JP3744295B2 - Running state presentation device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a traveling state indicating device capable of clearly and understandably presenting an automatic driving control time traveling state imparting anxiety for a fellow occupant since a control state cannot be understood. SOLUTION: This traveling state indicating device displays an image of a displaying brake pedal, an image 611 of a pedal position corresponding to a present stepping control quantity and semitransparent images 612, 613, 614, 615 of after images of pedal positions with respective levels smaller than the present stepping control amount as a combined image by discriminating a stepping control quantity of the brake pedal as plural stepwise levels.

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling state presentation device that presents a traveling state of a vehicle that performs automatic traveling to an occupant.
[0002]
[Prior art]
As a conventional device for displaying the traveling state of a vehicle to an occupant, for example, there is a device disclosed in Japanese Patent Laid-Open No. 10-116086. In this device, a display device is provided in the vehicle, a brake display indicating that the driver has stepped on the brake pedal, a display indicating the direction of course change in response to the direction indicator operation, etc. By overlapping the display on the screen, passengers in the front passenger seat and the rear seat can learn the current driving situation of the vehicle while looking at the display device in order to enjoy karaoke and the like.
[0003]
[Problems to be solved by the invention]
Since the conventional display device as described above simply displays whether or not the brake pedal is being depressed, it informs the user of subtle driving sensations such as how the operating pedal is depressed during acceleration or deceleration. I couldn't. However, in an automatic traveling vehicle that performs traveling control (steering, driving, braking) of a vehicle based on the traveling state (vehicle speed, etc.) of the vehicle and the situation outside the vehicle (travel lane state, distance between vehicles, etc.) Since the control is left to the machine and the control state is unknown to the passenger, the display of the above-mentioned conventional device is not sufficient, and there is a problem that the passenger may feel uneasy. It was.
[0004]
The present invention has been made to solve the problems of the prior art as described above, and can provide a clear and easy-to-understand understanding of the driving state during automatic driving control, which is not easy for the passenger to know the control state and is very uneasy. An object of the present invention is to provide a traveling state presentation device.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, the present invention is configured as described in the claims. That is, according to the first aspect of the present invention, the driving control amount of the vehicle at the time of the automatic driving control is detected, the depression control amount of the driving operation pedal corresponding to the driving control amount is detected, and changes according to the depression control amount. The image of the operation pedal for driving is displayed on the display means as an image combining the image of the pedal position corresponding to the current depression control amount and the image of the afterimage of the pedal position corresponding to the control amount smaller than the current depression control amount. It is configured to display. The operation control amount is, for example, a brake control amount or an accelerator control amount, and the operation pedal for operation means, for example, a brake pedal or an accelerator pedal.
[0007]
Incidentally, Te claim 1 smell, the pedal position corresponding to a small control amount from depression amount of control current, including, for example, the reference position (controlled variable position the pedal is not completely depressed at 0), or the reference position There are multiple positions.
[0008]
According to a second aspect of the present invention, the afterimage is displayed as a translucent or light-colored image.
[0009]
According to a third aspect of the present invention, the stepping control amount of the driving operation pedal is determined as a plurality of stepped levels, and the image of the driving operation pedal that changes according to the stepping control amount corresponds to the current stepping control amount. The pedal position image and the translucent or light-colored image of the afterimage of the pedal position for each level corresponding to a control amount smaller than the current depression control amount are displayed as a combined image. .
[0010]
Further, as described in claim 4 , for example, the automatic driving control is control related to acceleration and deceleration of the vehicle, and the operating pedal for driving is at least one of a brake pedal and an accelerator pedal.
[0011]
【The invention's effect】
According to the first aspect of the present invention, since it is possible to display not only whether or not the control is being performed but also the degree thereof, it is possible to present a delicate feeling such as the degree of depression of the brake pedal or the accelerator pedal. For this reason, passengers' anxiety caused by lack of information regarding the control state during automatic driving can be eliminated. For example, because the preceding vehicle that is traveling ahead in the automatic operation control is stopped, the vehicle stops at the planned stop position behind the preceding vehicle that is separated from the preceding vehicle by the distance set by the automatic operation control. When performing braking control, it is possible to correctly recognize the amount of braking control according to the current speed of the vehicle and the distance to the planned stop position. A sense of security can be increased for passengers.
[0013]
According to the first aspect of the present invention, the image of the pedal position corresponding to the current depression control amount and the image of the afterimage of the pedal position smaller than the current depression control amount are displayed as a combined image. Since it can be compared with an afterimage in the initial state where no control is performed, it is easy to recognize the current degree of control.
[0014]
Further, according to the invention of claim 2 , since the afterimage of the pedal position for displaying the control state is made semi-transparent or light color, the pedal displayed at the lower position is not overwritten and is displayed overlapping the upper pedal. Therefore, color emphasis occurs in the overlapping portion, and it is easy to recognize the degree of control amount.
[0015]
According to the invention of claim 3 , the stepping control amount is determined as a plurality of stepped levels, and is displayed as a translucent or light color image of the afterimage of the pedal position for each level smaller than the current stepping control amount. Therefore, since the display for each level is performed in an overlapping manner, the current stepping control amount is easy to understand sensuously.
[0016]
Further, according to the invention of claim 4 , since the control amount is displayed by the brake pedal or the accelerator pedal, the concept coincides with the operation of acceleration / deceleration. Easy to imagine the deceleration control state.
[0017]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, the present invention will be described based on embodiments described in the accompanying drawings. FIG. 1 is a block diagram showing a configuration of a traveling state presentation device according to an embodiment of the present invention. In FIG. 1, an external running environment detection device (101) is, for example, a camera or a laser radar, and is a device that recognizes an external situation of a running vehicle such as an inter-vehicle distance from a preceding vehicle. Information on the recognized external situation is sent to the automatic driving controller (103). On the other hand, the own vehicle state detection device (102) is, for example, a G sensor or a vehicle speed sensor, and is a device that detects the current traveling state of the own vehicle. Information detected by this device is also sent to the automatic driving controller (103). This automatic driving controller (103) is constituted by a computer including, for example, a CPU and a memory.
[0018]
The automatic driving travel controller (103), which has received information on the inside and outside of the vehicle from the external traveling environment detection device (101) and the own vehicle state detection device (102), judges the situation and issues a brake and accelerator control command. In an emergency or when notification is required, a notification device (111) such as a buzzer or an alarm device notifies the driver and passengers. The command of the brake control by the automatic driving controller (103) is sent to the brake hydraulic pressure control actuator (104) to appropriately control the brake device (106) according to the environment. Similarly, an accelerator control command from the automatic driving controller (103) is sent to the throttle opening control actuator (105) to appropriately control the accelerator device (107) according to the environment. However, when there is no preceding vehicle, the speed set by the driver is maintained by the travel speed setting device (112). Further, when there is a preceding vehicle, automatic traveling operation is performed by keeping the distance between the preceding vehicle constant according to the speed within a range not exceeding the speed set in the traveling speed setting device (112). .
[0019]
The control state of the accelerator and the brake is sent from the automatic driving travel controller (103) to the display controller (108). The display controller (108) selects an appropriate image from the display image data storage device (109) according to the control state and displays it on the monitor (110), thereby allowing the driver and passengers to perform the current automatic driving. Present the situation. The display controller (108) is configured by a computer including a CPU and a memory, for example, but can be shared by the same computer as the automatic driving controller (103). In the automatic driving control as described above, the automatic / manual driving changeover switch (113) is set to automatic driving, and the automatic driving driving controller (103) determines that automatic driving is possible from various information. Only done when.
[0020]
FIG. 2 is a flowchart showing an example of calculation contents in the automatic driving controller (103) and the display controller (108), and shows processing for determining a display image from the state of brake control. In FIG. 2, first, at step 202, it is determined whether or not automatic operation is being performed. If automatic operation is not being performed (NO at 202), the routine goes to step 203 and no display relating to automatic operation is performed. If automatic operation is being performed (YES in 202), in step 204, the brake fluid pressure, which is a control parameter indicating the control state of the brake, is detected. In step 205, the brake control level is determined according to the obtained brake fluid pressure. In step 206, an image of the brake pedal is drawn according to the determined brake control level, and the process returns to step 202 again.
[0021]
FIG. 3 is a flowchart showing a subroutine process for determining a brake control level according to the brake fluid pressure in step 205 of FIG. In FIG. 3, first, in step 302, it is determined whether brake control is being performed. When the brake control is not performed (NO in 302), the process goes to step 303, the brake control level is determined to be 0, and the process is terminated. If the brake control is being performed (YES in 302), the brake hydraulic pressure control region is divided into four in step 304. The division here does not need to be equally divided, the small value area that needs to express a subtle sensation is made fine, and the large value area such as sudden braking that is not often used in normal control is made rough. It may be divided. Also, the number of divisions need not be four. In this embodiment, the number of divisions will be described as four divisions. Next, in step 305, it is determined whether or not the brake fluid pressure measured in step 204 in FIG. When the brake fluid pressure is in the lowest divisional area (YES in 305), the process goes to step 306 and the brake control level is determined to be 1. If the brake fluid pressure is not in the lowest divisional area (NO in 305), go to step 307. Thereafter, in the same manner, in steps 307 to 311, it is determined to which of the divided areas the brake fluid pressure corresponds, and the processing in the subroutine is terminated. As a result, the brake control level is divided into five stages of 0 to 4.
[0022]
FIG. 4 is a flowchart showing a subroutine process for drawing a brake pedal in accordance with the brake control level in step 206 in FIG. In FIG. 4, first, in step 402, the value of the variable LEVEL is initialized to the value of the brake control level determined in the subroutine processing in step 205 of FIG. Next, in step 403, a real image pedal image (details will be described later) of the current variable LEVEL is drawn at a predetermined position. Next, in step 404, it is determined whether or not the value of the variable LEVEL is zero. If it is not 0 (NO in 404), the value of the variable LEVEL is decreased by 1 in step 405. Next, in step 406, a translucent afterimage pedal image (details will be described later) of the current variable LEVEL is drawn at a predetermined position so as to overlap the real image pedal image, and the process returns to step 404 again. Thereafter, the processing in steps 404 to 406 is repeated, and if the value of the variable LEVFL becomes 0 (YES in 404) in the determination in step 404, the subroutine processing is terminated.
[0023]
FIG. 5 is a characteristic diagram showing the relationship between the brake fluid pressure value and the brake control level, and shows a case where the brake control level is divided into four stages. In this example, the brake fluid pressure shown on the horizontal axis is divided every 0.5 MPa, and when the pressure is 1.5 MPa or more, all are set to level 4.
[0024]
FIG. 6 is a diagram showing an example of a screen display representing the state of brake control. In FIG. 6, display figures corresponding to the above levels 0 to 4 are shown. The leftmost is level 0, and the levels are arranged in the order of levels 1, 2, 3, and 4 as going to the right. . In FIG. 6, the leftmost level 0 corresponds to a state in which the brake pedal is not depressed at all, and only the real image pedal image (601) is displayed. In the next level 1, the display is made by overwriting the translucent (or light-colored) afterimage pedal image (603) on the real image pedal image (602) that is slightly depressed. The position of the translucent afterimage pedal image (603) corresponds to the position of the real image pedal image (601) of level 0. Therefore, it can be easily understood that the brake pedal is depressed from the position of the real image pedal image (601) to the position of the real image pedal image (602). The display from level 2 to level 4 is also a display in which the translucent afterimage pedal image is overwritten on the real image pedal image (604, 607, 611) indicating the current pedal control state.
[0025]
Next, the description so far has illustrated the display of the brake control state. Similarly, the display of the accelerator control state is divided into levels according to the accelerator control amount, and the result is similar to FIG. What is necessary is just to display as an image of an accelerator pedal. FIGS. 7 to 11 are diagrams showing examples of processing and display related to the display of the accelerator control state. FIG. 7 (corresponding to FIG. 2) is a diagram in the automatic driving controller (103) and the display controller (108). It is a flowchart which shows an example of the content of a calculation, and shows the process which determines a display image from the state of accelerator control. FIG. 8 (corresponding to FIG. 3) is a flowchart showing a subroutine process for determining the accelerator control level according to the accelerator opening in step 705 of FIG. FIG. 9 (corresponding to FIG. 4) is a flowchart showing a subroutine process for drawing the accelerator pedal in accordance with the accelerator control level in step 706 of FIG. FIG. 10 (corresponding to FIG. 5) is a characteristic diagram showing the relationship between the accelerator opening and the accelerator control level, and shows a case where the accelerator control level is divided into four stages. In this example, the accelerator opening shown on the horizontal axis is divided every 20 °, and in the case of 60 ° or more, all are level 4. FIG. 11 (corresponding to FIG. 6) is a diagram showing an example of a screen display representing the state of accelerator control. The contents shown in FIGS. 7 to 11 are almost the same as those shown in FIGS. 2 to 6, and the brake control amount is replaced with the accelerator control amount.
[0026]
Next, FIGS. 12 to 14 are diagrams showing specific operation examples of the present invention, and show the relationship among the driving environment, the automatic driving control state, and the screen display (brake pedal and accelerator pedal).
First, FIG. 12 shows that the preceding vehicle travels in the direction of the interchange or service area ramp during the automatic driving control in which the preceding vehicle is captured by a radar and is tracking while keeping a constant interval. This shows a case where the preceding vehicle disappears and the vehicle is accelerated to a preset speed. First, as shown in the left figure of FIG. 12, the own vehicle (1201) is following the preceding vehicle (1202) in accordance with the traveling speed of the preceding vehicle. The accelerator pedal (right pedal) at that time is controlled at level 1, for example, and the accelerator display as shown in (1204) is displayed. At this time, since the brake control is not performed, a level 0 state (1203) is displayed on the brake pedal (left pedal).
[0027]
Next, as shown in the center diagram of FIG. 12, since the preceding vehicle (1206) has deviated from the main line, the own vehicle (1205) has no preceding vehicle and accelerates to a preset speed. In this case, as shown in (1208), a state in which the pedal is depressed to some extent for acceleration (for example, level 3) is displayed. Since brake control is not performed at this time, the brake pedal displays a level 0 state (1207).
[0028]
Next, as shown in the right figure of FIG. 12, after accelerating to the set speed, the own vehicle (1209) maintains a constant travel. The accelerator pedal display again indicates a state where the amount of depression is small (for example, level 1) (1211). At this time, since the brake control is not performed, the brake pedal displays the level 0 state (1210).
[0029]
Passengers in the passenger and rear seats can easily recognize the current state of the accelerator by visually recognizing the state of accelerator control by changing the display in the same form as the concept of a pedal even in automatic driving in such cases. Because it can be grasped quickly, there is an effect of not feeling uneasy. In addition, since the display area is larger when the control amount is large (the pedal is depressed), there is an effect that it is easy to recognize without staring at the screen. In addition, since the pedal position corresponding to the current control amount is displayed as a real image, there is an effect that the current control amount can be easily grasped. In addition, because the pedal that was overwritten with the real image pedal was made a semi-transparent or light-colored afterimage, the shade of the color where the pedal overlaps a lot becomes darker. There is also an effect that it is easy to do.
[0030]
Next, FIG. 13 shows that the other vehicle joined the main line from the interchange or service area ramp during the automatic driving control at a constant speed, and followed the preceding vehicle. The case where the vehicle is decelerated to the traveling speed is shown. First, as shown in the left diagram of FIG. 13, the host vehicle (1301) is traveling at a set speed. The accelerator at that time is controlled at level 1, for example, and the accelerator display as shown in (1304) is obtained. Since brake control is not performed at this time, the brake pedal displays a level 0 state (1303).
[0031]
Next, as shown in the center diagram of FIG. 13, since the merged vehicle (1302) merged from the ramp lane to the main line and merged in front of the own vehicle, it is captured as the preceding vehicle (1306), and the own vehicle (1305) is set. Sudden braking is performed until a certain distance is reached. The brake control at this time is level 3, and the brake pedal display is as shown in (1307). At this time, since accelerator control is not performed, the accelerator pedal displays a level 0 state (1308).
[0032]
Next, as shown in the diagram on the right side of FIG. 13, when the vehicle has left a certain distance, the deceleration is stopped, and the own vehicle (1309) starts follow-up running control at the same speed as the preceding vehicle (1310). At this time, the accelerator pedal is again lightly depressed (for example, level 1), as shown in (1312). At this time, since brake control is not performed, a level 0 state (1311) is displayed on the brake pedal.
[0033]
Passengers in the front passenger seat and rear seat can visually recognize the degree of depression of the brake pedal from the display screen, in such cases, that the automatic driving control is strengthening the brake control so that it does not collide with the preceding vehicle. Therefore, an effect that the user does not feel uneasy as compared with a state where there is no display and the state of control is not known is obtained.
[0034]
Next, FIG. 14 shows a case where there is a traffic jam ahead during automatic driving control that runs at a set speed at a constant speed, so that the last vehicle is captured and deceleration is started to stop at the set inter-vehicle distance. Is shown. First, as shown in the left diagram of FIG. 14, the host vehicle (1401) is traveling at a set speed. The accelerator control at that time is controlled at level 1, for example, and an accelerator display as shown in (1404) is obtained. Since brake control is not performed at this time, the brake pedal displays a level 0 state (1403).
[0035]
Next, as shown in the center diagram of FIG. 14, since there is a stop vehicle (1402) ahead of the traveling direction of the own vehicle (1405), it is captured as a preceding vehicle and the own vehicle is in front of the last stopped vehicle. A weak brake control is performed in order to stop the vehicle while maintaining the distance between the vehicles. The brake control at this time is level 1, for example, and the pedal display is as shown in (1406). At this time, since the accelerator control is not performed, the accelerator pedal displays a level 0 state (1407).
[0036]
Next, as shown in the diagram on the right side of FIG. 14, the vehicle gradually decelerates, the brake control becomes level 5 while the vehicle is stopped, and the brake pedal shows a strong depression state as shown in (1410). At this time, since the accelerator control is not performed, the level 0 state (1410) is displayed on the accelerator pedal.
[0037]
Passengers in the front passenger seat and rear seat can visually confirm the degree of depression of the brake pedal from the display screen, in such cases, the brake control is gradually strengthened so that the automatic driving control stops behind the last vehicle. Compared with a state in which there is no display and the state of control is unknown, it can be recognized that the control is being performed from the time when the host vehicle captured the preceding vehicle that is stopped, resulting in anxiety. The effect that there is nothing is obtained.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a travel state presentation device according to an embodiment of the present invention.
FIG. 2 is a flowchart showing an example of calculation contents in an automatic driving controller (103) and a display controller (108).
FIG. 3 is a flowchart showing a subroutine process for determining a brake control level according to a brake fluid pressure.
FIG. 4 is a flowchart showing a subroutine process of drawing a brake pedal according to a brake control level.
FIG. 5 is a characteristic diagram showing a relationship between a brake fluid pressure value and a brake control level.
FIG. 6 is a diagram showing an example of a screen display indicating a state of brake control.
FIG. 7 is a flowchart showing an example of calculation contents in the automatic driving controller (103) and the display controller (108).
FIG. 8 is a flowchart showing a subroutine process for determining an accelerator control level according to an accelerator opening.
FIG. 9 is a flowchart showing a subroutine process for drawing an accelerator pedal according to an accelerator control level.
FIG. 10 is a characteristic diagram showing the relationship between the accelerator opening and the accelerator control level.
FIG. 11 is a diagram showing an example of a screen display indicating a state of accelerator control.
FIG. 12 is an example diagram showing a specific operation example of the present invention.
FIG. 13 is another example showing a specific operation example of the present invention.
FIG. 14 is another example showing a specific operation example of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 101 ... External driving | running environment detection apparatus 102 ... Own-vehicle state detection apparatus 103 ... Automatic driving | running | working controller 104 ... Brake hydraulic pressure control actuator 105 ... Throttle opening control actuator 106 ... Brake apparatus 107 ... Accelerator apparatus 108 ... Display controller 109 ... Display Image data storage device 110 ... monitor 111 ... notification device 112 ... travel speed setting device 113 ... automatic / manual travel switch

Claims (4)

A traveling state presentation device used for an automatic traveling vehicle that switches between automatic driving control that automatically performs vehicle traveling control and manual driving control by a driver based on a traveling state of the vehicle and a situation outside the vehicle,
Display means for displaying an image;
A control amount detecting means for detecting a driving control amount of the vehicle at the time of the automatic driving control and detecting a depression control amount of the driving operation pedal corresponding to the driving control amount;
Image display control means for causing the display means to display an image of a driving operation pedal that changes according to the depression control amount;
The image display control means corresponds to an image of a driving operation pedal that changes according to the depression control amount, an image of a pedal position corresponding to a current depression control amount, and a control amount smaller than the current depression control amount. A traveling state presentation device, characterized by being displayed as a combined image with an afterimage of a pedal position . The travel state presentation device according to claim 1 , wherein the afterimage is displayed as a translucent or light-colored image. The control amount detection means determines the depression control amount of the driving operation pedal as a plurality of stepped levels, and the image display control means displays an image of the driving operation pedal that changes according to the depression control amount. As an image combining the pedal position image corresponding to the current depression control amount and the translucent or light-colored image of the afterimage of the pedal position for each level corresponding to a control amount smaller than the current depression control amount The traveling state presentation device according to claim 1, wherein the traveling state presentation device is displayed. The automatic driving control is a control relating to the acceleration and deceleration of the vehicle, the driving operating pedal is according to any one of claims 1 to 3, characterized in that at least one of the brake pedal and the accelerator pedal Running state presentation device.

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