of the vehicle to the traveling control ECU 9. Therefore, on the information display device 3 side, before the travel control ECU 9 steers the vehicle, steering information is acquired and the travel space is displayed.

In this way, the occupant starts steering the vehicle before the vehicle is actually steered, and the automatic driving control device 5 confirms the safety of the travel path after steering. You will be able to recognize that.

Further, in the above embodiment, when displaying the traveling space for multiple lanes, it has been described that the basic traveling space is expanded to the oncoming lane or the same direction lane side which is an adjacent road. The display range of the traveling space may be changed according to the lane condition of the vehicle.

That is, for example, when the driving path of the own vehicle has multiple lanes, the basic traveling space is expanded vertically and horizontally and displayed, so that the range of the traveling space is changed according to the lane condition. May be good.

Further, in the above embodiment, the images of the traveling space and the like shown in FIGS. 8 to 11 have been described as being displayed on the meter display 15, but a display device other than the meter display 15, that is, a CID 17 or HUD 19 or the like is used. It may be displayed. Further, the display images shown in FIGS. 8 to 11 are examples, and the display form of the traveling space, obstacles, danger avoidance operation, external object, behavior of external object, warning information, etc. can be appropriately changed.

Further, the information display device 3 and its method of the above-described embodiment are provided by a dedicated computer provided by configuring a processor and a memory programmed to execute one or a plurality of functions embodied by a computer program. May be realized by. Alternatively, the information display device 3 and its method may be realized by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Further, the information display device 3 and its method are configured by a combination of a processor and a memory programmed to execute one or a plurality of functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers. The computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. Further, the information display device 3 and the method thereof do not necessarily have to include software, and all the functions thereof may be realized by using one or a plurality of hardware.

Further, a plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.

Further, in addition to the above-mentioned information display device 3, a system having the information display device 3 as a component, a program for operating a computer as the information display device 3, a non-transitional actual state such as a semiconductor memory in which this program is recorded, etc. The present disclosure can also be realized in various forms such as a target recording medium and a display control method.

3 ... Information display device, 5 ... Automatic operation control device, 15 ... Meter display, 35 ... Travel space setting unit, 36 ... Obstacle information acquisition unit, 37 ... External object information acquisition unit, 38 ... Display control unit

Claims (8)

The vehicle is provided with an automatic driving control device (5) that sets the course of the vehicle according to the surrounding conditions of the vehicle and automatically drives the vehicle. Is a vehicle information display device that displays the traveling space of the vehicle, which is guaranteed by
A traveling space setting unit (35) configured to acquire the course from the automatic driving control device and set a traveling space when the vehicle travels along the course.
An obstacle information acquisition unit configured to acquire information on the presence or absence of obstacles that hinder the traveling of the vehicle in the traveling space and danger avoidance information when the obstacles are present from the automatic driving control device. (36) and
On the display device (15) mounted on the vehicle, the traveling space set by the traveling space setting unit is displayed so that the inside of the space becomes smaller as the distance from the vehicle increases, and the traveling space is displayed in the displayed traveling space. , The obstacle acquired by the obstacle information acquisition unit, and a display control unit (38) configured to display the danger avoidance information.
A vehicle information display device equipped with. The vehicle information display device according to claim 1.
The traveling space setting unit acquires, in addition to the route, the lane condition around the traveling lane of the own vehicle, which is the route, from the automatic driving control device, and according to the acquired lane condition, the traveling space of the traveling space. A vehicle information display that is configured to vary range. The vehicle information display device according to claim 2.
The traveling space setting unit determines whether or not there is an adjacent road adjacent to the traveling road of the own vehicle from the lane condition, and if the adjacent road exists, includes a part of the adjacent road. It is configured to set the driving space and
The display control unit is a vehicle information display device configured to display another vehicle traveling on the adjacent road when displaying the traveling space including a part of the adjacent road. The vehicle information display device according to any one of claims 1 to 3.
An external object information acquisition unit (37) configured to acquire an object existing outside the traveling space and a moving state of the object from the automatic driving control device is provided.
The display control unit is configured to display the object acquired by the external object information acquisition unit and the moving state of the object around the traveling space displayed on the display device. Information display device. The vehicle information display device according to claim 4.
The external object information acquisition unit is configured to acquire warning information for an object existing outside the traveling space from the automatic driving control device.
The display control unit is a vehicle information display device configured to display the warning information on the display device when the warning information for the object is acquired by the external object information acquisition unit. The vehicle information display device according to claim 4 or 5.
When the vehicle is approaching an intersection of a road currently being traveled and another road, the traveling space setting unit is provided with a traveling space along the course and a direction different from the course from the intersection. It is configured to set the driving space of other roads that extend to
The external object information acquisition unit is configured to acquire the moving state of the other vehicle traveling on the other road and the other vehicle as the moving state of the object and the object from the automatic driving control device.
The display control unit displays the traveling space of the other road in addition to the traveling space along the course set by the traveling space setting unit on the display device, and travels on the other road. The space is configured to display another vehicle traveling on the other road acquired by the external object information acquisition unit so that the moving direction of the other vehicle can be identified. Vehicle information display device. The vehicle information display device according to any one of claims 1 to 6.
The traveling space setting unit is configured to set the traveling space so that the distance to the tip of the traveling space becomes longer as the traveling speed increases according to the traveling speed of the vehicle. Display device. The vehicle information display device according to any one of claims 1 to 7.
The display control unit uses the traveling space as the display device so that a distant region in the traveling space where the inside of the space becomes smaller is separated from the center position of the display region of the traveling space according to the steering direction of the vehicle. A vehicle information display device that is configured to display.

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