JP2022047826A - Display control device - Google Patents

Abstract

To provide a display control device that displays a traveling trajectory such that a driver can promptly confirm that the traveling trajectory is changed by intervention in an automatic operation control on a vehicle.SOLUTION: A display control device includes: a traveling trajectory generation unit that generates a first future traveling trajectory of a vehicle based on an automatic operation control and generates a future second traveling trajectory of the vehicle in response to an intervention operation when the intervention operation by a driver for the automatic operation control is detected; and a traveling trajectory display unit that displays the first traveling trajectory in a first mode on a display unit and changes the first traveling trajectory displayed in the first mode on the display unit to the second traveling trajectory displayed in a second mode differently from the first mode on the display unit when the intervention operation is detected.SELECTED DRAWING: Figure 1

Description

The present invention relates to a display control device for displaying a traveling locus of a vehicle on a display unit.

There is known a technique in which a vehicle control device controls the running of a vehicle by using an image showing the surrounding condition of the vehicle acquired by a camera mounted on the vehicle. When the control of the running of the vehicle by the vehicle control device (hereinafter, also referred to as "automatic driving control") is started, the driver does not need to perform various driving operations.

By displaying the future driving locus of the vehicle to the driver while the automatic driving control is being performed, it is possible to make the driver grasp the driving condition of the vehicle.

Patent Document 1 describes a vehicle condition monitoring device that sets an assumed travel locus in automatic driving control and displays the assumed travel locus on a liquid crystal display or a head-up display in an instrument panel.

Japanese Unexamined Patent Publication No. 2017-182565

A driver who gets on a vehicle under automatic driving control may intervene in the automatic driving control as necessary based on changes in the surrounding conditions. When the driver intervenes in the automatic driving control, a discrepancy occurs between the traveling locus generated in response to the driver's intervention and the traveling locus based on the automatic driving control, and the driver who sees these displays is confused. There is a risk.

An object of the present invention is to provide a display control device for displaying a travel locus on a display unit so that a driver can quickly confirm that a travel locus has been changed due to intervention in automatic driving control of a vehicle.

The display control device according to the present invention generates a future first travel locus of the vehicle based on the automatic driving control, and when the driver's intervention operation for the automatic driving control is detected, the future of the vehicle corresponding to the intervention operation When the travel locus generation unit that generates the second travel locus and the first travel locus are displayed on the display unit in the first aspect and the intervention operation is detected, the first travel locus in the display unit in the first aspect is displayed. The present invention is provided with a traveling locus display unit that changes the display of the second traveling locus to the display of the second traveling locus in the display unit in the second aspect different from the first aspect.

According to the display control device according to the present invention, the travel locus can be displayed on the display unit so that the driver can quickly confirm that the travel locus has been changed due to the intervention in the automatic driving control of the vehicle.

It is a schematic block diagram of the vehicle in which a display control device is mounted. It is a hardware schematic diagram of an ECU. It is a functional block diagram of the processor which the ECU has. It is a figure explaining the 1st running locus and the 2nd running locus. (A) is a diagram for explaining an example of displaying the first traveling locus in the first display mode, and (b) is a diagram for explaining an example of displaying the second traveling locus in the second display mode. be. It is a flowchart of a traveling locus display process.

Hereinafter, the display control device for displaying the travel locus on the display unit will be described in detail with reference to the drawings so that the driver can quickly confirm that the travel locus has been changed due to the intervention in the automatic driving control of the vehicle. The display control device is mounted on a vehicle capable of traveling by automatic driving control, generates a future first traveling locus of the vehicle by automatic driving control, and displays the generated first traveling locus on the display unit in the first aspect. Let me. Further, when the display control device detects the driver's intervention operation for the automatic driving control, the display control device generates a future second traveling locus of the vehicle corresponding to the intervention operation, and displays the first traveling locus on the display unit. The display is changed to the display of the second traveling locus in the display unit in the second aspect different from the first aspect.

FIG. 1 is a schematic configuration diagram of a vehicle on which a display control device is mounted.

The vehicle 1 has a camera 2, a meter display 3, a steering wheel 4, an SC5 (Steering Controller), a GNSS receiver 6, a storage device 7, and an ECU 8 (Electronic Control Unit). The camera 2, SC5, GNSS receiver 6, storage device 7, and ECU 8 are communicably connected via an in-vehicle network conforming to a standard such as a controller area network. The meter display 3 and the steering wheel 4 are connected to the SC5.

The camera 2 is an example of a sensor for detecting a situation in the vicinity of the vehicle. The camera 2 forms an image of a two-dimensional detector composed of an array of photoelectric conversion elements having sensitivity to infrared light such as a CCD or C-MOS, and an image of a region to be imaged on the two-dimensional detector. It has an imaging optical system. The camera 2 is arranged, for example, in the upper front part of the vehicle interior with the front facing forward, and captures the situation around the vehicle 1 through the windshield at predetermined shooting cycles (for example, 1/30 second to 1/10 second). Then, the image corresponding to the surrounding situation is output.

The meter display 3 is an example of a display unit, and has, for example, a liquid crystal display. The meter display 3 visually displays information regarding the driving of the vehicle 1 to the driver according to the signal received from the ECU 8 via the in-vehicle network and the SC5.

The steering wheel 4 is an example of a driving operation receiving unit, and receives an operation of a driver who requests the operation of the steering mechanism for steering the vehicle 1. The operation that requires the operation of the steering mechanism is, for example, an operation of rotating the steering wheel 4 clockwise or counterclockwise. The vehicle 1 has an accelerator pedal and a brake pedal (not shown) as other driving operation reception units.

The SC 5 has, for example, a microprocessor, generates a signal according to the state of the steering wheel 4, and outputs the signal to the ECU 8. Further, the SC 5 outputs a signal for displaying information regarding the traveling of the vehicle 1 received from the ECU 8 via the in-vehicle network to the meter display 3.

The GNSS receiver 6 receives a GNSS signal from a GNSS (Global Navigation Satellite System) satellite at predetermined intervals, and determines the self-position of the vehicle 1 based on the received GNSS signal. The GNSS receiver 6 outputs a positioning signal representing the positioning result of the self-position of the vehicle 1 based on the GNSS signal to the ECU 8 via the in-vehicle network at predetermined intervals.

The storage device 7 is an example of a storage unit, and has, for example, a hard disk device or a non-volatile semiconductor memory. The storage device 7 stores map data representing the road environment in association with the position.

The ECU 8 is an example of a display control device. In the ECU 8, the vehicle 1 is in the lane based on the information of the feature in the map data around the position corresponding to the positioning signal output by the GNSS receiver 6 and the information of the feature shown in the image generated by the camera 2. Automatic operation control is performed so that the vehicle travels along the lane marking without colliding with obstacles. Then, the ECU 8 executes the traveling locus display process based on the driver's operation on the steering wheel 4 while performing the automatic driving control, and operates the meter display 3.

FIG. 2 is a schematic hardware diagram of the ECU 8. The ECU 8 includes a communication interface 81, a memory 82, and a processor 83.

The communication interface 81 is an example of a communication unit, and has a communication interface circuit for connecting the ECU 8 to the in-vehicle network. The communication interface 81 supplies the received data to the processor 83. Further, the communication interface 81 outputs the data supplied from the processor 83 to the outside.

The memory 82 has a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 82 stores various data used for processing by the processor 83, for example, an intervention threshold value for determining the presence or absence of intervention in automatic driving control, mode designation information for designating the first mode and the second mode, and the like. .. Further, the memory 82 stores various application programs, for example, a travel locus display program that executes a travel locus display process.

The processor 83 is an example of a control unit, and has one or more processors and peripheral circuits thereof. The processor 83 may further include other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphic processing unit.

FIG. 3 is a functional block diagram of the processor 83 included in the ECU 8.

The processor 83 of the ECU 8 has a travel locus generation unit 831 and a travel locus display unit 832 as functional blocks. Each of these parts of the processor 83 is a functional module implemented by a program executed on the processor 83. Alternatively, each of these parts of the processor 83 may be mounted on the ECU 8 as an independent integrated circuit, microprocessor, or firmware.

The traveling locus generation unit 831 generates a future first traveling locus of the vehicle 1 based on the future traveling direction and traveling speed of the vehicle 1 by the automatic driving control. Further, when the driving locus generation unit 831 detects the driver's intervention operation for the automatic driving control, the traveling locus generation unit 831 generates a future second traveling locus of the vehicle 1 according to the intervention operation. When the operation amount for the steering wheel 4 during the automatic driving control exceeds the intervention threshold value, the traveling locus generation unit 831 detects the driver's intervention operation for the automatic driving control.

FIG. 4 is a diagram illustrating a first traveling locus and a second traveling locus.

The travel locus T1 indicates a locus in which the vehicle 1 travels from the past position P0 on the left lane to the current position P1 on the left lane by automatic driving control. An obstacle O exists in the vicinity of the future position P21 on the left lane, which is ahead of the current position P1 in the traveling direction. It is assumed that the obstacle O is not considered in the driving by the automatic driving control, and the driver is aware of the existence of the obstacle O.

The traveling locus generation unit 831 generates a future first traveling locus T21 when traveling in the left lane from the current position P1 to the future position P21 by automatic driving control. On the other hand, at the current position P1, the driver rotates the steering wheel 4 clockwise so that the vehicle avoids the obstacle O and travels to the right lane, and performs an intervention operation for the automatic driving control. The travel locus generation unit 831 detects the driver's intervention operation and generates a future second travel locus T22 of the vehicle 1 traveling from the current position P1 to the future position P22 on the right lane.

Returning to FIG. 3, the travel locus display unit 832 causes the meter display 3 to display the first travel locus in the first aspect. Further, when the traveling locus display unit 832 detects the driver's intervention operation for the automatic driving control, the display of the first traveling locus in the first aspect on the meter display 3 is different from the first aspect. The display is changed to the second traveling locus in the embodiment. When the operation amount for the steering wheel 4 during the automatic driving control exceeds the intervention threshold value, the traveling locus display unit 832 detects the driver's intervention operation for the automatic driving control.

FIG. 5A is a diagram illustrating an example of displaying a first traveling locus in the first display mode, and FIG. 5B is a diagram illustrating an example of displaying a second traveling locus in the second display aspect. It is a figure.

The travel locus display unit 832 causes the travel status display area 31 of the meter display 3 to display the first travel locus T21 in the first mode as shown in FIG. 5A at the current position P1 in FIG. In the example of FIG. 5A, the first aspect is a first traveling locus T21 from the current position P1 on the left lane to the future position P21 on the left lane, and a black line from the current position P1 to the future position P21. It is an embodiment indicated by a white arrow bordered by.

Further, when the travel locus display unit 832 detects the intervention operation of the driver at the current position P1 in FIG. 4, the display shown in FIG. 5 (a) in the travel status display area 31 of the meter display 3 is shown in FIG. 5 (b). ) Is changed to the display of the second traveling locus T22 in the second aspect. In the example of FIG. 5B, the second aspect is a black second traveling locus T22 from the current position P1 on the left lane to the future position P22 on the right lane, and a black color from the current position P1 to the future position P22. This mode is indicated by an arrow, and is different from the first mode in the example of FIG. 5 (a).

The travel locus display unit 832 may display the first travel locus T21 and the second travel locus T22 in the travel status display area 31 of the meter display 3 in a further different manner. For example, the first travel locus T21 may be displayed as an intermittent line or a thin line, and the second travel locus T22 may be displayed as a solid line or a thick line. Further, the first travel locus T21 may be displayed in a predetermined color such as blue, and the second travel locus T22 may be displayed in red or the like other than the color in which the first travel locus T21 is displayed. Further, the first travel locus T21 is displayed at a predetermined color density (for example, 20%), and the second travel locus T22 is displayed at a color density different from the color density at which the first travel locus T21 is displayed (for example, 80%). You may.

Further, the travel locus display unit 832 may change the second mode in which the second travel locus T22 is displayed in the travel status display area 31 of the meter display 3 according to the situation. For example, the traveling locus display unit 832 may change the second aspect according to the intensity of the driver's intervention operation for the automatic driving control. For example, when the traveling locus display unit 832 displays the first traveling locus T21 as a thin line and the second traveling locus T22 as a thick line, the thickness of the line for displaying the second traveling locus T22 is determined by the intervention operation. The higher the strength, the thicker it is. Further, the traveling locus display unit 832 intervenes in the color density for displaying the second traveling locus T22 when the first traveling locus T21 is displayed with a low color density and the second traveling locus T22 is displayed with a high color density. The higher the operation strength, the higher the value. Further, for example, the traveling locus display unit 832 has a second aspect depending on whether the driver's intervention operation via the steering wheel is detected or the driver's intervention operation via the brake pedal or the accelerator pedal is detected. You may change it.

Further, for example, the traveling locus display unit 832 may change the second aspect according to the traveling condition of the vehicle 1. For example, the traveling locus display unit 832 changes the second aspect so that the faster the vehicle speed of the vehicle 1, the greater the difference from the first aspect. Further, when the travel locus display unit 832 detects the driver's intervention operation for the automatic driving control, the vehicle 1 may or may not be in the lane change operation due to the automatic driving control. The second aspect may be different.

FIG. 6 is a flowchart of the traveling locus display process. The ECU 8 repeatedly executes the travel locus display process at predetermined time intervals (for example, 1 second intervals) while the vehicle 1 travels under the automatic driving control.

First, the traveling locus generation unit 831 determines whether or not the driver's intervention operation for the automatic driving control is detected (step S1). When the operation amount for the steering wheel 4 during the automatic driving control exceeds the intervention threshold value, the traveling locus generation unit 831 determines that the driver's intervention operation for the automatic driving control has been detected.

When the driver's intervention operation for the automatic driving control is not detected (step S1: N), the traveling locus generation unit 831 generates a future first traveling locus of the vehicle 1 based on the automatic driving control (step S2). .. Next, the travel locus display unit 832 displays the first travel locus on the meter display 3 in the first aspect (step S3), and ends the travel locus display process.

When the driver's intervention operation for the automatic driving control is detected (step S1: Y), the travel locus generation unit 831 generates a future second travel locus of the vehicle 1 in response to the intervention operation (step S4). .. Next, the travel locus display unit 832 displays the second travel locus on the meter display 3 in a second aspect different from the first aspect (step S5), and ends the travel locus display process.

By executing the travel locus display process in this way, the ECU 8 causes the display unit to display the travel locus so that the driver can quickly confirm that the travel locus has been changed due to intervention in the automatic driving control of the vehicle. Can be done.

According to the modification, the vehicle 1 may have a head-up display in place of the meter display 3 or in addition to the meter display 3 to display information about the running of the vehicle 1 in the driver's front view. .. The travel locus display unit 832 causes the head-up display to display the first travel locus and the second travel locus. The travel locus display unit 832 may superimpose the first travel locus and the second travel locus on the head-up display.

According to different variations, the first travel locus and the second travel locus may be maps routes from the current position of the vehicle 1 to the final destination. That is, the display control device is used for the driver's intervention operation for traveling on a route different from the set route while the vehicle 1 is traveling at a position where a different route can be selected by branching or changing lanes by automatic driving control. A second travel locus is generated accordingly. Then, the generated second travel locus is displayed in a mode different from that of the first travel locus.

It will be appreciated by those skilled in the art that various changes, substitutions and modifications can be made to this without departing from the spirit and scope of the invention.

1 vehicle 8 ECU
831 Travel locus generation unit 832 Travel locus display unit

Claims (1)

When the driver's intervention operation for the automatic driving control is detected while generating the future first traveling locus of the vehicle based on the automatic driving control, the future second traveling locus of the vehicle corresponding to the intervention operation is generated. The running locus generator and
When the intervention operation is detected while displaying the first travel locus on the display unit in the first aspect, the display of the first travel locus on the display unit in the first aspect is displayed in the first aspect. A traveling locus display unit that changes the display of the second traveling locus in the display unit in the second aspect different from the embodiment, and a traveling locus display unit.
A display control device.

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