JP3405378B2 - Vehicle surrounding information display device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle surrounding information display device for displaying information about obstacles and the like around a vehicle during traveling in a form in which the situation can be easily grasped.

[0002]

[Related Background Art] Recently, development of a system that detects obstacles around the vehicle while the vehicle is running by various sensors mounted on the vehicle and presents the obstacle information to the driver to call attention Are being promoted. For example, it is determined whether or not an object detected in front of the road interferes with the running of the own vehicle and the information is presented, or it is detected whether or not another vehicle is present at a position that is likely to be a blind spot diagonally behind the vehicle. When another vehicle exists, it is considered to issue an alarm for a lane change.

[0003]

However, in this type of system, some problems remain in what form the recognized obstacle information is presented to the driver in an easy-to-understand manner. The present invention has been made in consideration of such circumstances, and an object thereof is to provide a vehicle surroundings information display device capable of displaying information on obstacles around the vehicle in a form in which the driver can easily understand the situation. To provide.

[0004]

A vehicle surrounding information display device according to the present invention detects an obstacle around the vehicle by an obstacle detecting means mounted on the vehicle and causes the lane recognizing means to detect the vehicle ( Recognize the driving lane in which your vehicle is traveling,
According to the information of the recognized traveling lane, for example, the position of the obstacle detected by the obstacle detecting means and the relative moving speed of the obstacle with respect to the own vehicle are recognized by the vehicle surrounding situation recognizing means for each traveling lane. . Then, in the display means, the obstacle information is judged from the relative movement speed obtained by the vehicle surrounding situation recognition means , and the degree of danger of the obstacle.
It is characterized in that it is displayed at an obstacle detection position based on the vehicle traveling lane as a display pattern of an image corresponding to the above.

In particular, in the display means, when the vehicle traveling lane is not in the central lane, the display pattern different from the traveling lane information is displayed in addition to the traveling lane information.
The roadside information is displayed on the screen.
As shown in, the display means displays the vehicle traveling lane in the vehicle pattern.
It is also characterized in that it is displayed in the center of the display screen, and when a change in the traveling lane is detected, only the road information is shifted and displayed in the opposite direction to the change direction. .

That is, the display position of the vehicle traveling lane is set at the center of the display screen, and the obstacle information around the vehicle is displayed with the traveling lane as a reference. At this time, when the own vehicle traveling lane is not in the central lane, the roadside information is supplementarily displayed, and when the traveling lane is changed, the road information is shifted and displayed in the direction opposite to the direction of the lane change. The situation around the vehicle is displayed in an easy-to-understand manner based on the position of the vehicle.

[0007]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vehicle surrounding information display device according to an embodiment of the present invention will be described below with reference to the drawings.
FIG. 1 is a schematic system configuration diagram of the embodiment apparatus, which roughly comprises an obstacle recognition processing unit 1, a lane recognition processing unit 2, a vehicle surrounding situation recognition processing unit 3, and a surrounding situation display processing unit 4.
Each of the processing units 1 to 4 is implemented as a series of processing procedures by a microprocessor, for example, but may be implemented using a dedicated processor individually.

To briefly explain each of these processing units, the obstacle recognition processing unit 1 is mounted on a vehicle, for example, a scanning type laser radar 1a, a multi-line sensor 1b, a rear stereo camera 1c, a rear side stereo camera. Information about an object around the vehicle, which is obtained by various sensors such as 1d, is input, the information is grouped, and labeling processing is performed to obtain information about obstacles around the vehicle. By this processing, another vehicle traveling around the own vehicle or a fallen object on the road is obtained as an obstacle. In addition, the lane recognition processing unit 2 uses, for example, the front road recognition camera 2
While recognizing the white line that divides the traveling lane from the image information in front of the road obtained in a, from the behavior information such as vehicle speed and yaw angle obtained by the vehicle behavior sensor 2b, and further from the information about the road given as the map information 2c It recognizes the lane in which the vehicle is running, the lane width (lane width), the number of lanes, and the like. For the lane recognition processing by the white line detection and the above-mentioned obstacle recognition processing itself, various conventionally proposed methods can be adopted as appropriate.

Therefore, the vehicle surrounding situation recognition processing section 3 sets the obstacle detection target area according to the traveling lane according to the obstacle information and the lane information recognized as described above, and detects the obstacle in the area. It is extracted and recognized as the situation of obstacles around the vehicle. Specifically, when the vehicle is traveling in the center lane of a road in which a plurality of lanes are set, an area with a lane width of ⅔ of the lanes adjacent to the left and right of the traveling lane is the obstacle detection target area. And another vehicle running in the area is recognized as an obstacle. Further, when the vehicle is traveling in the left lane or the right lane other than the central lane, the road shoulder portion is detected by setting an area having a lane width of 2/3 of the traveling lane and the adjacent traveling lane as an obstacle detection target area. Obstacles are recognized by excluding them from the target area. By setting the obstacle detection target area corresponding to the traveling lane in this way, the vehicle surrounding situation recognition processing unit 3 recognizes the obstacle according to the traveling situation for each traveling lane. .

On the other hand, the surrounding condition display processing unit 4 is a so-called traffic view, and displays information on obstacles around the vehicle recognized as described above, for example, on a monitor display (in front of the driver's seat). (Not shown) plays a role of displaying. In particular, in this embodiment, the surrounding situation display processing section 4 patterns the information of the obstacle recognized by the vehicle surrounding situation recognition processing section 3 into individual obstacles, and also determines the position of each obstacle and its own. The degree of danger is visualized according to the degree of danger of the obstacle determined from the relative moving speed with the vehicle, and the information is displayed on the display together with the information of the vehicle traveling lane.

The display control of obstacles and the like in the surrounding condition display processing unit 4 will be described. The surrounding condition display processing unit 4 proceeds with the processing procedure according to the processing routine shown in FIG. Then, as illustrated in FIG. 3, the situation around the vehicle is pictorially displayed as an image. That is, the surrounding situation display processing unit 4 first sets the traveling lane pattern and the display pattern (picture pattern) of the own vehicle to be displayed on the monitor display according to the information of the traveling lane recognized as described above (step S1). . After that, whether the lane in which the vehicle is traveling is in the left lane or the central lane,
Alternatively, it is determined whether the vehicle is in the right lane (step S2).
And when the vehicle is traveling in the left lane and set the left shoulder pattern (step S3), and also when the vehicle is traveling in the right lane to set the right shoulder pattern (step S
4) . The road shoulder pattern is not set when the vehicle is traveling in the central lane.

Thereafter, the surrounding condition display processing unit 4 obtains the information on the obstacle in the traveling lane from the vehicle surrounding condition recognition processing unit 3 and sets the display pattern of the obstacle based on the information (Step S5). ). This obstacle display pattern is set, for example, when the obstacle is another vehicle traveling in the vicinity of the own vehicle, with an illustrated car mark, and on the display screen depending on the obstacle position. This is done by defining the display position. At this time, when the degree of danger is determined according to information such as the relative speed and distance to the vehicle, the display color may be set according to the degree of danger at the same time. The pixel density of may be changed stepwise.

After setting the display pattern to be displayed on the display as described above, the surrounding condition display processing unit 4 displays this information as an image, for example, as shown in FIG. Is presented for each lane. That is,
In this image display, the traveling lane of the own vehicle is set in the center of the display screen, and the own vehicle pattern A is set in the center of the display screen. It is performed by displaying at the image position according to the positional relationship.

Explaining the image display example shown in FIG. 3, (a) of the figure is an example of a display screen when the vehicle is traveling in the central lane. In this case, in order to set the driving lane in the center of the screen, the white line patterns B1 and B on both sides of the driving lane are set.
Display 2. And these white line patterns B1 and B2
The vehicle pattern A is displayed in between. Regarding the display of the own vehicle pattern A, for example, information about which position in the lane the own vehicle is traveling is obtained from the lane recognition processing unit 2 described above, and the left side between the white line patterns B1 and B2 is obtained according to the information. Alternatively, it may be displayed at the center, or on the right side.

At this time, the information about obstacles in the area beyond the adjacent lane has almost no effect on the running of the own vehicle. The display is omitted as indicated by the line area C. When another vehicle as an obstacle is recognized in front of the traveling lane of the own vehicle, the information is displayed as the other vehicle pattern D as an image.

Regarding the other vehicle pattern D, for example, when the relative speed of the obstacle (other vehicle) is negative and the distance to the own vehicle is abruptly approaching, this is displayed in red. Visually display that the degree of danger is high by doing, for example. On the other hand, when the vehicle is traveling in the left lane or the right lane, white line patterns B1 and B2 on both sides of the driving lane are displayed in the center of the screen as shown in FIG. The vehicle pattern A is displayed between the patterns B1 and B2. At the same time, the road shoulder pattern E set as described above is displayed, for example, as shown as a shaded area in the figure, and the fact that the vehicle is traveling in the left lane or the right lane is highlighted. For the area on the opposite side of the road shoulder, for example, information up to the width of 2/3 lane of the adjacent lane is displayed. Then, when an obstacle to be noted when traveling in the lane is detected in the recognition target area set as described above, the pattern D indicating the obstacle is displayed at the recognition position. At this time, in the areas other than these information display areas, the image display is omitted as described above so that the extra information is not presented.

As described above, if a change in the driving lane is detected while the information about obstacles around the vehicle is displayed by setting the own vehicle driving lane in the center of the display screen, for example, change the lane. The display positions of the white line patterns B1 and B2 indicating the traveling lane are shifted in the opposite direction to the direction of. That is, in this case, the display of the vehicle pattern A or the like based on the white line patterns B1 and B2 described above is changed, and the display positions of the white line patterns B1 and B2 are sequentially changed based on the vehicle pattern A. When the lane change is completed, the own vehicle pattern A is again based on the white line patterns B1 and B2.
It suffices to return to display control such as.

According to the embodiment apparatus for displaying the information about obstacles and the like around the vehicle as described above, the information around the vehicle is displayed for each lane on the display screen centering on the vehicle traveling lane. Therefore, the driver can always recognize the driving lane mainly by the own vehicle and naturally understand the surrounding conditions. Moreover, since the road shoulder information is displayed except when the vehicle is traveling in the central lane, the traveling lane itself can be accurately determined. Further, since the information display is omitted for the areas other than the obstacle recognition target area, it is possible to prevent the driver from being presented with extra information unnecessary for grasping the risk level. Therefore, the driver can accurately obtain only the information necessary for predicting the danger from the displayed image.

The present invention is not limited to the above embodiment. For example, when displaying an obstacle screen, it goes without saying that the display pattern may be changed depending on whether the obstacle is a fixed object on the road or another vehicle traveling with the own vehicle. Further, it goes without saying that the display pattern of the obstacle can be set to a pattern other than the pattern illustrated in FIG. In addition, the present invention can be variously modified and implemented without departing from the scope of the invention.

[0020]

According to the present invention described above, according to the present invention, upon setting on the display screen center the vehicle traveling lane, the crisis information of the vehicle around the obstacle the driving lane, based
Since the screen display is performed as a display pattern of an image according to the degree of steepness , it is possible to present information with a natural feel in accordance with the driver's sense. In addition, the driving lane information according to the driving lane
Since the roadside information of the display pattern different from is displayed,
It is easy to understand the driving lane itself from the display image itself. Further, when the lane is changed, the traveling lane is shifted while keeping the own vehicle pattern in the center of the display screen, so that it is possible to always present the information around the vehicle mainly based on the own vehicle position.

[Brief description of drawings]

FIG. 1 is a schematic system configuration diagram of a vehicle surrounding condition display device according to an embodiment of the present invention.

FIG. 2 is a diagram showing a schematic processing routine of information display processing in the embodiment apparatus.

FIG. 3 is a diagram showing an image display example in the embodiment apparatus.

[Explanation of symbols]

1 Obstacle recognition processing unit 2 lane recognition processing unit 3 Vehicle surrounding situation recognition processing unit 4 Surrounding situation display processing unit

─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Yoshinori Yoshiki 5-3-8, Shiba, Minato-ku, Tokyo Within Mitsubishi Motors Corporation (72) Inventor Norio Inoue 5-33, Shiba, Minato-ku, Tokyo No. Mitsubishi Motors Corporation (56) Reference JP-A-7-242133 (JP, A) JP-A-58-110334 (JP, A) JP-A-7-200997 (JP, A) JP-A-7-2009 -223488 (JP, A) JP-A-5-281351 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G08G 1/16 G08G 1/0962

Claims (3)

(57) [Claims] 1. An obstacle detection means mounted on a vehicle for detecting an obstacle around the vehicle, a lane recognition means for recognizing a traveling lane in which the vehicle is traveling, and an information on the recognized traveling lane. The vehicle surrounding condition recognition means for recognizing the position of the obstacle detected by the obstacle detection means and the relative movement speed of the obstacle with respect to the own vehicle ;
The relative movement speed determined by the vehicle surrounding condition recognizer
Of the image according to the degree of danger of the obstacle judged from
Obstacles based on the vehicle driving lane as a display pattern
A vehicle surrounding information display device, comprising: a display unit for displaying the information at the detection position . Wherein said display means, when current lane is not the middle lane, the driving lane in addition to the driving lane information
The vehicle surrounding information display device according to claim 1 , wherein the roadside information is displayed in a display pattern different from the information. 3. The display means displays a vehicle lane along with a vehicle pattern in the center of the display screen,
The vehicle surrounding information display device according to claim 1, wherein when a change in the traveling lane is detected, the road information is shifted in an opposite direction to the change direction and displayed as an image.