JP4466438B2 - Route guidance system - Google Patents

Description

  The present invention relates to a route guidance system.

Conventionally, a vehicular display device that displays a virtual preceding vehicle that does not actually exist on the windshield of the host vehicle has been proposed (see, for example, Patent Document 1). In the vehicle display device disclosed in Patent Document 1, the traveling state of the virtual leading vehicle is changed so that the virtual leading vehicle represents a traveling state after a predetermined time of the host vehicle.
JP 2002-144913 A

  The above-described conventional display device for a vehicle can transmit information related to the front of the host vehicle such as an obstacle or a curve ahead of the host vehicle without moving the driver's line of sight. Information about the route to the destination cannot be conveyed.

  The present invention has been made in view of the above problems, and provides a route guidance system that can acquire information related to a route toward a destination without moving the line of sight.

The route guidance system according to claim 1 made to achieve the above-mentioned object,
A route calculation means for calculating the route to the destination;
Virtual image generation means for generating an image of a virtual preceding vehicle that can be visually recognized by a passenger of the host vehicle so that a virtual preceding vehicle that does not exist travels ahead of the route;
A windshield display in which a display area is provided in the front window of the host vehicle, and an image displayed in the display area can be visually recognized by overlapping with a landscape in front of the host vehicle;
Route guidance means for guiding the route by displaying an image of the virtual preceding vehicle generated by the virtual image generation means in the display area;
Road traffic information acquisition means for acquiring road traffic information relating to road conditions in the route ahead of the host vehicle and / or traffic conditions;
The virtual image generating means is a route guidance system provided with a traveling state changing means for changing the traveling state of the virtual preceding vehicle according to the route or / and the information acquired by the road traffic information acquiring means,
When the host vehicle needs to stop, the traveling state changing means stops the virtual leading vehicle at the point where the vehicle should stop and increases the light transmittance of the virtual leading vehicle, or increases the length of the virtual leading vehicle. It is characterized by reducing .

Thereby, the passenger | crew of the own vehicle can acquire directly the information regarding the path | route which goes to the destination from the image of a virtual preceding vehicle, without moving a eyes | visual_axis. As a result, the occupant of the host vehicle can head for the destination by performing a driving operation so as to travel following the virtual preceding vehicle. In addition to changing the driving state of the virtual preceding vehicle according to the route, road conditions such as speed limit, traffic lights, traffic rules, traffic regulations such as construction and traffic closure, other vehicles existing around the host vehicle The traveling state of the virtual preceding vehicle can be changed according to the traffic situation such as. Furthermore, the passenger of the host vehicle can grasp that it is necessary to stop from the image of the virtual preceding vehicle. For example, when the host vehicle stops at the head of an intersection or the like, the stop position at the intersection may be behind the stop line due to the presence of the virtual preceding vehicle. Therefore, for example, the length of the virtual leading vehicle is shortened as shown in FIG. 9A, or the light transmittance of the image of the virtual leading vehicle is increased as shown in FIG. 9B. Thus, it is preferable to bring the stop position of the host vehicle closer to the stop line. In addition, when a preceding vehicle is present in front of the host vehicle, the image of the virtual leading vehicle may be made completely transparent.

According to the route guidance system of the second aspect , when the host vehicle needs to change lanes or turn left or right, the traveling state changing means blinks the blinker of the virtual preceding vehicle. Thus, for example, the own vehicle such as a branch point, a junction point on a general road, a place under construction, a ramp on a highway, a toll booth, a parking area (PA), a branch point or junction point near a service area (SA), etc. When the lane needs to be changed, the blinker of the virtual preceding vehicle can be blinked. Further, the blinker of the virtual preceding vehicle can be blinked even when the host vehicle needs to make a right or left turn at an intersection or the like. As a result, the occupant of the host vehicle can grasp that it is necessary to change lanes or turn right or left from the image of the virtual preceding vehicle.

According to the route guidance system of the third aspect , when the host vehicle needs to decelerate or stop, the traveling state changing means turns on the brake lamp of the virtual preceding vehicle.

  As a result, branch points, confluence points, intersections on general roads, places under construction, roads with narrow roads, around destinations, changing speed limits, ramps on toll roads, toll booths, parking areas (PA), The brake lamp of the virtual preceding vehicle can be turned on when the host vehicle needs to decelerate or stop, such as at a branch point or junction point near the service area (SA). As a result, the occupant of the own vehicle can grasp that it is necessary to decelerate and stop from the image of the virtual preceding vehicle.

According to the route guidance system of the fourth aspect , when the host vehicle needs to decelerate, the traveling state changing means shortens the inter-vehicle distance from the virtual preceding vehicle. As a result, when the host vehicle needs to decelerate, such as when the host vehicle turns right or left at an intersection, when the speed limit on the route changes, or when it approaches the destination, The distance can be shortened. As a result, the passenger of the own vehicle can grasp that it is necessary to decelerate from the image of the virtual preceding vehicle.

According to the route guidance system of the fifth aspect , the traveling state changing means starts the virtual preceding vehicle when the vehicle can start after the own vehicle stops. Thereby, the passenger | crew of the own vehicle can grasp | ascertain that it can start from the image of a virtual preceding vehicle.

According to the route guidance system of the sixth aspect, when the route includes a tunnel, the traveling state changing means turns on or off the tail lamp of the virtual preceding vehicle near the entrance or exit of the tunnel. . Thereby, the passenger | crew of the own vehicle can grasp | ascertain that it is necessary to turn on or off a headlight from the image of a virtual preceding vehicle.

According to the route guidance system according to claim 7 , the vehicle includes the other vehicle detection unit that detects the other vehicle existing in front of the host vehicle, and the virtual image generation unit detects the other vehicle when the other vehicle detection unit detects the other vehicle. An image in which the light transmittance of the virtual preceding vehicle is increased is generated for a portion where the image of the other vehicle and the virtual preceding vehicle overlap in the display area. Thereby, it can prevent that other vehicles, such as a preceding vehicle and an oncoming vehicle which exist from the passenger | crew of the own vehicle, are hidden in the image of a virtual preceding vehicle, and become difficult to visually recognize.

  Hereinafter, an embodiment of a route guidance system of the present invention will be described with reference to the drawings. FIG. 1 shows the overall configuration of the route guidance system of this embodiment. As shown in the figure, the route guidance system includes a front camera 1, an image / position analyzer 2, a receiver 3, a road information / driving caution information storage device 4, a traffic information storage device 5, a navigation device 6, and a current position detection. A container 7 is provided. The route guidance system further includes a road information / 3D map DB 8, a virtual image generator 9, an indoor camera 10, an image display 11, a travel control system 12, a route calculation data storage 13, and an HMI controller 14.

  The front camera 1 is a front photographing camera that photographs the front of the host vehicle. An image photographed by the front camera 1 is output to the image / position analyzer 2. The indoor camera 10 is used to detect the line of sight of the driver of the host vehicle, and an image captured by the indoor camera 10 is output to the image / position analyzer 2.

  The receiver 3 receives traffic information, preceding vehicle information, and the like from an external center and other vehicles. The received information is temporarily stored in the traffic information storage device 5 and transferred to the road information / driving caution information storage device 4.

  The road information / driving caution information storage device 4 stores road information such as road speed limits, road branching / merging / crossing conditions, and points to be watched by drivers such as temporarily stopping and slowing down at intersections (driving cautions). The driver attention information indicating the information of the location is stored. These pieces of information are associated with coordinate data indicating the target position.

  The traffic information storage device 5 is a storage device that temporarily stores traffic information received by the receiver 3 and information transmitted from the host vehicle. When information used in route calculation of the navigation device 6 is included, the information is used in the navigation device 6.

  The navigation device 6 has a route calculation function for calculating a route to the destination by using the map data stored in the route calculation data storage 13, and a route guidance function for guiding the route calculated by the route calculation function. I have.

  The current position detector 7 is a measuring instrument used for measuring the current position and the traveling direction of the host vehicle. For example, an RTKGPS (Real-time kinematic Global Positioning System) that can perform high-precision positioning is used. As described above, by using RTKGPS, positioning can be performed in units of several centimeters, so that the traveling speed of the host vehicle can be obtained with high accuracy. If RTKGPS cannot be used, for example, the vehicle speed may be detected from a vehicle speed pulse or the like.

  The road information / 3D map DB 8 includes road information (road shape, size, position, etc.) and building information (for example, buildings, guardrails, utility poles, signs, traffic lights, trees, etc.) (building shape, size, (Position, direction, etc.) information is stored. Such information can be added by information received from the outside via the receiver 3.

  The image / position analyzer 2 includes an image information analysis unit and a position information analysis unit. The image information analysis unit analyzes an image captured by the front camera 1 to detect a preceding vehicle, an oncoming vehicle, or the like existing in front of the host vehicle. When the preceding vehicle or the oncoming vehicle is detected, the image information analysis unit identifies the approximate inter-vehicle distance and the width direction position of the preceding vehicle or the oncoming vehicle from the image size of the preceding vehicle or the oncoming vehicle and the position on the image. .

  Here, the image captured by the front camera 1 is corrected with respect to the traveling direction of the host vehicle. That is, in consideration of the angle with respect to the road on which the host vehicle travels and the installation position of the front camera 1, from the image taken by the front camera 1, what position (width direction position) the preceding vehicle and the oncoming vehicle are on the road It is specified from the pixels of the image of the preceding vehicle and the oncoming vehicle whether the vehicle is traveling at a high speed.

  As described above, the approximate inter-vehicle distance and the position in the width direction of the preceding vehicle and the oncoming vehicle are specified by image analysis. However, the present invention is not limited to this. For example, radio waves such as millimeter waves and light such as laser light are used. The detection result of the preceding vehicle and the oncoming vehicle by the used radar is combined to detect the presence / absence of the preceding vehicle and the oncoming vehicle and the relative relationship (vehicle distance, width direction position, relative speed, etc.) with the preceding vehicle and the oncoming vehicle. May be.

  In addition, when no other vehicle is detected from the preceding vehicle or the oncoming vehicle, the image information analysis unit sends information indicating that no other vehicle exists to the position information analysis unit. When a preceding vehicle or an oncoming vehicle is detected, information indicating a relative relationship (an inter-vehicle distance, a width direction position, a relative speed, etc.) with the preceding vehicle or the oncoming vehicle is sent to the position information analysis unit. Further, the image information analysis unit measures the driver's line-of-sight position (in which direction and at which distance the viewpoint is placed) from the driver's face image taken by the indoor camera 10. The image information analysis unit outputs the line-of-sight position information as the measurement result to the virtual image generator 9.

  On the other hand, the position information analyzing unit determines whether the driving caution point is approaching from the driver caution information stored in the road information / driving caution information storage device 4 and the current position measured by the current position detector 7. When the driving caution point is approaching in front of the host vehicle, the distance to the point is calculated using the road information stored in the road information / driving caution information storage device 4.

  The virtual image generator 9 generates an image of a virtual preceding vehicle that does not actually exist. When displaying the image of the virtual leading vehicle in the display area of the image display 11, the position and size of the virtual leading vehicle are input as parameters. Then, how the image of the virtual preceding vehicle is displayed in the display area of the image display 11 in accordance with the standard visual field based on the driving situation of the driver and the line-of-sight position (the visual field range required for statistically safe driving). Calculate what is displayed. Then, control for displaying an image of the virtual preceding vehicle based on the calculation result in the display area of the image display 11 is performed.

  Further, the virtual image generator 9 changes the traveling state of the virtual preceding vehicle according to the route to the destination, road information, and traffic information. As a result, the driving state of the virtual preceding vehicle is changed according to the route, road speeds such as speed limit, traffic lights, traffic rules, traffic restrictions such as construction and closed roads, etc. The traveling state of the virtual preceding vehicle can be changed according to the traffic situation of the vehicle or the like.

  Further, when the driver's viewpoint deviates from the above-described standard visual field, the virtual image generator 9 stops the display of the image of the virtual preceding vehicle at the standard visual field deviation point. And when a driver | operator's viewpoint returns to a standard visual field again, the image of the virtual preceding vehicle according to a viewpoint is again displayed. By doing so, it is not necessary to calculate the display position of the image of the virtual preceding vehicle in accordance with the change of the driver's line of sight (only the display position of the image of the virtual preceding vehicle having only the standard view is calculated. Therefore, the processing load of the virtual image generator 9 can be reduced.

  The image display 11 is a windshield display whose display area is provided on the front window of the host vehicle. The driver of the host vehicle can visually recognize the image displayed on the windshield display with the scenery in front of the host vehicle.

  The travel control system 12 is a system that controls the drive system of the host vehicle. For example, the host vehicle may be automatically decelerated when approaching the above-mentioned driving attention point using the traveling control system 12. Specifically, when the host vehicle collides with the virtual preceding vehicle, the traveling control may be automatically performed so as not to collide with the virtual preceding vehicle.

  Alternatively, the moving object may be detected by the image / position analyzer 2 and the presence / absence of the moving object may be output to the virtual image generator 9 and displayed on the windshield display. In this case, the display position may be a position that does not hinder driving (up and down the driver's field of view, or, if a right-hand drive vehicle, the left side of the lower right side mirror). The display timing may be a timing that does not hinder driving (for example, when there is no preceding vehicle or when the vehicle is stopped waiting for a signal).

  When the host vehicle makes a right or left turn at an intersection or the like, an image of a peripheral monitoring camera (not shown) arranged so as to be able to monitor the area that becomes the blind spot of the host vehicle is displayed in the vicinity of the image of the virtual preceding vehicle. . As a result, the driver of the host vehicle can make a safer right / left turn.

  Further, when the driver selects a command specified by the navigation device by voice input or input operation using an operation switch, a display corresponding to the command is displayed at a position that does not hinder driving. Voice input and switch operations for commands are controlled by the HMI controller 14. The light transmittance of the displayed image is set to have a light transmittance equal to or higher than a set value at the start of display.

  The route guidance system of the present embodiment generates an image of a virtual leading vehicle that can be visually recognized by a passenger of the host vehicle so that a virtual leading vehicle that does not exist travels ahead of the route as a route guidance function of the navigation device 6. The route is guided by displaying the generated image of the virtual preceding vehicle on the windshield display provided on the front window of the host vehicle.

  Thereby, the passenger | crew of the own vehicle can acquire directly the information regarding the path | route which goes to the destination from the image of a virtual preceding vehicle, without moving a eyes | visual_axis. As a result, the occupant of the host vehicle can head for the destination by performing a driving operation so as to travel following the virtual preceding vehicle.

  Next, the display processing of the route guidance function in the route guidance system will be described using the flowchart shown in FIG. First, in a step (hereinafter referred to as S) 10 shown in FIG. 2, a route toward the destination is calculated. In this route calculation, any point (eg, branch point, junction, intersection, etc.) in advance in, what do leave determined performing guidance and stores the determined route guidance information.

  Note that if the host vehicle deviates from the route during route guidance, the route calculation is performed again in the same manner as a conventional navigation device. Further, when traffic information is obtained from an external center or the like after route calculation, a display start position is added. For example, when approaching a construction point on the route, a display for calling attention is performed using the image of the virtual preceding vehicle.

  In S20, the current position of the host vehicle is detected, and in S30, it is determined whether or not the display start position has been reached. If the determination is affirmative, the process proceeds to S40. If the determination is negative, the process proceeds to S20. In S40, the display mode (branch mode, merge mode, right turn mode, left turn mode, etc.) at this display start position is selected based on the route guidance information. In S50, the contents to be guided including the display data are selected from the route guidance information. According to the read route guidance information, the driving state of the virtual preceding vehicle is changed.

  For example, when the host vehicle approaches an intersection to be turned right, the display mode is the right turn mode (display for instructing a lane change for a right turn, slow driving, etc. according to the distance to the intersection and the vehicle speed of the host vehicle) It becomes.

  In S60, the degree of safety in traveling of the host vehicle is confirmed (determined), and in S70, display according to the degree of safety is performed. For example, when the following vehicle approaching from the rear right side is confirmed from the traffic information or the image of the surrounding monitoring camera described above, it is determined whether or not it is dangerous to change the lane, and the safety level is low ( If it is determined that the vehicle is in danger, processing such as continuing straight ahead while indicating the direction of the route is performed until a lane change can be performed safely.

  In S80, it is determined whether or not the display end position has been passed. If the determination is affirmative, the process proceeds to S20, and the above-described process is repeated. On the other hand, if a negative determination is made, the process proceeds to S60 and the above-described process is repeated.

  Subsequently, the operation of the route guidance system will be described with a specific example. First, the system operation flow when the host vehicle turns left at an intersection will be described with reference to the flowcharts shown in FIGS. First, in S100, the image / position analyzer 2 determines whether or not there is a preceding vehicle. If the determination is affirmative, the process proceeds to S110. If the determination is negative, the process proceeds to S120.

  In S110, an image of a virtual leading vehicle traveling ahead on the route toward the destination is displayed. The virtual leading vehicle is displayed in a single color or the like so that the driver can easily grasp that the vehicle is a virtual vehicle. In particular, the image of the virtual preceding vehicle may not indicate the shape of the vehicle (for example, a person, a mascot, an airplane, etc.).

  In S120, the position of the actual preceding vehicle is determined, and it is determined whether there is a portion where the actual preceding vehicle and the virtual preceding vehicle overlap on the windshield display. If the determination is affirmative, the process proceeds to S130. If the determination is negative, the process proceeds to S110.

  In S130, a portion where the existing preceding vehicle and the virtual preceding vehicle overlap is calculated, and the light transmittance of the overlapping preceding virtual preceding vehicle is increased so that the existing preceding vehicle can be seen from the driver of the host vehicle. To do. Thereby, it can prevent that other vehicles, such as a preceding vehicle and an oncoming vehicle which exist from the passenger | crew of the own vehicle, are hidden in the image of a virtual preceding vehicle, and become difficult to visually recognize.

  As for the light transmittance around the overlapping portion, a stepped light transmittance with a slightly lower light transmittance than that of the completely overlapping portion is used so that the periphery of the existing preceding vehicle can be seen. In this way, even if the own vehicle shakes or the line of sight of the occupant of the own vehicle moves, it is possible to prevent the actual preceding vehicle from becoming difficult to see from the image of the virtual preceding vehicle.

  In S140, when the virtual preceding vehicle starts traveling on the route, it is determined whether or not the distance from the own vehicle to the intersection to be turned left is equal to or less than a first set distance (for example, 300 m). If the determination is affirmative, the process proceeds to S150. If the determination is negative, the process proceeds to S100.

  In S150, the blinker of the virtual leading vehicle is blinked, the brake lamp of the virtual leading vehicle is turned on to reduce the vehicle speed of the host vehicle, and the inter-vehicle distance from the virtual leading vehicle is shortened.

  As a result, when the host vehicle needs to change lanes or turn left or right, the blinker of the virtual preceding vehicle can be blinked. As a result, the occupant of the host vehicle can grasp that it is necessary to change lanes or turn right or left from the image of the virtual preceding vehicle. Further, when the host vehicle needs to decelerate or stop, the distance between the virtual preceding vehicle and the virtual preceding vehicle can be shortened while turning on the brake lamp of the virtual preceding vehicle. As a result, the occupant of the own vehicle can grasp that it is necessary to decelerate and stop from the image of the virtual preceding vehicle.

  If the driver is not aware of the approach of the virtual preceding vehicle, it may be determined that the driver's consciousness is low and an alarm may be issued. Thereby, the driver's attention level (recognition / judgment) can be determined.

  In S160, the vehicle speed is detected by a vehicle speed pulse or the like, and it is determined whether or not the speed of the host vehicle has been reduced to a first set speed (for example, 30 km / h) or less. If the determination is affirmative, the process proceeds to S170. If the determination is negative, the process of S150 is repeated.

  In S170, it is determined whether or not there is a preceding vehicle. If the determination is affirmative, the process proceeds to S180. If the determination is negative, the process proceeds to S190. In S180, an image of a virtual leading vehicle traveling ahead of the route to the destination is displayed. In S190, the position of the actual preceding vehicle is determined, and it is determined whether or not the position overlaps with the virtual preceding vehicle. If the determination is affirmative, the process proceeds to S200. If the determination is negative, the process proceeds to S180.

  In S200, a portion where the existing preceding vehicle and the virtual preceding vehicle overlap is calculated, and the light transmittance of the overlapping portion is increased so that the existing preceding vehicle can be seen from the driver of the own vehicle. In S210, it is determined whether or not the distance from the host vehicle to, for example, an intersection to turn left is equal to or less than a second set distance (for example, 100 m). If the determination is affirmative, the process proceeds to S220, and if the determination is negative, the process proceeds to S170.

  In S220, as the image of the virtual leading vehicle to be displayed, the blinker of the virtual leading vehicle is blinked and the brake lamp is turned on to reduce the vehicle speed of the host vehicle to the second set speed (for example, 10 km / h). Furthermore, the inter-vehicle distance with the virtual preceding vehicle is shortened.

  In S230, the vehicle speed is detected by a vehicle speed pulse or the like, and it is determined whether or not the speed of the host vehicle has been reduced to the second set speed or less. If the determination is affirmative, the process proceeds to S240. If the determination is negative, the process of S220 is repeated.

  In S240, it is determined again whether there is a preceding vehicle. If the determination is affirmative, the process proceeds to S250. If the determination is negative, the process proceeds to S260. In S250, an image of a virtual leading vehicle traveling ahead on the route to the destination is displayed. In S260, the position of the existing preceding vehicle is determined, and it is determined whether the position overlaps the virtual preceding vehicle. If the determination is affirmative, the process proceeds to S270. If the determination is negative, the process proceeds to S250.

  In S270, a portion where the existing preceding vehicle and the virtual preceding vehicle overlap is calculated, and the light transmittance of the overlapping portion is increased so that the existing preceding vehicle can be seen by the driver of the own vehicle. In S280, it is determined whether or not the vehicle has made a left turn. If the determination is affirmative, the process proceeds to S290. If the determination is negative, the process proceeds to S240, and the above-described process is repeated.

  In S290, the turn signal and the brake lamp of the virtual leading vehicle are turned off, and the distance between the virtual leading vehicle and the virtual leading vehicle is increased (the virtual leading vehicle is accelerated). In S300, it is determined whether or not the speed of the host vehicle has accelerated to a third set speed or higher (for example, 60 km / h) by a vehicle speed pulse or the like. If the determination is affirmative, the present process is terminated. If the determination is negative, the process of S290 is repeated.

  Next, a display image of the virtual leading vehicle is shown. 5 and 6 are image diagrams in which a virtual preceding vehicle is displayed on a windshield display when it is necessary to enter a right turn lane from the right lane and make a right turn at an intersection.

  As shown in FIG. 5 (a), when the host vehicle approaches the intersection to be turned right, the position of the intersection to be turned right is indicated by an arrow, and the blinker of the virtual preceding vehicle blinks to change the lane to the right lane. Let The driver of the own vehicle operates the winker of the own vehicle by seeing that the blinker of the virtual preceding vehicle has started blinking.

  As shown in FIG. 5B, the position in the width direction of the virtual preceding vehicle is gradually moved to the right turn lane as the host vehicle approaches the intersection to be turned to the right. As shown in FIG. 5C, when the virtual leading vehicle approaches the intersection to be turned to the right, the light transmittance of the image of the virtual leading vehicle is increased so that the driver can grasp the presence of the oncoming vehicle. In addition, when slow traveling is necessary immediately before the intersection, the brake lamp of the virtual preceding vehicle is turned on.

  As shown to Fig.6 (a), when the oncoming vehicle which goes straight exists, the brake lamp of a virtual preceding vehicle is lighted. On the other hand, as shown in FIG. 6B, when it is confirmed that the right blinker of the oncoming vehicle blinks, slows down or stops, that is, when there is an oncoming vehicle that makes a right turn, the virtual preceding vehicle is started to turn right To start. Thus, when it becomes possible to start after the own vehicle stops, the occupant of the own vehicle can grasp from the image of the virtual preceding vehicle that the virtual preceding vehicle is started.

  When a pedestrian crossing a pedestrian crossing or an oncoming vehicle of a motorcycle is detected, the virtual preceding vehicle stops at the intersection. Thus, when it is necessary to stop the own vehicle, the virtual preceding vehicle is stopped at the point to be stopped. Thereby, the passenger | crew of the own vehicle can grasp | ascertain the point which should stop from the image of a virtual preceding vehicle.

  FIGS. 7A to 7C are image diagrams in which a virtual leading vehicle is displayed on the windshield display when it is necessary to move to the left lane and turn left at the intersection. As shown in FIG. 7 (a), when the host vehicle approaches the intersection to be turned left, the position of the intersection to be turned left is indicated by an arrow, and the blinker of the virtual preceding vehicle blinks to change the lane to the left lane. Let

  And as shown in FIG.7 (b), the width direction position of a virtual preceding vehicle is gradually moved to a left lane as the own vehicle approaches the intersection which should turn left. The driver looks at the image of the virtual preceding vehicle, operates the winker of the host vehicle, and operates the steering wheel to move to the left lane.

  When changing the lane, if the following vehicle approaching from the left rear is confirmed from the image of the surrounding surveillance camera, the virtual leading vehicle delays the lane change to the left lane (even if the blinker blinks in the width direction) Do not change the position), and start the lane change to the left lane after safety is confirmed.

  In addition, when the host vehicle is not positioned in the left turn lane in advance, for example, when the distance to the intersection is equal to or less than the set distance 4 (for example, 500 mm), the blinker of the virtual leading vehicle blinks and The image should be displayed on the windshield display.

  Furthermore, a moving object detection process is performed on the image of the peripheral monitoring camera by the image / position analyzer 2, and from the detection result of this process, there is no subsequent vehicle in the left lane of the host vehicle, or the inter-vehicle distance from the subsequent vehicle is long. If it can be determined, the virtual leading vehicle is changed to a left turn lane. As a result, it is possible to confirm the safety and turn left even in an area where the driver cannot directly recognize. The moving object detection process may be performed based on the size of the object obtained by detecting the difference between the frames of the image.

  As shown in FIG. 7C, when the virtual leading vehicle approaches the intersection to be turned left, the light transmittance of the image of the virtual leading vehicle is increased so that the driver can grasp the presence of a pedestrian or the like. . In addition, when slow traveling is necessary immediately before the intersection, the brake lamp of the virtual preceding vehicle is turned on. When turning left, if it is confirmed that there is no small vehicle in the left blind spot of a crossing pedestrian or own vehicle, the virtual preceding vehicle starts making a left turn.

  FIG. 8 is an image diagram in which a virtual leading vehicle when decelerating, slowing down and stopping is displayed on a windshield display. As shown to Fig.8 (a), in order to notify a driver | operator that the own vehicle needs to stop or slow down, the brake lamp of a virtual preceding vehicle is lighted. Further, as shown in FIG. 8B, when the vehicle is stopped, the light transmittance of the image of the virtual preceding vehicle is increased so that the driver can see the scenery ahead.

  Furthermore, as shown in FIG. 8 (c), when information such as railroad crossings, traffic lights, stop signs, traffic jams, and under construction is acquired from an external center or the like, a sign or mark indicating the cause of the stop is superimposed on the virtual preceding vehicle. You may make it do. Further, if necessary, marks and characters indicating detailed information (congestion time, congestion distance, passage time) such as traffic congestion may be superimposed and displayed on the virtual preceding vehicle. Thereby, the driver can grasp the cause of the stop or slowing down of the virtual preceding vehicle without moving the line of sight.

(Modification 1)
For example, when the host vehicle stops at the head of an intersection or the like, the stop position at the intersection may be behind the stop line due to the presence of a virtual preceding vehicle. Therefore, for example, the length of the virtual leading vehicle is shortened as shown in FIG. 9A, or the light transmittance of the image of the virtual leading vehicle is increased as shown in FIG. 9B. Thus, it is preferable to bring the stop position of the host vehicle closer to the stop line. In addition, when a preceding vehicle is present in front of the host vehicle, the image of the virtual leading vehicle may be made completely transparent.

(Modification 2)
For example, when the route includes a tunnel, the tail lamp of the virtual preceding vehicle may be turned on or off near the entrance or exit of the tunnel. Thereby, the passenger | crew of the own vehicle can grasp | ascertain that it is necessary to turn on or off a headlight from the image of a virtual preceding vehicle.

(Modification 3)
For example, if the driver does not perform a deceleration operation even when the brake lamp of the virtual preceding vehicle is turned on, it is determined that the driver missed the lighting of the brake lamp, and the vehicle speed of the host vehicle is automatically reduced. Also good. Furthermore, when the distance to the left turn point is equal to or less than the second set distance, the image of the peripheral monitoring camera is displayed in the display area of the image display 11 to prevent the other vehicle from being caught until the vehicle completes the left turn. It may be displayed.

It is a block diagram which shows the whole structure of the route guidance system of this embodiment. It is a flowchart which shows the flow of a display process of the route guidance function in a route guidance system. It is the flowchart which showed the first half part of the operation | movement flow of this route guidance system when the own vehicle turns right and left at the intersection. It is the flowchart which showed the second half part of the operation | movement flow of this route guidance system when the own vehicle turns right and left at the intersection. (A)-(c) is the image figure which displayed on the windshield display the virtual preceding vehicle in case it is necessary to enter the right turn lane from the right lane and turn right at the intersection. (A), (b) is the image figure which displayed on the windshield display the virtual preceding vehicle in case an oncoming vehicle needs to exist when making a right turn at an intersection. (A)-(c) is the image figure which displayed on the windshield display the virtual preceding vehicle in the case of moving to the left lane and having to turn left at the intersection. (A)-(c) is the image figure which displayed the virtual preceding vehicle in case the own vehicle needs to decelerate, slow down, and stop on a windshield display. (A), (b) is the figure which showed the example of a display of the virtual preceding vehicle in the modification 1. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Front camera 2 Image and position analyzer 3 Receiver 4 Road information and driving attention information storage device 5 Traffic information storage device 6 Navigation device 7 Current position detector 8 Road information and 3D map DB
DESCRIPTION OF SYMBOLS 9 Virtual image generator 10 Indoor camera 11 Image display 12 Travel control system 13 Path calculation data storage 14 HMI controller

Claims (7)

A route calculation means for calculating the route to the destination;
Virtual image generation means for generating an image of the virtual preceding vehicle that can be visually recognized by a passenger of the host vehicle so that a virtual preceding vehicle that does not exist travels ahead of the route;
A windshield display that is provided with a display area on a front window of the host vehicle, and that can be viewed by overlapping an image displayed in the display area with a landscape in front of the host vehicle;
Route guidance means for guiding the route by displaying an image of the virtual preceding vehicle generated by the virtual image generation means in the display area;
Road traffic information acquisition means for acquiring road traffic information related to road conditions in the route ahead of the host vehicle and / or traffic conditions;
The virtual image generating means is a route guidance system comprising a traveling state changing means for changing a traveling state of the virtual preceding vehicle according to the route or / and information acquired by the road traffic information acquiring means,
When the host vehicle needs to stop, the running state changing means stops the virtual leading vehicle at a point where the host vehicle should stop and increases the light transmittance of the virtual leading vehicle, or the virtual leading vehicle A route guidance system characterized by reducing the length of a vehicle . The running condition changing means, the own vehicle lane change, and when it is necessary to turn right or left, route guidance system according to claim 1, characterized in that blink the turn signal of the virtual preceding vehicle. The running condition changing means, the route guidance system of claim 1 vehicle deceleration, or if you need to stop, characterized in that for turning on the brake lamp of the virtual preceding vehicle. The running condition changing means, when the vehicle needs to decelerate, the route guidance system according to claim 1 or 3, characterized in that to shorten the inter-vehicle distance between the virtual preceding vehicle. The running condition changing means, the self when the vehicle needs to stop, route guidance system according to claim 1 or 3, characterized in that stopping the virtual preceding vehicle at the point to be the stop. The running condition changing means, if it contains a tunnel in said path, any one of claim 1 to 5, characterized in that turning on or off the tail lamp of the virtual preceding vehicle in the vicinity of the inlet or outlet of the tunnels The route guidance system described in 1. Other vehicle detection means for detecting another vehicle existing in front of the host vehicle,
When the other vehicle detection unit detects another vehicle, the virtual image generation unit increases the light transmittance of the virtual preceding vehicle in a portion where the image of the other vehicle and the virtual preceding vehicle overlaps in the display area. route guidance system according to any one of claim 1 to 6, characterized in that to generate the image.

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